diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_002/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_002/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..993664f5e09f8de2def08531d2a563e034ae5107 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_002/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e30e652a63507c5c385bf8b68bfc15762cd325eb33bc99ac050a49cfc6e7cb37 +size 399223 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_002/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_002/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..36fb37539d3cdff8132202e5a9255c0489ac6525 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_002/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aae538c67cc4e7798303d4195b59841892bb9a259af1585baf8756158f41d45a +size 215265 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_003/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..837c50bb1071a38ce27d13d8215c83d83e49a4c0 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4149b77eb121cf08aac7917f515f360de4dee5875f44b486eadc74f13c5e7fb4 +size 355805 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_003/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_003/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..fb4de94cded34d22b3a00d3d708c12c6407e0e65 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_003/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9b3c1d24fbc3b33e79db948c475e664966657b8f3db23fb5f8489c5ff957887 +size 193579 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_004/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_004/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d73cdf8fd0b177d9f69c283b956d888e9e66b06c --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_004/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12c3e2925cb55a02a816e71cab7c27bf69ce72613999df7c7253c6a400c75b5b +size 191687 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_004/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_004/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..44c8617c9c38a700e6618bb767e57f3c998c09f8 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_004/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b143cfc03e4681225cd12291bdf4d69a640b8811fd32e3b96792b34ceb387fc2 +size 80068 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_005/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_005/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c57cc6f313ac58fe70fcb83f3c2737520387f17a --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_005/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeda4dea066f521c9020f944455e33eced37c4e82f6e6b327c43de41dc581ff3 +size 449345 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_005/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_005/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..f3452edc9439ea1e2f86bb54806ea3cb16602217 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_005/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be364c1bfbf6e2d3958bf392809be438711460d1373c8faa80ef44e234a398f2 +size 294325 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_006/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..70c9e03d4ed9b1c2eebc4bf2c423aff60c0663f7 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1300dcf1c93438716b42549c4efd4551afef27a5714efef6f39fd3e009713713 +size 395844 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_006/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..712385cf45b9ef18d6d9925615efb93101211060 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f60993eec89ced8ec02dd4ef777a10d0a20e28320c685c3b0a2e886356e2409 +size 234206 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_007/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..6ff047d61c8799db178a0e2c5ef00e344239fd5e --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:442cfe73c22dc724d324cfbefffa53acadd6b69fe9a2fba01b7c94850718a3b4 +size 366748 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_007/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..c58e0e96080b705fca35091409975cf29b01650b --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8efa2397894092860144c1c33be5bf1e1706f3005c409f51e7857d9964f5e39 +size 266181 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_008/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..0eb7af57969e7117e0d26d6ab07886816373ec81 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95b3837819becf5b5bb51f0b5d54d6746a53a4c7146aa0e73ea9864eb48735c0 +size 396556 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_008/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d467c60b76dbe7b266202899afba0e523ed22d56 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01a2ad3f234cf8e85b9883530f1e30c0d49d6cf2d8883e36b9afc26bcedbf923 +size 205715 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_009/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_009/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f149232a4f286413d9b0eb119699f1893c245d4c --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_009/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ec547169782df6cab1ea7afda2f3d52846df9c80b1c63c7fa1bf61524ceb91b +size 341572 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_009/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_009/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..f063bbf33fcbb9c18c0da4018ea18db5bb0ea20a --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_009/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03070edf4c42cc6f155591e7edc58bca7e581843f44540e6da7aa126ab389e90 +size 287904 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_010/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_010/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..de313742ee5c32587c6dadd98caddf3f58286404 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_010/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd593e9ee34238feebfc2b220260aff1610dc030f25eca7a5288a8a0a1cb7bfb +size 374884 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_010/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..966191f0757c34185ae16953bf4456545ccd8ca7 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4f7d92ac47adb3fac2248a2bef10ee2434289a1e8ae20acdff458a664b16f42 +size 236054 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_011/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_011/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..52e6fdbfc6e906a892fdc13ff4eed998c171aa14 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_011/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db41d83eafabb676c3332eebace0be7fd39de92efa1dc008584effe723d243e0 +size 305294 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_011/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_011/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..5a9c7339b399c0e9b476479abda45e34aa5bbced --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_011/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64955c167cafe92a40edf6296f808c02f25cc9a78e54fdc3d6244abe680774b4 +size 114036 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_012/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_012/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..b4c9a8661631bf41af1b3ac3893cd5060816011a --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_012/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72379d90b312adb909a03df85810ec76c6539ffaf081fa4ab4e3bf9a8d8b0af1 +size 392338 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_012/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..65d1388a125cde016ef3f29f94cb1b1a3b3bedc9 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21ccb37280db71fc882ad70d6be54c400772118ec0e003668ff84e056a3333d8 +size 258855 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_013/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..fafaee91a4b42b307bb8b6bc1f81e2377cdbbfa8 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98a5308558998a0367e0ffdfa8195279b00a587fa3a44359e7edaca65b378ec8 +size 290603 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_013/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..fb049afc750766defc7467d94ba0de7a799d8c63 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84d7aa41bf28eb70422c3d014948f7a114c55e067b13f32af5669c73b8deff27 +size 176655 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_015/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d01b6c7e60fd7f9a93f51e3c124467aaaf18c340 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dfb076ebc0824e33497c68c611877dcb924a74b843cdaf37f68a97749e10b63 +size 356221 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_015/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1ebe3a908479ed693f632e87d69a331c91c2de15 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaf5941d8be60120f5192a70151212893b12501c80b2e979c5a0f86c47407de6 +size 246627 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_016/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b00_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ddd82ed786c1c191eb6711ac8719bc9718b187d --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d927347fca50207b0bb21b2189a4094e448124f23037eaf87c37b695482c55c6 +size 333601 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b00_016/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b00_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..30fc61df54e5a8b141215930604da7efa8fcb80c --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b00_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84d11cee74e2800d06d8b9375173046dcbab4210063385568602d0a4c0af13d5 +size 209933 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_001/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..3a5344a01d28a43db3cf1acb71464f5ed5232df7 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e02427d6352fb4a05aa15ce37d2376d903095ca8c07a084a765620921dcf7d09 +size 358397 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_001/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e40373d4c9554a45733b16c1f911258b5d3117d5 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5efc1589fcb02c371c6859f8cc875df384cca65ecbc34ac53063b943dd47c1ec +size 202212 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_002/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_002/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..a812e928a38a20f5cf74267b73dd598f30681181 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_002/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31b51d033aa4d08265f7747c399e9d26e53c576219e863dd8918ffb1eebeb0ad +size 250231 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_002/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_002/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..90be60fe07bb4311735836b389679f572a3da9f2 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_002/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9283b539f3709e7199e4d742dea373f26001eb3d6f0b835aef919c8ecd2e9e8 +size 137212 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_003/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..931f666f2c9a748fdcad208b0ba424abb8eab963 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e743b01a968a98c4ea9b0f62b4c46ae8ba4f56db7814386267e3c2cbb8efc3ef +size 398528 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_003/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_003/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..f385c43e712c5e22af914c3c5572ba4362510d0c --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_003/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0aac76a3bbceb8e286ded01540809ec968cedca5f301726c3eed26dc742e945 +size 313088 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_004/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_004/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c7e6d9747c7accf04b924b09a7d5bcf1c8e3f672 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_004/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be4ad6db332aa05d96a0429d9f409d3d09ac359e46ac8bb490ca2ab125fd7ab7 +size 307083 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_004/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_004/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1e5bdbed51450a0dbb7ae666089b5c83584639a7 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_004/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfd80c2727382c8949f7c16a6755f5590623fb6e1490bb00ad71d13740d7423d +size 128067 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_005/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_005/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..b33817839285235f78eecf50127841f4ed5cd787 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_005/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:decb4a6575b146943aff7b455af5a45823965aa041940761f2a9afa40617d83e +size 222850 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_005/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_005/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..4abb808d8b103de34785a4a7394979d8e20335dc --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_005/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ea26d94dbf3782e08d0602ce4a2a70dc40e40f92f93ee4d599234a9f22a96c4 +size 163810 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_011/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_011/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..1fbe7a74877a1c1592d9da35620775e55cf9e533 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_011/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6c6b4a1ea9eaf99381f548d89b542cbb166de0d697c44ef8bf9802c46b28517 +size 273081 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_011/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_011/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..b5df7303e24e0af422852ec944ec9808d354f4a3 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_011/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66122e8136d10296fa1c36c98ef4a82ebe7a001d441a5ec6f2845beae7b624e2 +size 106179 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_012/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_012/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..9b703e595e954dc5ca2aa371a82d0eb263950867 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_012/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dea01914b93233c31f07d8a43dea5f0c8d3b19d5f00004e199513c73ffc2b667 +size 411580 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_012/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..313bdf84525d11e449f8b3c1a60b0a9e1b470598 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6254c7c4797a9c32a318346f5af7461cdb4d854d24a3711d0f7bae0ccdad3cb +size 174809 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_014/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..87e96821a010bdf5c60eeab9793dd032fd8c2925 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afab19567afef4397de4967d2fe1b10c71ea64f06ed162e9be9f2b9be84aae2a +size 433469 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_014/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..9e0b42dc89af0021cd01d04a698e65e158b14e4a --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7026014486e85dbb8aef739f62359c7b17c298c0064b99cc5548431fa48962a2 +size 267215 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_015/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..17dc3d737881815dcedc43d46cebf0a696e6f0bc --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dc0b8c7319c8ea2c790a706b962d8b6e5389a356d950e13c4b26d5fab34708d +size 162188 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_015/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..829391f1cc909ac8b3d2c360a570c1727d43ad6f --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89f3755c43414df2bce44e6cd07c0b1866cecb069ad1f5172f9b847a5e304b2f +size 63389 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_016/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b01_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..6d21233856a2471d5c0cadc0423da6b9d0663504 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fe448efc378482c5f9ec5c4b1f4b6811db3e4fa1dd21bb4873e94ee4762e5e6 +size 308852 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b01_016/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b01_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..9c87f1f2a03efc1cbba04ab8121d1447d89d9808 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b01_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:843b1cdda13a321b2270dfc866c6b08f449abcc4ac1de5ea826e80e52d8ec605 +size 71710 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_001/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c52eb75df7d2ea8d52c6c23c77d42c583a85588e --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f33e1fb50786ea670595a7d47d7be00c3570c8d335d4f34b2cbb92fc74211c54 +size 299544 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_001/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..a8f7adce0a5a7a68a2803558bda53fc53b3593f6 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:741fc06ed321ae4988e5bd082f39ea2ba9ab7d169737c170617c405fb1fd7d43 +size 81342 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_002/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_002/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c594b7928a638427b46f35beff743d3929d266df --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_002/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80b55af89db6e2d5d7f4e42d153b96eeab078af86f554da662436fe9149e588e +size 390839 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_002/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_002/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..ae43d6c9d1cfab0aa485a7a1fc15a0e62f834176 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_002/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8a8ad25545f6d80944d2b452de3e68750d9dece85e060fdf17ed512d2c18d77 +size 229426 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_003/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..9e6ed89075ed9e1e7f7fd41a15e9b7565c5cd409 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61831c22f70aad525933f16999d6c4d4cbd606999c529b702a8683d5a3938dcc +size 430724 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_003/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_003/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..35bde13e1310791b00f8d049e9caae875db1c512 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_003/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88a1d3735b291e2c963871f277260761aeac8b3f6dcb283d8eb432610e458a42 +size 231968 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_004/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_004/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..00c187e3cb2e1b33c89000ba63fbc41535b65c87 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_004/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a46312f0608e9e5f89ef97eface78c8d3cfaaa04fd549a005f5db98e02633be +size 387370 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_004/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_004/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..00e6c452d460ab095bd489eb179f0e024a8b85f0 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_004/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6a8fcef615c2f553b630305bae500c0bf6cf45c5e1d47fd9e9e6cef460d5f4e +size 240309 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_005/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_005/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..33111a221362e2779f102071ed1bd4ad1aef8b05 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_005/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74210c7fc063ee7d63211852a1b872e07bf4abd8e19aa904c8c103e9e427ba98 +size 180663 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_005/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_005/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1065e1f2f196c126769e9eb7015e5aed2221400b --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_005/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89b40729b47184a711c5da928623fd20bb77896adf1c565185480de2480546bd +size 79053 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_007/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..08286647027dce4d31dbbbf2ab1812fbdd5d4dce --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c102c57ffeed99b3852a0c1be50e2b3eab2354b95f219f606cd5b8b055eea4d +size 344730 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_007/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..152c6fc9082d5c70ce4397f575a8327d37f37ae0 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01c01ae8f26415d9dd15c8b2d78282c9ac00f9d90a5a7e96febc20952908b17a +size 196284 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_008/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a5d0fc7087a5df8e382d6821f8671856476d7bf --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:235ee04ce38d89cc7b753bedf157a1694642896933a46f02965594fe0673ed35 +size 318771 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_008/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..87a00cd2066f6d08a13cd59bf5210c5da1e976a1 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:152c83408c739a39a4dedb5df2dae669ec0834e3115e6a7f43d4a13d7f9d3c1f +size 146384 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_009/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_009/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..262778c8f80964eb82b0d20e0235138b4920be30 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_009/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71189b05715e813bf352bb6d86f5c612a210c57dfe38d2c372e634c214722766 +size 260106 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_009/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_009/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..4a6ebfe23e704cbdadf74fdf90155481fa9f4c48 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_009/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7346422298f353fcbd02cf972f8ef2a5a7e5f7de80020e252cc8c45170f4149 +size 124760 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_010/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_010/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..7d609a00361224a79075cfd94c1d9e6193e57ec8 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_010/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbcc533f20382cd6cd3bee9798de312f2c31748f5828f4cbebcfd72cb440ca08 +size 370592 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_010/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..709d2629448ac531be8432fa7f7177f4712ce587 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc07b39795e815261cece46099e1ef8f2e13801bc8f4e66b66c65106929b5701 +size 198640 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_011/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_011/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c1836a7b3527e1ec4efb9c7dd424bd875d98ba0a --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_011/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3a2e51c75036fefa538d1257aecd94f2007739cafd2e61ec4995cc7f111a877 +size 264555 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_012/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_012/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..25ffe0ab4ff9f20883c85fc36de8e9db3b300130 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_012/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:997a425ac6004d0d5f11403c4b8759843e75c760b52daab57e1aeed71cf8c15c +size 243423 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_012/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..16d28c6cc21410d67f4145ac0f2c38dd510c592b --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e0d426a4a31e206bb7839a50f6f91ba4f074e9500bfd5a0145ff25a5f20d038 +size 163999 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_013/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2120e903c95554a673f9eb91e51c8551319d03c1 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:198dd246de064d0a5eb5743b9bb14ef1213665e494a4ede16ca97044b147514c +size 395225 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_013/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..584f559c26594b41e373d9d88b59db6a288e48d2 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c74c8a46a9fa92ddb3987502866db20bbcdee067c66cd243a2cac64a02e572c +size 209735 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_015/data/000000.npz b/ur_10e/RoboCasa/test/bg_000364/scene_b03_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c4eff2fcba7db695b809be9de9ca586ca5bff092 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc574d23f9b84941d11f462d41a55368a7948cd2f795142cbd2a9d88768f044d +size 422380 diff --git a/ur_10e/RoboCasa/test/bg_000364/scene_b03_015/rgb/000000.png b/ur_10e/RoboCasa/test/bg_000364/scene_b03_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3af43c88a37b0d19919a0c9610dca839be3d81cd --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_000364/scene_b03_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64f2f687ce6a3ee7d0ca79aba35892e4525f29a162b6981327f284b5afc53333 +size 256279 diff --git a/ur_10e/RoboCasa/test/bg_001398/scene_b00_001/data/000000.npz b/ur_10e/RoboCasa/test/bg_001398/scene_b00_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..3100ad4362dbfa1bcf4a01a813d4d7c87b3d61c6 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_001398/scene_b00_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e4882bf14be9aa94b87f4c18e16345f9d4a8a26f5147bb52d847ff2f02ae000 +size 523709 diff --git a/ur_10e/RoboCasa/test/bg_001398/scene_b00_001/rgb/000000.png b/ur_10e/RoboCasa/test/bg_001398/scene_b00_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1c7abb1fef2692a8cca34f107876eb88795bedda --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_001398/scene_b00_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a9cf804f9dea71bdc055e8ea2368ee4cd421c7e96d6d71273363654dfeb9b38 +size 354660 diff --git a/ur_10e/RoboCasa/test/bg_001398/scene_b04_003/data/000000.npz b/ur_10e/RoboCasa/test/bg_001398/scene_b04_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..448616bb936b3c4370267af64533155fd8c3b936 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_001398/scene_b04_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bd7cd3950b5801b5ae08b75386d6d2011d96831b441f908ace823abbb974b91 +size 333332 diff --git a/ur_10e/RoboCasa/test/bg_001398/scene_b04_003/rgb/000000.png b/ur_10e/RoboCasa/test/bg_001398/scene_b04_003/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..55cfac4426ab10177afff6c1f0d2b91607aec074 --- /dev/null +++ b/ur_10e/RoboCasa/test/bg_001398/scene_b04_003/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f7d5975e0febf0d8d0eb20ce1985710c8580c7a33fee66fba20a71c90a76640 +size 201172 diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fc144b9ca9b26bec505a694bb4966b41214baa7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1667659101067465, + "K": [ + [ + 379.5877209642283, + 0.0, + 345.21120757365736 + ], + [ + 0.0, + 363.62849519615133, + 244.54856756097027 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8828585042337447, + -12.091283215206554, + 1.3894447669312713 + ], + "camera_target": [ + -0.21884258939325757, + -12.606363929420437, + 0.9559590849492614 + ], + "camera_roll_rad": -0.03528958973182736, + "camera_pose_world_cv": [ + [ + -0.5858498811721802, + -0.40454763174057007, + 0.7022257447242737, + -0.8828585147857666 + ], + [ + -0.8079923987388611, + 0.22456002235412598, + -0.5447209477424622, + -12.091282844543457 + ], + [ + 0.06267374753952026, + -0.8865178227424622, + -0.4584299921989441, + 1.3894447088241577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31134874827318526, + 0.3008012067550554, + 0.3088938223591669 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1259428593973035, + 1.1424278204116567, + 1.1688037580346218 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5786.939045808151, + "intensity": 1.149021804817398 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.580209626016723, + 0.572925561008498, + 0.5604385924229696 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5318.374185709395, + "intensity": 0.572925561008498 + }, + "point_color_scale": [ + 1.0641618259086982, + 1.0348104464175798, + 0.9844937958613766 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5828199a3fa04364d364ef17906cb1c216b5420 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1449879102162859, + "K": [ + [ + 387.90103736939585, + 0.0, + 290.6866236513461 + ], + [ + 0.0, + 372.3858709858108, + 249.69539252582547 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.06719924669283689, + -11.102477448478027, + 1.5071739497525696 + ], + "camera_target": [ + -0.201953796941018, + -12.61215132289718, + 0.9050205267614936 + ], + "camera_roll_rad": -0.05010598061519395, + "camera_pose_world_cv": [ + [ + -0.9943268299102783, + -0.0669870525598526, + -0.08262535184621811, + -0.06719924509525299 + ], + [ + 0.051669683307409286, + 0.3748009204864502, + -0.925664484500885, + -11.102477073669434 + ], + [ + 0.09297557920217514, + -0.9246821999549866, + -0.3692132830619812, + 1.5071738958358765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23050521269766597, + 0.2313594681693538, + 0.22317370240049914 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1325239809400516, + 1.0870653556337044, + 1.0091362836799664 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4902.603597306949, + "intensity": 1.0870653556337044 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7913788836637939, + 0.8239798146384392, + 0.876141304197872 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6278.975978832472, + "intensity": 0.8370201870282974 + }, + "point_color_scale": [ + 1.1776342247750489, + 1.1583789004654013, + 1.125369773077434 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb598b5e9b84d41c7c6424aef27440d67ca73c5d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2646505178778327, + "K": [ + [ + 343.7529568455051, + 0.0, + 296.95068539713895 + ], + [ + 0.0, + 327.56358749284243, + 232.02421372676685 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6796157516508539, + -13.215716282643262, + 0.7563568452029431 + ], + "camera_target": [ + -0.2552976654000501, + -12.670385136645734, + 0.8887283127237184 + ], + "camera_roll_rad": 0.006881736415437857, + "camera_pose_world_cv": [ + [ + 0.3586375117301941, + 0.07582250237464905, + 0.9303925037384033, + -1.6796157360076904 + ], + [ + -0.9333763122558594, + 0.043767690658569336, + 0.35622093081474304, + -13.215716361999512 + ], + [ + -0.013711482286453247, + -0.9961603879928589, + 0.08646774291992188, + 0.7563568353652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36073909780890223, + 0.3350801656437542, + 0.34673942082717973 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8454360963994021, + 0.8834880546426404, + 0.9443711878318217 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6346.813932095358, + "intensity": 0.8987088379399357 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6559274241274646, + 0.6559072939750132, + 0.6558727851422396 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5499.561563640031, + "intensity": 0.6559072939750132 + }, + "point_color_scale": [ + 1.0511510509693256, + 1.0051799632244678, + 0.9263723842332828 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c96430fef3ff09ce4b661d48f762bc241f35b31d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8843637017894141, + "K": [ + [ + 516.6824798446723, + 0.0, + 311.08207075727563 + ], + [ + 0.0, + 506.9187052059252, + 224.02906877235208 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4986672875074545, + -11.630213679207724, + 0.9742448155021988 + ], + "camera_target": [ + -0.20503909993016084, + -12.634614085695183, + 0.9858768424525821 + ], + "camera_roll_rad": -0.04587501120537953, + "camera_pose_world_cv": [ + [ + -0.6112073659896851, + -0.05060276389122009, + 0.7898514270782471, + -1.4986672401428223 + ], + [ + -0.7861499786376953, + -0.0767061710357666, + -0.6132573485374451, + -11.630213737487793 + ], + [ + 0.09161904454231262, + -0.9957689642906189, + 0.0071021318435668945, + 0.9742448329925537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24502823669260887, + 0.2515563723988331, + 0.23772783363766947 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8264229250959768, + 0.8520948228756333, + 0.8931698593230836 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6095.384552777386, + "intensity": 0.8623635819874959 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.9397339618160552, + 0.929671052832379, + 0.9124203517175055 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5345.369131171748, + "intensity": 0.929671052832379 + }, + "point_color_scale": [ + 0.9127782541826558, + 0.8967750223018639, + 0.8693409105062209 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdac7896056735bb5fd968fe3e223fb8e4699637 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9411371395729194, + "K": [ + [ + 456.1042342774392, + 0.0, + 302.68076638122784 + ], + [ + 0.0, + 471.8081077899026, + 263.1108955613642 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.34994563709761206, + -11.225055522358206, + 0.8488460957280081 + ], + "camera_target": [ + -0.20342178793263171, + -12.671730398610737, + 0.9307856984887058 + ], + "camera_roll_rad": 0.01442019946128903, + "camera_pose_world_cv": [ + [ + -0.9943327903747559, + 0.034356724470853806, + 0.10060812532901764, + -0.34994563460350037 + ], + [ + -0.1023399829864502, + -0.053047001361846924, + -0.9933340549468994, + -11.225055694580078 + ], + [ + -0.02879074215888977, + -0.9980008602142334, + 0.05626249313354492, + 0.8488460779190063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3695584351982403, + 0.3613357262743995, + 0.3334078340222024 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.949163796283921, + 0.9140105514944998, + 0.8537478461412062 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4950.565192648689, + "intensity": 0.9140105514944998 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8642637328369531, + 0.8366662031730299, + 0.7893561523205901 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5028.784093016846, + "intensity": 0.8366662031730299 + }, + "point_color_scale": [ + 0.8412811207655571, + 0.8523098577472502, + 0.8699558369179594 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afb575c6467104e0348599c1c5e73f959cf0f841 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1815056980939436, + "K": [ + [ + 355.66793342556264, + 0.0, + 350.9573139619906 + ], + [ + 0.0, + 357.86361649272243, + 228.86912630935643 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0976274034571045, + -12.853243346193308, + 1.6146342343725046 + ], + "camera_target": [ + -0.19344093235951904, + -12.678084693076515, + 0.9157215229938317 + ], + "camera_roll_rad": 0.00029605257766528864, + "camera_pose_world_cv": [ + [ + 0.1898321509361267, + -0.5935897827148438, + 0.7820582985877991, + -1.0976274013519287 + ], + [ + -0.9818165302276611, + -0.1143866777420044, + 0.15149977803230286, + -12.853242874145508 + ], + [ + -0.0004715919494628906, + -0.7965972423553467, + -0.6045103669166565, + 1.6146342754364014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28755059742810546, + 0.2767407950617856, + 0.29485494265734147 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8644533481496803, + 0.8726149194789042, + 0.8856734336056623 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5686.362870277344, + "intensity": 0.8758795480105938 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7811566325961135, + 0.8014629599492991, + 0.8339530837143964 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6001.647511761804, + "intensity": 0.8095854908905734 + }, + "point_color_scale": [ + 1.111894005843898, + 1.1542714990297358, + 1.2220754881270763 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e11a4d712ddfb438371f674ca1c8d98823be3025 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8072864583201175, + "K": [ + [ + 534.3940036988337, + 0.0, + 340.63901138222485 + ], + [ + 0.0, + 561.9367450122626, + 243.17205593976172 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.648846976451139, + -12.247568697008267, + 1.1460273319495744 + ], + "camera_target": [ + -0.26666327011031365, + -12.61666028441757, + 0.8551954733418411 + ], + "camera_roll_rad": 0.03853114286029388, + "camera_pose_world_cv": [ + [ + -0.2720468044281006, + -0.17203912138938904, + 0.9467805027961731, + -1.648846983909607 + ], + [ + -0.9593222141265869, + 0.1256241798400879, + -0.2528233230113983, + -12.24756908416748 + ], + [ + -0.0754428505897522, + -0.9770472049713135, + -0.19921648502349854, + 1.1460273265838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3549203424638879, + 0.3506240728482719, + 0.343493167005289 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1780603251912454, + 1.167330746386087, + 1.1489371827201011 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5368.6921442863695, + "intensity": 1.167330746386087 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.9120836204727998, + 0.9239138619221847, + 0.9428422482412006 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5754.784750659316, + "intensity": 0.9286459585019387 + }, + "point_color_scale": [ + 1.0748163150467598, + 1.1021557479742494, + 1.145898840658233 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4516c2ddce72ad951fdfda34453402f9c57bb4b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8614001519143284, + "K": [ + [ + 511.7967919321216, + 0.0, + 349.4168833324118 + ], + [ + 0.0, + 522.3425257979308, + 232.50319800376872 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7339118638321, + -12.368361477075865, + 1.6146016929125766 + ], + "camera_target": [ + -0.26619119270654107, + -12.667224070975756, + 0.9722734874387111 + ], + "camera_roll_rad": 5.127038759711322e-05, + "camera_pose_world_cv": [ + [ + -0.1995687484741211, + -0.38617953658103943, + 0.9005764722824097, + -1.7339118719100952 + ], + [ + -0.9798839092254639, + 0.07874000072479248, + -0.18337854743003845, + -12.368361473083496 + ], + [ + -9.426474571228027e-05, + -0.9190568923950195, + -0.39412498474121094, + 1.614601731300354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28267958575185376, + 0.2918380701661716, + 0.29112914370337395 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1586113837681085, + 1.086075757403329, + 0.9617289693494215 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4545.901515875796, + "intensity": 1.086075757403329 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8842944544376039, + 0.8545839770388985, + 0.8036517300696893 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5003.342675718389, + "intensity": 0.8545839770388985 + }, + "point_color_scale": [ + 0.9305244650756548, + 0.898753810046883, + 0.8442898299975601 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..366ff3ef2a150d3899ab8622106254981cb0b6ec --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2357630733118496, + "K": [ + [ + 353.56894429748036, + 0.0, + 318.7844700714125 + ], + [ + 0.0, + 337.68778959674626, + 237.95143124935143 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8431053979352097, + -12.012484669790807, + 1.072174229747525 + ], + "camera_target": [ + -0.21440616013596384, + -12.59826138238889, + 0.8958881261020275 + ], + "camera_roll_rad": 0.033695593129401846, + "camera_pose_world_cv": [ + [ + -0.3440885543823242, + -0.07233995199203491, + 0.93614661693573, + -1.843105435371399 + ], + [ + -0.9365443587303162, + 0.09758102893829346, + -0.33669406175613403, + -12.012484550476074 + ], + [ + -0.06699362397193909, + -0.9925951361656189, + -0.1013258695602417, + 1.0721741914749146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3550117915099176, + 0.36173500111620754, + 0.3225679912387281 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0153610356451095, + 1.0495005206650165, + 1.1041236966968682 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6142.228890497785, + "intensity": 1.0631563146729794 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8099444328614415, + 0.7878015259451563, + 0.7498422569458105 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5098.468356250383, + "intensity": 0.7878015259451563 + }, + "point_color_scale": [ + 0.8960700201481175, + 0.91222720998635, + 0.938078713727522 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e106dd793dabec94aba9e8b5dcb9fd6c1f0cbcbd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0158859705677572, + "K": [ + [ + 437.811444226268, + 0.0, + 330.9630308508422 + ], + [ + 0.0, + 431.14196031740653, + 216.2125692072907 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2969909231304609, + -10.97935576559598, + 1.136591038602679 + ], + "camera_target": [ + -0.18532688245694914, + -12.676885459540115, + 0.9399687339180445 + ], + "camera_roll_rad": 0.04826715364951592, + "camera_pose_world_cv": [ + [ + -0.9939241409301758, + 0.08867540955543518, + 0.06520435959100723, + -0.29699093103408813 + ], + [ + -0.054290369153022766, + 0.12036001682281494, + -0.9912446737289429, + -10.979355812072754 + ], + [ + -0.09574701637029648, + -0.9887619018554688, + -0.11481446027755737, + 1.1365910768508911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2940949303391512, + 0.30959636704983556, + 0.31048006225399766 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9058244732166125, + 0.9041358140344213, + 0.9012409697220937 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5473.318496814007, + "intensity": 0.9041358140344213 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8310866779671838, + 0.8564752377948633, + 0.8970969335191507 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6085.914183491202, + "intensity": 0.8666306617259352 + }, + "point_color_scale": [ + 1.161439220411883, + 1.1240961757414578, + 1.0600795277350148 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9af369ae8496337dd39b0dce7092b8c271544263 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9230358847764587, + "K": [ + [ + 471.6130788076664, + 0.0, + 291.9205027149884 + ], + [ + 0.0, + 482.566535545372, + 263.35199470703833 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.743929404763064, + -11.930207291322949, + 1.2838178080123352 + ], + "camera_target": [ + -0.2568662481737478, + -12.667246416165245, + 0.8959060068790448 + ], + "camera_roll_rad": 0.03893422240412041, + "camera_pose_world_cv": [ + [ + -0.8490030765533447, + -0.15608763694763184, + 0.5048078298568726, + -0.743929386138916 + ], + [ + -0.5235657691955566, + 0.3772919178009033, + -0.7638912796974182, + -11.930207252502441 + ], + [ + -0.0712258517742157, + -0.9128459095954895, + -0.402043879032135, + 1.2838177680969238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2766325266659773, + 0.26110266482106176, + 0.25305501499801936 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9703182411985682, + 0.9746897420634456, + 0.9816841434472493 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5589.539721557645, + "intensity": 0.9764383424093965 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6971486351913414, + 0.6852538992528173, + 0.6648629233582046 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5252.026512644358, + "intensity": 0.6852538992528173 + }, + "point_color_scale": [ + 0.9563492159039055, + 0.9726183183203402, + 0.9986488821866357 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..784395656b563effdbb37b49e11814fc22a1348f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1075088887454414, + "K": [ + [ + 396.4392500974407, + 0.0, + 313.808384778802 + ], + [ + 0.0, + 388.1718295605029, + 263.02489043144635 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2942402549977565, + -12.72418930730213, + 1.5583527883688015 + ], + "camera_target": [ + -0.22712487912706675, + -12.59759076937285, + 0.8449478263552743 + ], + "camera_roll_rad": -0.0267587733376977, + "camera_pose_world_cv": [ + [ + 0.1470220685005188, + -0.5421521663665771, + 0.8273183107376099, + -1.2942402362823486 + ], + [ + -0.9881287813186646, + -0.118186354637146, + 0.09815055131912231, + -12.724189758300781 + ], + [ + 0.04456520080566406, + -0.8319272994995117, + -0.5530921220779419, + 1.5583528280258179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3066478045383533, + 0.30114163756367157, + 0.29139467861921775 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1520973819895088, + 1.1626147846556263, + 1.1794426289214142 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5680.27436846592, + "intensity": 1.1668217457220733 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5750974042718742, + 0.5891770010366539, + 0.6117043558603016 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5973.415854776921, + "intensity": 0.5948088397425658 + }, + "point_color_scale": [ + 1.097311785769582, + 1.091680865456033, + 1.0820278592042352 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..992174f0fb060d99029c1c11cc13b051ecdc9ef0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9466332179195872, + "K": [ + [ + 476.4875839887267, + 0.0, + 291.15566436990287 + ], + [ + 0.0, + 468.61697034211574, + 245.19186874059133 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8076326832175346, + -11.897293112571994, + 1.0981561157296005 + ], + "camera_target": [ + -0.26006054900946807, + -12.584650725900941, + 0.88409850497098 + ], + "camera_roll_rad": 0.008795230569894931, + "camera_pose_world_cv": [ + [ + -0.7846243381500244, + -0.1336788535118103, + 0.6053877472877502, + -0.8076326847076416 + ], + [ + -0.6197356581687927, + 0.19603443145751953, + -0.7599329948425293, + -11.897293090820312 + ], + [ + -0.017089903354644775, + -0.971442461013794, + -0.23665904998779297, + 1.0981560945510864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24095683744713053, + 0.25234350390551213, + 0.2548425621720097 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.96977800589242, + 0.9153400812286979, + 0.8220179246623173 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4650.387212357996, + "intensity": 0.9153400812286979 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5790919412679975, + 0.5614038027817281, + 0.5310812796624094 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5049.900283167063, + "intensity": 0.5614038027817281 + }, + "point_color_scale": [ + 0.9455681983170257, + 0.9658261216375914, + 0.9982387989504966 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04c4fc7d16a13395f72419242d86d91a5a688b3d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0712970622148688, + "K": [ + [ + 401.3423526389667, + 0.0, + 329.03548584031637 + ], + [ + 0.0, + 404.3603838869791, + 254.40119681884545 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8459468021925172, + -12.900582862470207, + 1.2277318618812676 + ], + "camera_target": [ + -0.24970687350826415, + -12.680669247901733, + 0.9121009496930674 + ], + "camera_roll_rad": -0.0325229248151408, + "camera_pose_world_cv": [ + [ + 0.14857053756713867, + -0.18115773797035217, + 0.9721669554710388, + -1.8459467887878418 + ], + [ + -0.9868423938751221, + -0.0905720591545105, + 0.13393568992614746, + -12.900583267211914 + ], + [ + 0.06378763914108276, + -0.9792745113372803, + -0.19223052263259888, + 1.2277318239212036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29239429152004326, + 0.2886427546828844, + 0.2738053437782973 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8404021835850295, + 0.8749267804144379, + 0.9301661353414916 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6276.936520576274, + "intensity": 0.8887366191462014 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.9489136484476409, + 0.9191767762838299, + 0.868199281145868 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5037.833776435797, + "intensity": 0.9191767762838299 + }, + "point_color_scale": [ + 0.9708033078728886, + 0.9731789243538793, + 0.9769799107234642 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c93d8969b52ba2d46325d8dceeab44ad4d35018 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2608146249546506, + "K": [ + [ + 317.40743373279605, + 0.0, + 317.8689034091863 + ], + [ + 0.0, + 328.8848200078235, + 231.7576166321359 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9310815898910828, + -11.849829026205619, + 1.5765857607391134 + ], + "camera_target": [ + -0.213090262936319, + -12.602098968795085, + 0.9316518665802106 + ], + "camera_roll_rad": 0.00984555957503519, + "camera_pose_world_cv": [ + [ + -0.7304213047027588, + -0.3495784103870392, + 0.5867536067962646, + -0.9310815930366516 + ], + [ + -0.6827919483184814, + 0.3947867155075073, + -0.6147672533988953, + -11.849828720092773 + ], + [ + -0.016733139753341675, + -0.8496696352958679, + -0.5270498394966125, + 1.5765857696533203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32502867964229953, + 0.3492675016563358, + 0.3225084863006448 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9540786614966943, + 0.9047389705738098, + 0.8201566432774366 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4720.932500539089, + "intensity": 0.9047389705738098 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6610299014717443, + 0.6326585031832822, + 0.5840218204030613 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4859.361033170597, + "intensity": 0.6326585031832822 + }, + "point_color_scale": [ + 1.189183119503627, + 1.1707321853951338, + 1.1391020126377167 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..821bd9f60d9848d49797ef696bf1f35aa646f446 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8736839011637945, + "K": [ + [ + 508.76948776438707, + 0.0, + 323.61275434392536 + ], + [ + 0.0, + 513.9975889174708, + 240.74571807319998 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5496037123922589, + -10.868562185500185, + 0.7193959433079352 + ], + "camera_target": [ + -0.22177213955566868, + -12.602945304188259, + 0.9759331680381961 + ], + "camera_roll_rad": 0.02770001666061042, + "camera_pose_world_cv": [ + [ + -0.9796142578125, + 0.08108054101467133, + 0.18379926681518555, + -0.5496037006378174 + ], + [ + -0.19327084720134735, + -0.13082444667816162, + -0.9723843932151794, + -10.868561744689941 + ], + [ + -0.054795995354652405, + -0.9880844950675964, + 0.14382803440093994, + 0.7193959355354309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2701394557952881, + 0.9628212451934814, + 0.0, + -0.22121834754943848 + ], + [ + -0.9628212451934814, + -0.2701394557952881, + -0.0, + -12.630698204040527 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2934025432331495, + 0.28879736141872087, + 0.2665514175957372 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8638217966290017, + 0.8987761034562906, + 0.9547029943799528 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6265.90538748489, + "intensity": 0.9127578261872061 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6638076060651743, + 0.6430311033392309, + 0.6074142415233279 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5038.424844058265, + "intensity": 0.6430311033392309 + }, + "point_color_scale": [ + 0.893068195376944, + 0.920664542969312, + 0.9648186991171008 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f566db74b9d2cfcbc0e04ca8e971f109f260c578 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0688387739968856, + "K": [ + [ + 402.06790317656214, + 0.0, + 339.7106997387498 + ], + [ + 0.0, + 405.4951208904852, + 260.55802199141743 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6599277391015848, + -12.177933457897675, + 1.4003608600396276 + ], + "camera_target": [ + -0.30479542198248444, + -13.237875285437832, + 0.9127889340306385 + ], + "camera_roll_rad": 0.026609216503934455, + "camera_pose_world_cv": [ + [ + -0.9536080360412598, + -0.07639370858669281, + 0.29119765758514404, + -0.6599277257919312 + ], + [ + -0.2970770597457886, + 0.39544498920440674, + -0.8691195249557495, + -12.177933692932129 + ], + [ + -0.04875732958316803, + -0.9153074026107788, + -0.39979398250579834, + 1.4003608226776123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.227518919865917, + 0.2468708304812317, + 0.23528584877971215 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8944488257506127, + 0.9092492760859772, + 0.9329299966225604 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5823.44720936151, + "intensity": 0.9151694562201229 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5976331456309308, + 0.6157102768367113, + 0.6446336867659603 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6080.380082642538, + "intensity": 0.6229411293190236 + }, + "point_color_scale": [ + 0.8324550965901093, + 0.8053702794426997, + 0.7589391643328547 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c32a066c3fbcc1bcb11ef93163ceb6d8b30cf5c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9157276089434154, + "K": [ + [ + 510.59546718168394, + 0.0, + 334.7328468075591 + ], + [ + 0.0, + 487.0218699813501, + 250.82190508273015 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.512285325628074, + -12.776211188047247, + 1.4387884862634004 + ], + "camera_target": [ + -0.35837874004818054, + -13.27268544469073, + 0.8716396871522405 + ], + "camera_roll_rad": 0.015079575742340826, + "camera_pose_world_cv": [ + [ + -0.40644383430480957, + -0.36589986085891724, + 0.8372099995613098, + -1.5122853517532349 + ], + [ + -0.9132623076438904, + 0.19025743007659912, + -0.36021387577056885, + -12.77621078491211 + ], + [ + -0.02748328447341919, + -0.910999059677124, + -0.4114915728569031, + 1.4387885332107544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21213362799824298, + 0.2088853844272012, + 0.2305896302520431 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9941428007832308, + 1.0381299324988054, + 1.1085093432437247 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6333.306792316429, + "intensity": 1.0557247851850353 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6987822048780041, + 0.715339913271592, + 0.7418322467013325 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5958.685790570948, + "intensity": 0.7219629966290271 + }, + "point_color_scale": [ + 0.7716336430974726, + 0.7967521201878869, + 0.83694168353255 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c33634e31d570d8ec0d9029cfd5c9aee5c688b04 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1841599265257696, + "K": [ + [ + 356.6149181555625, + 0.0, + 291.0829032690342 + ], + [ + 0.0, + 356.83897485968, + 248.918874359484 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1802830697275002, + -13.400438076282615, + 1.5689197028238566 + ], + "camera_target": [ + -0.37210742538631236, + -13.199113704230797, + 0.9453933463023076 + ], + "camera_roll_rad": -0.0521746741853509, + "camera_pose_world_cv": [ + [ + 0.30098021030426025, + -0.5531918406486511, + 0.7767816781997681, + -1.1802830696105957 + ], + [ + -0.9499780535697937, + -0.24514877796173096, + 0.19350391626358032, + -13.40043830871582 + ], + [ + 0.08338227868080139, + -0.7961663603782654, + -0.5993050336837769, + 1.5689196586608887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31367725540326674, + 0.3158250397221518, + 0.31714783529694646 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1279361162236778, + 1.138203998025337, + 1.1546326089079915 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5679.773817229281, + "intensity": 1.1423111507460004 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8205889347150799, + 0.8514535291148951, + 0.9008368801545995 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6214.624149621264, + "intensity": 0.8637993668748212 + }, + "point_color_scale": [ + 1.0073545255274057, + 0.9891765357283134, + 0.9580142675012984 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27f5dca7223662454a6a9e6b0603a2fd583740c1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9780102576792927, + "K": [ + [ + 457.28837893509086, + 0.0, + 342.0376355033967 + ], + [ + 0.0, + 451.03378995768344, + 241.51872551355657 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6488147189258875, + -13.130674832228415, + 1.44174031907585 + ], + "camera_target": [ + -0.31689874614584546, + -13.22797344184823, + 0.936764220942985 + ], + "camera_roll_rad": 0.03081500386203731, + "camera_pose_world_cv": [ + [ + -0.09444522857666016, + -0.3475898206233978, + 0.9328780770301819, + -1.6488146781921387 + ], + [ + -0.9938617944717407, + 0.08714723587036133, + -0.06814825534820557, + -13.130674362182617 + ], + [ + -0.05761003494262695, + -0.9335881471633911, + -0.3536868095397949, + 1.4417402744293213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2612131419978742, + 0.2757920051690202, + 0.2565196601938506 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1897903990021175, + 1.140920725062701, + 1.0571441411665583 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4888.092280385077, + "intensity": 1.140920725062701 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8123219246339003, + 0.8079771749437094, + 0.8005290326176678 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5423.181180555828, + "intensity": 0.8079771749437094 + }, + "point_color_scale": [ + 0.9494918799020214, + 0.9121255969429937, + 0.8480691118703746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c69de007041dcbab44e1dafeb06cf540173237b2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0284682730480204, + "K": [ + [ + 404.7858504891629, + 0.0, + 321.26950567339907 + ], + [ + 0.0, + 424.8307420007041, + 247.60630437160498 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0591430995769215, + -12.666675670403372, + 1.3053491882303514 + ], + "camera_target": [ + -0.29692098429574454, + -13.199789815785849, + 0.9720867125255404 + ], + "camera_roll_rad": 0.022560736545943885, + "camera_pose_world_cv": [ + [ + -0.585027813911438, + -0.25026068091392517, + 0.7714349031448364, + -1.05914306640625 + ], + [ + -0.8099006414413452, + 0.23008179664611816, + -0.5395582318305969, + -12.666675567626953 + ], + [ + -0.042462944984436035, + -0.9404423832893372, + -0.3372906446456909, + 1.3053492307662964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23445466033059756, + 0.22809038984571406, + 0.22589223009590398 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.998075042689351, + 0.9993203324514494, + 1.001312796070807 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5524.910317751102, + "intensity": 0.9998184483562887 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7344519077470281, + 0.7549624036145405, + 0.7877791970025603 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6037.51031071839, + "intensity": 0.7631666019615455 + }, + "point_color_scale": [ + 1.0930915894677031, + 1.0965172934087182, + 1.1019984197143418 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f1b0603796e7ee93b14b723819e13d2581cf6ec --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.063502631306916, + "K": [ + [ + 412.38323878581974, + 0.0, + 301.45748329205855 + ], + [ + 0.0, + 407.9745620770886, + 239.0769796551793 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0934766092222816, + -12.628995663363916, + 1.2642357635875567 + ], + "camera_target": [ + -0.2922267638693646, + -13.272485577274763, + 0.8566237393097293 + ], + "camera_roll_rad": 0.04931609065245471, + "camera_pose_world_cv": [ + [ + -0.6514357328414917, + -0.22441089153289795, + 0.7247561812400818, + -1.09347665309906 + ], + [ + -0.7531620860099792, + 0.30652356147766113, + -0.5820570588111877, + -12.628995895385742 + ], + [ + -0.09153485298156738, + -0.9250314831733704, + -0.36869800090789795, + 1.2642357349395752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3490796077366626, + 0.3349819551959898, + 0.3553736633534982 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.013967777226107, + 1.0340946388366077, + 1.0662976174134084 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5886.258230944247, + "intensity": 1.0421453834808079 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6867952754818893, + 0.6654696238612972, + 0.6289113639402819 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5042.199741228221, + "intensity": 0.6654696238612972 + }, + "point_color_scale": [ + 1.2445372027731816, + 1.1868322479180513, + 1.0879094681663997 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d11108f47ae09cab9348d587f9c31a2feb308d0a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1136089954276434, + "K": [ + [ + 371.8443689233546, + 0.0, + 324.0942660489958 + ], + [ + 0.0, + 385.53791026377064, + 243.39457481057133 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7170176576231692, + -12.474301701996612, + 1.2968647052254534 + ], + "camera_target": [ + -0.3550056080532526, + -13.200017891955257, + 0.9489234477225508 + ], + "camera_roll_rad": 0.037327874137488684, + "camera_pose_world_cv": [ + [ + -0.9054787158966064, + -0.10876215994358063, + 0.41021883487701416, + -0.717017650604248 + ], + [ + -0.41882020235061646, + 0.3851250410079956, + -0.8223554491996765, + -12.4743013381958 + ], + [ + -0.06854434311389923, + -0.9164331555366516, + -0.39427411556243896, + 1.2968647480010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3269539742725736, + 0.3419940102174274, + 0.3513390036845144 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9923576927057589, + 1.031284383662176, + 1.093567089192443 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6243.688261004407, + "intensity": 1.0468550600447426 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6444387327789465, + 0.6633330117162827, + 0.6935638580160207 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6063.259508035697, + "intensity": 0.6708907232912171 + }, + "point_color_scale": [ + 0.7898678751391413, + 0.8066827403030193, + 0.8335865245652243 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f561271b89dfd11c1c5a5d1a4c26cb732fdaabfd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9902518465773731, + "K": [ + [ + 450.8504835247556, + 0.0, + 320.4345359164693 + ], + [ + 0.0, + 444.45224749382214, + 262.96862508892286 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.168969223040726, + -12.559866200906496, + 1.0861361359299488 + ], + "camera_target": [ + -0.3694638901337851, + -13.223830145906595, + 0.8586343921344262 + ], + "camera_roll_rad": -0.03222598638356937, + "camera_pose_world_cv": [ + [ + -0.6269609928131104, + -0.20531818270683289, + 0.751508355140686, + -1.1689692735671997 + ], + [ + -0.7765061855316162, + 0.08678889274597168, + -0.6241043210029602, + -12.559865951538086 + ], + [ + 0.062917560338974, + -0.9748397469520569, + -0.21384376287460327, + 1.0861361026763916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3362504918503044, + 0.32137571498432427, + 0.34539636216745107 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0574214286056498, + 1.0009838771864032, + 0.9042337890391237 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4694.541737448461, + "intensity": 1.0009838771864032 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6879298223790857, + 0.6683314646605287, + 0.6347342800001454 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5081.081314226708, + "intensity": 0.6683314646605287 + }, + "point_color_scale": [ + 1.0242958016315988, + 1.0254916708071316, + 1.0274050614879842 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec9c0609c37c14fdb3d780b74ab2fa3b065bf542 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9925211420771194, + "K": [ + [ + 430.47434221168237, + 0.0, + 335.7917166222037 + ], + [ + 0.0, + 443.248561493555, + 216.77022237040973 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5487575284135171, + -11.643201128480575, + 1.1154866506413186 + ], + "camera_target": [ + -0.2865465376767873, + -13.241013963960967, + 0.9266648011352749 + ], + "camera_roll_rad": -0.04088588720977512, + "camera_pose_world_cv": [ + [ + -0.981971263885498, + -0.09929744154214859, + 0.16085004806518555, + -0.5487575531005859 + ], + [ + -0.1707351803779602, + 0.1006922721862793, + -0.9801585078239441, + -11.643200874328613 + ], + [ + 0.08113087713718414, + -0.9899501204490662, + -0.11583036184310913, + 1.1154866218566895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3489952965158951, + 0.33540104132981235, + 0.337631974083649 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0282345439167517, + 1.0750098143989673, + 1.149850247170512 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6355.342753039907, + "intensity": 1.0937199225918535 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8811216012466636, + 0.8795401531729818, + 0.8768290993323844 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5474.313719212467, + "intensity": 0.8795401531729818 + }, + "point_color_scale": [ + 0.9877134547215184, + 0.9610920615211056, + 0.9154553874632554 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a201e0ecef0b2b2f9a14d7b78f4e8b32701b92d7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8520664982394108, + "K": [ + [ + 522.1249234933309, + 0.0, + 297.03325602694923 + ], + [ + 0.0, + 528.8339827950291, + 239.10058619684378 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0354778198146697, + -13.23170757701486, + 1.2779933790434228 + ], + "camera_target": [ + -0.3204330604597604, + -13.253964757737162, + 0.9742374153751637 + ], + "camera_roll_rad": 0.018424169138015617, + "camera_pose_world_cv": [ + [ + -0.019391417503356934, + -0.17377308011054993, + 0.9845949411392212, + -2.035477876663208 + ], + [ + -0.9991538524627686, + 0.039098262786865234, + -0.012777477502822876, + -13.231707572937012 + ], + [ + -0.03627541661262512, + -0.9840093851089478, + -0.1743839979171753, + 1.2779933214187622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2415500971113546, + 0.2439191285196891, + 0.23754793341571756 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9670909481874044, + 0.9967307210675381, + 1.0441543576757524 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6087.748677050786, + "intensity": 1.0085866302195916 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7010753334478845, + 0.6944636284804871, + 0.683129277107806 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5363.9915407631315, + "intensity": 0.6944636284804871 + }, + "point_color_scale": [ + 1.206987277117809, + 1.1872292742544122, + 1.1533584122028746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae84801b1e333eda3169fba36b1cc1c081654bfa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8734238888408604, + "K": [ + [ + 505.7389242976677, + 0.0, + 324.8591573057685 + ], + [ + 0.0, + 514.1719505511438, + 249.34650674182504 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6327700762444243, + -11.446505953623205, + 1.176208369227531 + ], + "camera_target": [ + -0.2839264960705168, + -13.26672323045171, + 0.881453879055001 + ], + "camera_roll_rad": -0.04250800139051064, + "camera_pose_world_cv": [ + [ + -0.9760689735412598, + -0.11285261809825897, + 0.1858876347541809, + -0.6327700614929199 + ], + [ + -0.2006426304578781, + 0.13771820068359375, + -0.9699363708496094, + -11.446505546569824 + ], + [ + 0.08385976403951645, + -0.9840215444564819, + -0.15706515312194824, + 1.1762083768844604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28698456964666413, + 0.30889164952121473, + 0.29323537954766393 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1600366367594075, + 1.1844530905736037, + 1.2235194166763177 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5908.910594669324, + "intensity": 1.1942196720992821 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6691443159962304, + 0.6560666444932676, + 0.6336477790596172 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5215.236431874916, + "intensity": 0.6560666444932676 + }, + "point_color_scale": [ + 0.9918928123568376, + 0.985694656933717, + 0.975069247636939 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88f4e8932910bf2a1fb120e9c9c2b7d1f69bda7f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2121803711972194, + "K": [ + [ + 344.5935610463997, + 0.0, + 294.199551048396 + ], + [ + 0.0, + 346.262894423877, + 240.81291019087527 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.127238242174351, + -12.600330381697232, + 1.2516304472875621 + ], + "camera_target": [ + -0.3545228558663402, + -13.229553928248226, + 0.9150592003862247 + ], + "camera_roll_rad": 0.042819470622332184, + "camera_pose_world_cv": [ + [ + -0.6503440141677856, + -0.1932142972946167, + 0.7346572875976562, + -1.1272382736206055 + ], + [ + -0.755305290222168, + 0.26764070987701416, + -0.5982329845428467, + -12.600330352783203 + ], + [ + -0.08103689551353455, + -0.9439475536346436, + -0.3199940323829651, + 1.251630425453186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23577078629129333, + 0.24629706983414174, + 0.2321373507343008 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9795271930365449, + 0.9998294406005683, + 1.032313036703006 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5902.842218825048, + "intensity": 1.0079503396261777 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6521321651062468, + 0.6371921296374776, + 0.6115806402624449 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5165.047529311604, + "intensity": 0.6371921296374776 + }, + "point_color_scale": [ + 1.101781998777387, + 1.111272853961766, + 1.1264582222567723 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88ae4acb292abd30cad5298c212c14948d5bec45 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0112015899359466, + "K": [ + [ + 430.60941269376906, + 0.0, + 338.35790021036826 + ], + [ + 0.0, + 433.5281900652708, + 222.58332328037508 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3031453215492759, + -13.013151033300513, + 1.3646442286325615 + ], + "camera_target": [ + -0.3186146322675509, + -13.216533261552732, + 0.9648625373151145 + ], + "camera_roll_rad": -0.03138542284231366, + "camera_pose_world_cv": [ + [ + -0.179207444190979, + -0.37385788559913635, + 0.9100081920623779, + -1.3031452894210815 + ], + [ + -0.9820829629898071, + 0.013176679611206055, + -0.18798771500587463, + -13.013151168823242 + ], + [ + 0.05828982591629028, + -0.9273923635482788, + -0.3695208430290222, + 1.364644169807434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35643129866448586, + 0.36732327424215233, + 0.34101858007263924 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0279348374610753, + 1.018424549228501, + 1.002121197972659 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5366.596636375007, + "intensity": 1.018424549228501 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7704001529706224, + 0.7729307001177728, + 0.7769795755532134 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5565.393637827879, + "intensity": 0.7739429189766329 + }, + "point_color_scale": [ + 1.0577630096120358, + 1.0200501375445867, + 0.9553994997146739 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e090ec0bc2481f9941bd37bd3d600ff0f962f86d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8749749122490897, + "K": [ + [ + 520.7143854987021, + 0.0, + 294.87105460078647 + ], + [ + 0.0, + 513.1332857308355, + 240.62450656187553 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.43350430227996, + -12.17202991976835, + 0.79445709443682 + ], + "camera_target": [ + -0.3465120971833879, + -13.264489141755297, + 0.9008379837848244 + ], + "camera_roll_rad": 0.03410685938611743, + "camera_pose_world_cv": [ + [ + -0.7039191722869873, + 0.09677731990814209, + 0.7036563158035278, + -1.433504343032837 + ], + [ + -0.7070178389549255, + -0.0006273388862609863, + -0.707195520401001, + -12.172029495239258 + ], + [ + -0.06799900531768799, + -0.9953058958053589, + 0.06886506080627441, + 0.7944570779800415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2675594748788035, + 0.26288229914697053, + 0.2631630105598152 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.927526958386424, + 0.903253012673614, + 0.861640534308797 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5116.086912332894, + "intensity": 0.903253012673614 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7109650762757928, + 0.7159281349831731, + 0.7238690289149817 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5638.263444992424, + "intensity": 0.7179133584661253 + }, + "point_color_scale": [ + 1.0056186888843952, + 1.017979522785939, + 1.0377568570284088 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..783b9bf1fbe6c9efe615cbd7fa1172dfda9ff939 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0046975767294977, + "K": [ + [ + 415.0489649409155, + 0.0, + 313.6291065094812 + ], + [ + 0.0, + 436.87502667581487, + 216.89977712754788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4416524535013135, + -12.174163664022956, + 1.508482775164604 + ], + "camera_target": [ + -0.323440120180884, + -13.202105904151642, + 0.868451036470308 + ], + "camera_roll_rad": -0.03762234760929257, + "camera_pose_world_cv": [ + [ + -0.6533613204956055, + -0.3359403610229492, + 0.6784270405769348, + -1.4416524171829224 + ], + [ + -0.7538701295852661, + 0.20670998096466064, + -0.6236592531204224, + -12.174163818359375 + ], + [ + 0.06927472352981567, + -0.918920636177063, + -0.38831162452697754, + 1.508482813835144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3349380290414502, + 0.31513430469519144, + 0.3411211689171017 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1569023423589018, + 1.1181441748386698, + 1.0517016019468435 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5004.815103551584, + "intensity": 1.1181441748386698 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6058765457699992, + 0.6078196893890028, + 0.6109287191794084 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5563.856502373328, + "intensity": 0.6085969468366041 + }, + "point_color_scale": [ + 0.9843092250077528, + 1.0132037505017795, + 1.059434991292222 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..924c22476847fa67689a51ad650c0fe35a704440 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1272124130578125, + "K": [ + [ + 390.9383704940092, + 0.0, + 299.8541418855048 + ], + [ + 0.0, + 379.7560749014552, + 243.54832948874395 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2630192866933054, + -11.915010144796817, + 1.5963312544960524 + ], + "camera_target": [ + -0.30473984772507745, + -13.217798263360514, + 0.8622290868131117 + ], + "camera_roll_rad": -0.03543062883056905, + "camera_pose_world_cv": [ + [ + -0.786186933517456, + -0.3013283908367157, + 0.539547324180603, + -1.263019323348999 + ], + [ + -0.6146166324615479, + 0.29016709327697754, + -0.7335184812545776, + -11.915010452270508 + ], + [ + 0.06447109580039978, + -0.9082974195480347, + -0.41332703828811646, + 1.596331238746643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.1771620512008667, + -0.9841817021369934, + 0.0, + -0.33088764548301697 + ], + [ + 0.9841817021369934, + -0.1771620512008667, + 0.0, + -13.234070777893066 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2510462347293137, + 0.23378267116932835, + 0.24592901276252338 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9868497884570003, + 0.972095678343395, + 0.946802918148643 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5283.176691020658, + "intensity": 0.972095678343395 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8775416263789126, + 0.8896879433880732, + 0.9091220506027304 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5771.56368984514, + "intensity": 0.8945464701917376 + }, + "point_color_scale": [ + 0.9052872130013976, + 0.9067437141673248, + 0.9090741160328084 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b69bd1b6a04928c3ba1f367604062a1e9bc30a6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9829872606553688, + "K": [ + [ + 444.7797142273509, + 0.0, + 337.99683526969517 + ], + [ + 0.0, + 448.3398114432885, + 248.23361808051143 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.19156945880335, + -11.330959772307866, + 1.6023767368354644 + ], + "camera_target": [ + -1.018772851053141, + -12.614254672953715, + 0.9924492988165137 + ], + "camera_roll_rad": 0.032302678141045635, + "camera_pose_world_cv": [ + [ + -0.7510515451431274, + -0.17521202564239502, + 0.6365711092948914, + -2.1915695667266846 + ], + [ + -0.6574274301528931, + 0.28742051124572754, + -0.6965478658676147, + -11.33095932006836 + ], + [ + -0.06091994047164917, + -0.9416424036026001, + -0.33105647563934326, + 1.6023766994476318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24810330144014572, + 0.2565115300407544, + 0.24662203667719526 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1822319371710341, + 1.1175014243397823, + 1.0065348309147788 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4672.509679420451, + "intensity": 1.1175014243397823 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5465792851916064, + 0.5578211785247297, + 0.575808207857727 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5899.841179384421, + "intensity": 0.5623179358579791 + }, + "point_color_scale": [ + 0.8688180126810069, + 0.8795112420905027, + 0.896620409145696 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..554d70dcd084ed8a9989cd72485316699255fedd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.167632591261391, + "K": [ + [ + 377.5220503686679, + 0.0, + 291.7156474183171 + ], + [ + 0.0, + 363.2859735163544, + 258.83242817449195 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6571928986110236, + -13.085834551580216, + 1.421767770399609 + ], + "camera_target": [ + -0.9639300408922267, + -12.618863184648001, + 0.8876564089309543 + ], + "camera_roll_rad": -0.04675667375683849, + "camera_pose_world_cv": [ + [ + 0.5979262590408325, + -0.39246827363967896, + 0.6988940238952637, + -1.6571929454803467 + ], + [ + -0.7976797223091125, + -0.3769455552101135, + 0.47076451778411865, + -13.085834503173828 + ], + [ + 0.07868489623069763, + -0.8389760255813599, + -0.5384496450424194, + 1.4217677116394043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22886331060591183, + 0.24860636969529054, + 0.2497165579767699 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8573720496920525, + 0.8770314493142539, + 0.9084864887097764 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5944.332829890533, + "intensity": 0.8848952091631346 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.9154354161575494, + 0.882556126740583, + 0.8261916305972119 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4967.791202965433, + "intensity": 0.882556126740583 + }, + "point_color_scale": [ + 0.8048166299565498, + 0.8142274523397395, + 0.8292847681528431 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0e0331c5a5621b33c282770be49b45c049f7eca --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2073286317991774, + "K": [ + [ + 331.786026746451, + 0.0, + 345.81853790908986 + ], + [ + 0.0, + 348.0633118338398, + 235.82070572331193 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.356651716598863, + -13.209709858272998, + 1.1096472113167033 + ], + "camera_target": [ + -0.990118844959355, + -12.546122288112183, + 0.9247800299745625 + ], + "camera_roll_rad": 0.02497869118961446, + "camera_pose_world_cv": [ + [ + 0.4308488368988037, + -0.13034451007843018, + 0.8929611444473267, + -2.356651782989502 + ], + [ + -0.9010616540908813, + -0.007782101631164551, + 0.43362146615982056, + -13.209710121154785 + ], + [ + -0.049570947885513306, + -0.9914383292198181, + -0.12080127000808716, + 1.1096471548080444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31744468359083994, + 0.3376870397266969, + 0.33124086387030083 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0333794187854164, + 1.0540247119434154, + 1.0870571809962137 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5888.696731047009, + "intensity": 1.062282829206615 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7858885809036023, + 0.7810410367705152, + 0.7727309611137945 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5411.335477635063, + "intensity": 0.7810410367705152 + }, + "point_color_scale": [ + 0.9236696920818637, + 0.8822650020035404, + 0.8112855332978436 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..498a1979d3e9f0712c8e6f215e6c18c6211f063e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0440709820029215, + "K": [ + [ + 438.0443914309314, + 0.0, + 333.0129308995302 + ], + [ + 0.0, + 417.19702286343517, + 227.33369617242508 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.452940731713003, + -11.9724504731711, + 1.5939802619167267 + ], + "camera_target": [ + -0.9284986210293481, + -12.5543415321673, + 0.8432876274419396 + ], + "camera_roll_rad": -0.02528100834979932, + "camera_pose_world_cv": [ + [ + -0.33642101287841797, + -0.4079967141151428, + 0.8487401008605957, + -2.4529407024383545 + ], + [ + -0.9405917525291443, + 0.1016383171081543, + -0.3239704370498657, + -11.972450256347656 + ], + [ + 0.04591444134712219, + -0.9073083400726318, + -0.4179515242576599, + 1.593980312347412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.244325006274938, + 0.23286393740169278, + 0.2461805381551023 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0936076831523216, + 1.1099087661495528, + 1.135990498945123 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5792.021796039457, + "intensity": 1.1164291993484454 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8566200631542936, + 0.8771006411914641, + 0.9098695660509373 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5962.6848057977, + "intensity": 0.8852928724063325 + }, + "point_color_scale": [ + 0.8890788280258682, + 0.9041552908265559, + 0.9282776313076561 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..225a82d2dc37a2162534358342ed46f1eac10159 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9106960967222447, + "K": [ + [ + 470.0215542959693, + 0.0, + 349.2364061012964 + ], + [ + 0.0, + 490.12781819504715, + 229.49098328094198 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.7584932083441145, + -12.055598747010825, + 1.1059389892648919 + ], + "camera_target": [ + -0.9323081153714069, + -12.541984068028645, + 0.9819362460424522 + ], + "camera_roll_rad": 0.018297785846019307, + "camera_pose_world_cv": [ + [ + -0.259509801864624, + -0.05381003022193909, + 0.9642402529716492, + -2.758493185043335 + ], + [ + -0.965050220489502, + 0.05219459533691406, + -0.25681498646736145, + -12.055599212646484 + ], + [ + -0.03650885820388794, + -0.9971861839294434, + -0.06547439098358154, + 1.1059390306472778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3051484490606448, + 0.30662864754348396, + 0.30378771873453553 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1351821656180854, + 1.1425951389061768, + 1.1544558961671234 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5629.420914908966, + "intensity": 1.1455603282214135 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7844241719827567, + 0.7687292389877359, + 0.7418236395677003 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5208.332508861584, + "intensity": 0.7687292389877359 + }, + "point_color_scale": [ + 1.0413805409472097, + 1.0694583743311132, + 1.1143829077453593 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5dc9f4a29386e67b0afca50e36117631e30d377 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9128780479949746, + "K": [ + [ + 482.1842980514286, + 0.0, + 306.8035008911361 + ], + [ + 0.0, + 488.7769934394172, + 222.85955422803724 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8229121892816496, + -12.218092299795126, + 1.2271472041215064 + ], + "camera_target": [ + -0.9347999103597529, + -12.574641590237478, + 0.9136107179222651 + ], + "camera_roll_rad": -0.044514338229252305, + "camera_pose_world_cv": [ + [ + -0.345401406288147, + -0.3209039270877838, + 0.8818836212158203, + -1.8229122161865234 + ], + [ + -0.9346438646316528, + 0.03302407264709473, + -0.35404863953590393, + -12.21809196472168 + ], + [ + 0.0844922661781311, + -0.9465359449386597, + -0.31133735179901123, + 1.2271472215652466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3645493946736062, + 0.35249489529113776, + 0.3365207935168369 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9769982258513039, + 0.9203357902245032, + 0.8232001862928447 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4620.469534386253, + "intensity": 0.9203357902245032 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.9196601068350676, + 0.8803074725720974, + 0.8128458138355771 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4861.381668352293, + "intensity": 0.8803074725720974 + }, + "point_color_scale": [ + 0.8613043031016671, + 0.8762121926387819, + 0.9000648158981657 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6313c0f54d48230bb53e1292259d9302d3e39d1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0857619203327415, + "K": [ + [ + 394.93002164829227, + 0.0, + 342.7478364665803 + ], + [ + 0.0, + 397.7773899814209, + 239.10146356169324 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.32884568245843926, + -13.130069429226287, + 1.4348657683856394 + ], + "camera_target": [ + -0.9823179438247183, + -12.62754601905145, + 0.877999782885005 + ], + "camera_roll_rad": 0.046383102688131894, + "camera_pose_world_cv": [ + [ + 0.6480817198753357, + 0.3853576183319092, + -0.6568787097930908, + -0.32884567975997925 + ], + [ + 0.7576925754547119, + -0.4131981134414673, + 0.5051430463790894, + -13.130069732666016 + ], + [ + -0.07676038146018982, + -0.8250859975814819, + -0.5597686767578125, + 1.4348657131195068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24477931212630433, + 0.24094415965191646, + 0.24663538523663844 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.119551564627961, + 1.0634313395034445, + 0.9672252392899872 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4746.10318316069, + "intensity": 1.0634313395034445 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7179359344464291, + 0.6931905274664826, + 0.6507698297865743 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4990.030806838559, + "intensity": 0.6931905274664826 + }, + "point_color_scale": [ + 1.193554743900397, + 1.1771457051616014, + 1.1490159244665235 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db1f4ebc1664b82a21c4f00040a7eee3db93c38f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2893824407598027, + "K": [ + [ + 313.1285038094705, + 0.0, + 328.9644641634682 + ], + [ + 0.0, + 319.20784889920134, + 219.39118469605882 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.12099405014387787, + -11.499033105005028, + 1.1035333590662568 + ], + "camera_target": [ + -1.024617889144337, + -12.613210066381809, + 0.8660409490077939 + ], + "camera_roll_rad": 0.04583412944217352, + "camera_pose_world_cv": [ + [ + -0.7639963626861572, + 0.17354613542556763, + -0.6214433312416077, + -0.12099405378103256 + ], + [ + 0.6388693451881409, + 0.06865990161895752, + -0.766245424747467, + -11.499032974243164 + ], + [ + -0.09031075239181519, + -0.982429563999176, + -0.16332894563674927, + 1.103533387184143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3463633091975964, + 0.3566767726922456, + 0.33364078416998155 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9290657320750532, + 0.9633893171097738, + 1.0183070531653269 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6202.546850016939, + "intensity": 0.9771187511236621 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8632779859953335, + 0.8899838268278655, + 0.9327131721599168 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6093.024184206237, + "intensity": 0.9006661631608783 + }, + "point_color_scale": [ + 0.8321436713484504, + 0.8463805061362776, + 0.8691594417968014 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d3f1df0ac36ebf7732b913f2b942b3744022eb0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8385873115737295, + "K": [ + [ + 564.7185258410415, + 0.0, + 343.3128271090194 + ], + [ + 0.0, + 538.4478641901625, + 249.11340211611937 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5050851852433387, + -11.740427772929964, + 1.0895798118536866 + ], + "camera_target": [ + -1.01438797531687, + -12.580165557031865, + 0.9213698822018817 + ], + "camera_roll_rad": -0.00696433771874265, + "camera_pose_world_cv": [ + [ + -0.8621170520782471, + -0.0979977697134018, + 0.49714285135269165, + -1.5050852298736572 + ], + [ + -0.506523609161377, + 0.1400984525680542, + -0.8507680892944336, + -11.74042797088623 + ], + [ + 0.013724461197853088, + -0.9852761030197144, + -0.17041927576065063, + 1.0895798206329346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31837266114788587, + 0.33198043630358687, + 0.3275358814810321 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9387788543328351, + 0.9305024325021675, + 0.9163142807924517 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5372.934671150696, + "intensity": 0.9305024325021675 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5604145340344197, + 0.5728607675738991, + 0.5927747412370664 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5930.785319715462, + "intensity": 0.577839260989691 + }, + "point_color_scale": [ + 1.0117399085609524, + 0.9814484016455673, + 0.9295201040763357 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73cffa27c0accb74dde8acbbdf856203a34ddff0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9720052366261555, + "K": [ + [ + 455.7527491164552, + 0.0, + 332.38334893727244 + ], + [ + 0.0, + 454.3179552133007, + 250.46469492209104 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6941637366881984, + -11.41606892859451, + 1.1928047014960792 + ], + "camera_target": [ + -1.0232949979187818, + -12.550211292069406, + 0.9340911269712702 + ], + "camera_roll_rad": -0.00758266773285779, + "camera_pose_world_cv": [ + [ + -0.96117103099823, + 0.045072026550769806, + -0.27224767208099365, + -0.6941637396812439 + ], + [ + 0.2755555510520935, + 0.20972371101379395, + -0.9381284713745117, + -11.416069030761719 + ], + [ + 0.014813438057899475, + -0.9767212867736816, + -0.2140001654624939, + 1.1928046941757202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.315105752223494, + 0.2939918069433565, + 0.30403284877432984 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9456988794133835, + 0.8848124610540911, + 0.7804357438667329 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4516.960073635146, + "intensity": 0.8848124610540911 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5624425370856855, + 0.5798359475800714, + 0.607665404371089 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6092.829200513163, + "intensity": 0.5867933117778258 + }, + "point_color_scale": [ + 0.791600435493455, + 0.7994913108145373, + 0.8121167113282691 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e9d5a4671b573100a9bca4151dd583af7290e9f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0967687431702304, + "K": [ + [ + 406.3466628725495, + 0.0, + 299.42793701407516 + ], + [ + 0.0, + 392.8729756825797, + 234.5303926481705 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7625394918236224, + -11.35012932529926, + 1.5341607108829072 + ], + "camera_target": [ + -1.0129550851834743, + -12.580416506857848, + 0.8912021247172259 + ], + "camera_roll_rad": -0.02188807158998775, + "camera_pose_world_cv": [ + [ + -0.9829474687576294, + 0.047943346202373505, + -0.17752781510353088, + -0.7625395059585571 + ], + [ + 0.17971491813659668, + 0.45495665073394775, + -0.8721910119056702, + -11.350129127502441 + ], + [ + 0.03895167261362076, + -0.8892222046852112, + -0.4558143615722656, + 1.5341607332229614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28243333631400025, + 0.2618881400801546, + 0.2751297179984257 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0894668634684619, + 1.1282243339529114, + 1.1902362867280314 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6177.739697810224, + "intensity": 1.1437273221466915 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7360817650209384, + 0.7521606856900698, + 0.77788695876068 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5923.914707413492, + "intensity": 0.7585922539577223 + }, + "point_color_scale": [ + 0.9925494532380387, + 0.9890562824180857, + 0.9830679895838806 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96def275acadef2238cfe2ec00bfdce0c2b17159 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.010516658773871, + "K": [ + [ + 446.0574625447088, + 0.0, + 326.3718464570628 + ], + [ + 0.0, + 433.87878734168646, + 216.35527686772562 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.567218673608781, + -12.908117154971537, + 1.3920044558662923 + ], + "camera_target": [ + -0.9722420249626517, + -12.558964039872594, + 0.8500404714063504 + ], + "camera_roll_rad": 0.0005942122832473182, + "camera_pose_world_cv": [ + [ + 0.21347832679748535, + -0.307998925447464, + 0.9271266460418701, + -2.567218780517578 + ], + [ + -0.9769473075866699, + -0.06620681285858154, + 0.20295560359954834, + -12.908117294311523 + ], + [ + -0.0011278986930847168, + -0.9490803480148315, + -0.3150322437286377, + 1.3920044898986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.360659294675242, + 0.37141333273638827, + 0.36097870117739606 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1045806437727705, + 1.1429475739287922, + 1.2043346621784266 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6162.472890225314, + "intensity": 1.1582943459912007 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6886966993033933, + 0.6994956664611323, + 0.7167740139135147 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5806.869369674324, + "intensity": 0.7038152533242279 + }, + "point_color_scale": [ + 0.8964956605762521, + 0.9329533428209684, + 0.9912856344125147 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..356662b51dc404ad4c3499007361b225a34bbb45 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.848012791793814, + "K": [ + [ + 532.9067992498879, + 0.0, + 345.76229162161724 + ], + [ + 0.0, + 531.6950455011291, + 259.0527764847291 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.445013597823017, + -13.050221694708238, + 1.556509768853409 + ], + "camera_target": [ + -1.0176728731744098, + -12.583625412297389, + 0.890605901124403 + ], + "camera_roll_rad": 0.04539190768320338, + "camera_pose_world_cv": [ + [ + 0.27450644969940186, + -0.41189098358154297, + 0.8689028024673462, + -2.4450135231018066 + ], + [ + -0.9580072164535522, + -0.039266109466552734, + 0.28404316306114197, + -13.05022144317627 + ], + [ + -0.0828762948513031, + -0.9103868007659912, + -0.405373215675354, + 1.5565097332000732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36399966406256595, + 0.3489332523731694, + 0.3664467519793597 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0367935393676009, + 1.004014867806995, + 0.9478228594173845 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5033.605774580918, + "intensity": 1.004014867806995 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8100882496800281, + 0.7770355518225577, + 0.720373784066894 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4892.329737221997, + "intensity": 0.7770355518225577 + }, + "point_color_scale": [ + 1.0167348458218963, + 0.9815263223188901, + 0.9211688534565938 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51fb2c12d6afb7c766c58c87684641bc77cc021b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.075259310108076, + "K": [ + [ + 408.24858225845566, + 0.0, + 344.16988883257704 + ], + [ + 0.0, + 402.54128256448354, + 248.58133501309572 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.091406645278202, + -12.870692944172415, + 1.2466484547310994 + ], + "camera_target": [ + -1.0123674122980182, + -12.54026876334603, + 0.8723338500054031 + ], + "camera_roll_rad": -0.00013062157767827764, + "camera_pose_world_cv": [ + [ + 0.2928789258003235, + -0.3009519875049591, + 0.907551646232605, + -2.0914065837860107 + ], + [ + -0.9561495780944824, + -0.0924309492111206, + 0.2779112160205841, + -12.87069320678711 + ], + [ + 0.0002479851245880127, + -0.9491493701934814, + -0.3148261308670044, + 1.2466484308242798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3564884289462664, + 0.332932460494605, + 0.3325917194418437 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8307363963857672, + 0.8709898448580824, + 0.9353953624137867 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6407.537970663246, + "intensity": 0.8870912242470085 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7888107793667921, + 0.7611396979672207, + 0.7137035584250984 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4980.645716014088, + "intensity": 0.7611396979672207 + }, + "point_color_scale": [ + 0.9342457859738759, + 0.9613643888026089, + 1.0047541533285818 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e42e294fc3691beaefe4fd69089f538282923cc3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2263049094269842, + "K": [ + [ + 333.90846683618776, + 0.0, + 301.049923678083 + ], + [ + 0.0, + 341.09241394137365, + 224.24396263927724 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.330857371000003, + -12.10296758449721, + 1.412415461192693 + ], + "camera_target": [ + -1.0178059087222269, + -12.550967571289517, + 0.8891802959110667 + ], + "camera_roll_rad": -0.03266063005795945, + "camera_pose_world_cv": [ + [ + -0.30042338371276855, + -0.354340523481369, + 0.8855444192886353, + -2.330857276916504 + ], + [ + -0.9518486261367798, + 0.051927924156188965, + -0.3021388351917267, + -12.102967262268066 + ], + [ + 0.061075687408447266, + -0.9336737394332886, + -0.3528786897659302, + 1.4124155044555664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3528257452999856, + 0.3587388081036421, + 0.35536675422277175 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9558578093085912, + 0.9227328363314098, + 0.8659471683705274 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4987.160442284228, + "intensity": 0.9227328363314098 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8867881795664819, + 0.8641012521791372, + 0.8252093766579752 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5124.929414395569, + "intensity": 0.8641012521791372 + }, + "point_color_scale": [ + 1.237996399554054, + 1.1830962410775743, + 1.088981683689324 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b42f922baf06aa252f9af1e60b4cf04dce25eb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8427576265181607, + "K": [ + [ + 537.8015358039452, + 0.0, + 328.3668967087445 + ], + [ + 0.0, + 535.442557976218, + 251.56535172024815 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4237053019608249, + -11.95967348268582, + 1.362781057307361 + ], + "camera_target": [ + -0.9488738774884058, + -12.578477668642991, + 0.9612894255389124 + ], + "camera_roll_rad": 0.03563218810591226, + "camera_pose_world_cv": [ + [ + -0.7400703430175781, + 0.3404664993286133, + -0.5799813866615295, + -0.4237053096294403 + ], + [ + 0.6694942712783813, + 0.29112863540649414, + -0.6833897829055786, + -11.959673881530762 + ], + [ + -0.06382209062576294, + -0.8940507173538208, + -0.44339609146118164, + 1.362781047821045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.24648773670196533, + -0.9691459536552429, + 0.0, + -0.97629314661026 + ], + [ + 0.9691459536552429, + -0.24648773670196533, + 0.0, + -12.577826499938965 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2703873565632862, + 0.24571371615267723, + 0.2511645601025382 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9201558737235461, + 0.9654178340870581, + 1.0378369706686774 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6420.40507303949, + "intensity": 0.9835226182324629 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8432367679512915, + 0.8571177397717006, + 0.879327294684355 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5821.814129452871, + "intensity": 0.8626701284998641 + }, + "point_color_scale": [ + 1.1906373618506783, + 1.1630744792809211, + 1.1158238234470514 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e16dfa30dfd6b7fff41bee25f63dd19c88f288ed --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.290942309885963, + "K": [ + [ + 325.6490022970437, + 0.0, + 296.287752083482 + ], + [ + 0.0, + 318.69007502243744, + 220.1539662859193 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.34960166411536914, + -11.81724085743155, + 1.3489898385564845 + ], + "camera_target": [ + -0.840673939035699, + -13.248758120711887, + 0.8553927752348023 + ], + "camera_roll_rad": 0.04966979046472175, + "camera_pose_world_cv": [ + [ + -0.9312503337860107, + 0.19392764568328857, + -0.308488667011261, + -0.3496016561985016 + ], + [ + 0.3519700765609741, + 0.2596704959869385, + -0.8992710709571838, + -11.817240715026855 + ], + [ + -0.09428811073303223, + -0.9460250735282898, + -0.3100748062133789, + 1.3489898443222046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3716330409948283, + 0.3401993700512182, + 0.33610330389156423 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.871281183016469, + 0.8725530687627393, + 0.874588085956772 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5529.136212640949, + "intensity": 0.8730618230612475 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.681577673195822, + 0.7020443084137921, + 0.7347909247625442 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6076.337453548904, + "intensity": 0.7102309625009801 + }, + "point_color_scale": [ + 1.1680524723938028, + 1.184214411499265, + 1.2100735140680043 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11b014d2b3c7772978c18a663e1ddceff385df62 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3089583265598068, + "K": [ + [ + 311.5740564952415, + 0.0, + 343.1969026305674 + ], + [ + 0.0, + 312.7865927953273, + 223.02462496705837 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0599163950246133, + -12.988008211173755, + 1.3193890770037031 + ], + "camera_target": [ + -0.8428818004508365, + -13.201430820933231, + 0.9372146060014388 + ], + "camera_roll_rad": 0.04967173066567486, + "camera_pose_world_cv": [ + [ + -0.20074176788330078, + -0.2724821865558624, + 0.9409868121147156, + -2.0599164962768555 + ], + [ + -0.9750512838363647, + 0.14847683906555176, + -0.16501420736312866, + -12.988008499145508 + ], + [ + -0.09475129842758179, + -0.9506356120109558, + -0.2954895496368408, + 1.3193891048431396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3626228804647837, + 0.3327545633061697, + 0.3453416710395507 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8757703822662454, + 0.9211997394912019, + 0.9938867110511326 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6467.228792379327, + "intensity": 0.9393714823811845 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7895455894797409, + 0.8044952949453482, + 0.8284148236903198 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5868.91211199131, + "intensity": 0.810475177131591 + }, + "point_color_scale": [ + 0.9962554902698816, + 1.0262109275477027, + 1.0741396271922166 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87b27633e366b394fbac6a1674aec331c8508161 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.000566000530334, + "K": [ + [ + 439.04659755961717, + 0.0, + 344.8301714097964 + ], + [ + 0.0, + 439.02170737825645, + 218.4511197331125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.369265064621625, + -12.628061150001209, + 0.7767295042997642 + ], + "camera_target": [ + -0.7999918727082563, + -13.270748836893157, + 0.9882770513668012 + ], + "camera_roll_rad": 0.05034434151068169, + "camera_pose_world_cv": [ + [ + -0.7288309335708618, + 0.23307400941848755, + 0.6438030004501343, + -1.369265079498291 + ], + [ + -0.6777021288871765, + -0.11153298616409302, + -0.7268289923667908, + -12.628061294555664 + ], + [ + -0.09759959578514099, + -0.9660419821739197, + 0.23924362659454346, + 0.7767295241355896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27912325796829934, + 0.29759272924001706, + 0.2819304166634271 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0983362642740193, + 1.1263946660270563, + 1.1712881088319154 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5993.283353354225, + "intensity": 1.137618026728271 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7285052523338034, + 0.7062482018849954, + 0.6680932582584673 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5049.79302926965, + "intensity": 0.7062482018849954 + }, + "point_color_scale": [ + 1.1829003642824694, + 1.1397537580826451, + 1.0657881474543751 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cbb89e4aee47e67fa2d07366f270af0d756f384 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.165128042060064, + "K": [ + [ + 376.577037367622, + 0.0, + 339.36251837690986 + ], + [ + 0.0, + 364.27702798711846, + 246.6022613121877 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.295324158268196, + -13.130840302621634, + 1.474715481311837 + ], + "camera_target": [ + -0.793109154680427, + -13.224677444632915, + 0.9414324362951118 + ], + "camera_roll_rad": 0.03009716065008286, + "camera_pose_world_cv": [ + [ + -0.0822829008102417, + -0.32896116375923157, + 0.9407520294189453, + -2.2953240871429443 + ], + [ + -0.9949947595596313, + 0.08082413673400879, + -0.058764636516571045, + -13.130840301513672 + ], + [ + -0.05670401453971863, + -0.9408785104751587, + -0.33396482467651367, + 1.4747154712677002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2564915530705495, + 0.24462317235740313, + 0.2620523006252954 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8622392714140534, + 0.8624432435805384, + 0.8627695990469142 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5504.729653195172, + "intensity": 0.8625248324471323 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8265002284325013, + 0.8170888714582307, + 0.8009551166451955 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5335.454916262232, + "intensity": 0.8170888714582307 + }, + "point_color_scale": [ + 0.8862647107247835, + 0.8589974449589036, + 0.8122535607888237 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36eba6fbd7aa8627b914205cee40f83b3b887e84 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0276507757914723, + "K": [ + [ + 429.1410899344938, + 0.0, + 316.85138083615067 + ], + [ + 0.0, + 425.2365162299024, + 227.5104590566398 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.1500951996709099, + -12.002729802002435, + 1.0698189055779201 + ], + "camera_target": [ + -0.858206088983104, + -13.202778309433088, + 0.8992286706551194 + ], + "camera_roll_rad": -0.02636303186018814, + "camera_pose_world_cv": [ + [ + -0.8633013963699341, + 0.016281157732009888, + -0.5044264197349548, + -0.15009519457817078 + ], + [ + 0.5019707679748535, + 0.13129615783691406, + -0.8548607230186462, + -12.002729415893555 + ], + [ + 0.05231107771396637, + -0.9912095665931702, + -0.12152063846588135, + 1.0698188543319702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2405231930912913, + 0.23926273691837124, + 0.24511956409976277 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.047603376401262, + 0.9926979956748965, + 0.8985744858582703 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4709.867869963854, + "intensity": 0.9926979956748965 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7804077197053232, + 0.7520568397995767, + 0.7034553313897255 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4961.460160125624, + "intensity": 0.7520568397995767 + }, + "point_color_scale": [ + 1.181459048612115, + 1.1609034755952332, + 1.1256653504234357 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0355d7230348a1f7e4b2efd7fd78ed1a7badc670 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1902006372509633, + "K": [ + [ + 340.21135637738433, + 0.0, + 300.55695649379584 + ], + [ + 0.0, + 354.52201204624106, + 256.1463272583047 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.43841379293377186, + -11.975671784800403, + 1.0961639536626777 + ], + "camera_target": [ + -0.87328362710466, + -13.280740907266836, + 0.8990360900733366 + ], + "camera_roll_rad": 0.03153971189864313, + "camera_pose_world_cv": [ + [ + -0.9440031051635742, + 0.10455911606550217, + -0.312930703163147, + -0.4384137988090515 + ], + [ + 0.3239821791648865, + 0.11438226699829102, + -0.9391231536865234, + -11.975671768188477 + ], + [ + -0.062400177121162415, + -0.9879190921783447, + -0.1418524980545044, + 1.0961639881134033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3478354154513462, + 0.3402283230310704, + 0.35792361315001225 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9049089078248869, + 0.930067363788468, + 0.970320893330198 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6035.211853584618, + "intensity": 0.9401307461739005 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5936674922308853, + 0.5874642272316808, + 0.5768300586616159 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5349.151544367554, + "intensity": 0.5874642272316808 + }, + "point_color_scale": [ + 1.0301976177802652, + 1.0518786079443319, + 1.0865681922068384 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..789538c4ddb1b2b58eb7578b8a1ae810c3951d48 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1626787287011366, + "K": [ + [ + 352.15926424988527, + 0.0, + 297.43569011339974 + ], + [ + 0.0, + 365.24987603958846, + 237.14591924033593 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7975415137853408, + -11.809468596093627, + 1.4869325504236584 + ], + "camera_target": [ + -0.8649857572273062, + -13.283426042345518, + 0.9804443119616961 + ], + "camera_roll_rad": 0.028937835400650022, + "camera_pose_world_cv": [ + [ + -0.8522751331329346, + -0.09996800124645233, + 0.5134528875350952, + -1.7975414991378784 + ], + [ + -0.520136296749115, + 0.2661919593811035, + -0.8115419149398804, + -11.809468269348145 + ], + [ + -0.05554874241352081, + -0.9587223529815674, + -0.2788655757904053, + 1.4869325160980225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3429239148381443, + 0.32355135136922686, + 0.3304646894255508 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0101412671008505, + 1.0213847825418279, + 1.039374407247392 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5719.197010429153, + "intensity": 1.025882188718219 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.796399929884226, + 0.8115202639916227, + 0.8357127985634574 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5869.885483615643, + "intensity": 0.8175683976345813 + }, + "point_color_scale": [ + 0.9977221094590216, + 0.9787658836695028, + 0.9462694966017563 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0c692c02256edf4a724eb99313a5364f1a1b688 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1159680851972382, + "K": [ + [ + 388.0822696440731, + 0.0, + 317.9379220273265 + ], + [ + 0.0, + 384.52620711711575, + 250.43300942109153 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1086286235759997, + -12.27354827299308, + 1.4478010382351987 + ], + "camera_target": [ + -0.8014992161367978, + -13.210711952266713, + 0.8655629074053981 + ], + "camera_roll_rad": -0.037776431859041885, + "camera_pose_world_cv": [ + [ + -0.9356094598770142, + -0.22960186004638672, + 0.26817601919174194, + -1.1086286306381226 + ], + [ + -0.3470022678375244, + 0.45822572708129883, + -0.8183023929595947, + -12.273548126220703 + ], + [ + 0.06499862670898438, + -0.8586689233779907, + -0.5083924531936646, + 1.4478009939193726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22882358672445263, + 0.22868435564300513, + 0.23996320702767132 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.128803056725854, + 1.135895142057388, + 1.1472424785878421 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5624.561099184425, + "intensity": 1.1387319761900014 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6582549226824721, + 0.6731883694368412, + 0.697081884243832 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5939.761125985025, + "intensity": 0.679161748138589 + }, + "point_color_scale": [ + 0.9241993539970645, + 0.8867632042767238, + 0.8225869476132829 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6eedca05870ae5d0d22ef49a4edd4612de003d2a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.112127911126539, + "K": [ + [ + 400.049236915694, + 0.0, + 326.8410043383531 + ], + [ + 0.0, + 386.1750392680333, + 240.67586374515028 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6598012365571044, + -12.07167614246149, + 1.1460916831681542 + ], + "camera_target": [ + -0.8204160050602767, + -13.253708117215393, + 0.9353539531992094 + ], + "camera_roll_rad": 0.048953983524958083, + "camera_pose_world_cv": [ + [ + -0.8195734024047852, + -0.0031879544258117676, + 0.572965681552887, + -1.6598012447357178 + ], + [ + -0.5647496581077576, + 0.17332160472869873, + -0.8068566918373108, + -12.071676254272461 + ], + [ + -0.09673501551151276, + -0.9848602414131165, + -0.1438499093055725, + 1.1460916996002197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.314944710178435, + 0.321252240656135, + 0.31856445389259247 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0611414606744003, + 1.0949778853672585, + 1.149116164875832 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6110.483437200499, + "intensity": 1.108512455244402 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6199913162931744, + 0.5924559113688894, + 0.5452523600701151 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4836.04691937176, + "intensity": 0.5924559113688894 + }, + "point_color_scale": [ + 1.0131405593497147, + 1.0308523515504409, + 1.0591912190716024 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6a033f87ba5c9e6209f4e71f65a107674bc50e3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1097333377996144, + "K": [ + [ + 402.9266597118381, + 0.0, + 340.366043108168 + ], + [ + 0.0, + 387.2083490340052, + 249.83650412064395 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8028863895064978, + -11.9288189761416, + 1.1755146426316863 + ], + "camera_target": [ + -0.8828227396405782, + -13.202333113358243, + 0.8533258720729722 + ], + "camera_roll_rad": 0.015083780275607903, + "camera_pose_world_cv": [ + [ + -0.9971194267272949, + 0.04543297365307808, + -0.06073862314224243, + -0.8028863668441772 + ], + [ + 0.06998611241579056, + 0.24233019351959229, + -0.9676664471626282, + -11.928818702697754 + ], + [ + -0.0292451623827219, + -0.9691296219825745, + -0.2448115348815918, + 1.1755146980285645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.278185436338846, + 0.25610677244138386, + 0.28446403878269455 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9291043254138938, + 0.9355339139205654, + 0.9458212555312401 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5637.075985544488, + "intensity": 0.9381057493232341 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6466770993945264, + 0.6500262085669143, + 0.6553847832427351 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5602.8334279696055, + "intensity": 0.6513658522358695 + }, + "point_color_scale": [ + 0.937197023185944, + 0.9148355155222336, + 0.8765015023844445 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf05db9a5b01f0d5259eb9275bc57723882676d7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9339927370989796, + "K": [ + [ + 488.9299680377998, + 0.0, + 344.23125591298293 + ], + [ + 0.0, + 476.00820871834077, + 263.58475405659294 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9025984500237715, + -12.438996231267746, + 1.1225112966778434 + ], + "camera_target": [ + -0.7985679983284273, + -13.266330879714152, + 0.9662916159818573 + ], + "camera_roll_rad": -0.022199585386714935, + "camera_pose_world_cv": [ + [ + -0.9901896715164185, + -0.06698892265558243, + 0.12262587249279022, + -0.9025984406471252 + ], + [ + -0.13274571299552917, + 0.17698776721954346, + -0.9752199649810791, + -12.438996315002441 + ], + [ + 0.043625663965940475, + -0.9819307327270508, + -0.1841437816619873, + 1.1225112676620483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2873692931249062, + 0.2895909632536679, + 0.27558339788659086 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.087939088216224, + 1.0917548627426257, + 1.0978601019848682 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5569.804083747102, + "intensity": 1.0932811725531864 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7875135027023288, + 0.8022813128394864, + 0.825909809058939 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5865.4546257530355, + "intensity": 0.8081884368943496 + }, + "point_color_scale": [ + 0.8965989410478725, + 0.9237549916812539, + 0.967204672694664 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afe8ca9123781bedbec737219f6410f8aec5f10f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9029581132426211, + "K": [ + [ + 504.1672453680273, + 0.0, + 349.1541408584685 + ], + [ + 0.0, + 494.9672614243553, + 255.3495624584544 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0254905850038654, + -13.069572935155529, + 1.5583308441713635 + ], + "camera_target": [ + -0.8790072146958037, + -13.216678219223615, + 0.8608585527535513 + ], + "camera_roll_rad": -0.0036208384713010966, + "camera_pose_world_cv": [ + [ + -0.12355256080627441, + -0.5133488774299622, + 0.8492396473884583, + -2.0254905223846436 + ], + [ + -0.9923188090324402, + 0.058567047119140625, + -0.1089659035205841, + -13.069573402404785 + ], + [ + 0.006200194358825684, + -0.8561793565750122, + -0.5166416168212891, + 1.5583308935165405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3458251559214554, + 0.33989692250078485, + 0.30970906170632856 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9778556671756222, + 1.0160997060663055, + 1.077290168291399 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6241.596629910158, + "intensity": 1.031397321622579 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8558387604577518, + 0.8574301820259664, + 0.85997645653511 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5537.093188076642, + "intensity": 0.8580667506532523 + }, + "point_color_scale": [ + 0.8732680636849973, + 0.9051302048191638, + 0.9561096306338301 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23010c288ecb4d48103a75a06668e2781c29b6a1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8176595271694513, + "K": [ + [ + 559.9943855929279, + 0.0, + 325.59319626544135 + ], + [ + 0.0, + 553.9646867407414, + 239.5238672782743 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6349555966849891, + -12.743464115895753, + 1.39554179510561 + ], + "camera_target": [ + -0.8814160675367894, + -13.24765392164731, + 0.9019203897369741 + ], + "camera_roll_rad": -0.011540630538702676, + "camera_pose_world_cv": [ + [ + -0.5467766523361206, + -0.41014033555984497, + 0.7299454808235168, + -1.634955644607544 + ], + [ + -0.837033212184906, + 0.24665403366088867, + -0.4884029030799866, + -12.743464469909668 + ], + [ + 0.020269811153411865, + -0.878035843372345, + -0.47816550731658936, + 1.395541787147522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35055919350238124, + 0.34051127407403603, + 0.34191379530825167 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.030046707301983, + 1.082178487570315, + 1.1655893359996463 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6445.245796919744, + "intensity": 1.1030311996776478 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5579036224171885, + 0.5531862785608382, + 0.5450994033785237 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5378.177335318926, + "intensity": 0.5531862785608382 + }, + "point_color_scale": [ + 0.9718210118151595, + 0.9606639831929853, + 0.9415376484121153 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a8902d6dee52abf5b90582c0b5c8a52d192b775 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9785548287789515, + "K": [ + [ + 462.9108076256437, + 0.0, + 338.8586541341196 + ], + [ + 0.0, + 450.73779516348253, + 221.8615809091569 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5994802534609827, + -11.639715910655667, + 1.356858263337931 + ], + "camera_target": [ + -0.8179842080140516, + -13.250044224657396, + 0.8561606806090303 + ], + "camera_roll_rad": 0.044440036347386164, + "camera_pose_world_cv": [ + [ + -0.9065425395965576, + -0.037295326590538025, + 0.4204638600349426, + -1.5994802713394165 + ], + [ + -0.41336870193481445, + 0.28015315532684326, + -0.8663951754570007, + -11.639716148376465 + ], + [ + -0.08548177778720856, + -0.9592306017875671, + -0.269387423992157, + 1.356858253479004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22134440521522875, + 0.220063890775196, + 0.23018968248277388 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1584056716325541, + 1.1315718943838557, + 1.0855711333860871 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5161.23259433716, + "intensity": 1.1315718943838557 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5392285681967522, + 0.5514895750491686, + 0.5711071860130349 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5940.7311129108275, + "intensity": 0.5563939777901352 + }, + "point_color_scale": [ + 1.0052666178024745, + 1.0243909063928596, + 1.0549897681374758 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a28f0bec49614c6def4ea9e9c4b169fb6fb8d5c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1216266740049352, + "K": [ + [ + 390.8246752364121, + 0.0, + 290.43110692107075 + ], + [ + 0.0, + 382.1150142534629, + 250.00423519708946 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8697879281045351, + -11.630095525079815, + 0.7838164077690255 + ], + "camera_target": [ + -0.8386480227067938, + -13.232892415246083, + 0.8556639379703614 + ], + "camera_roll_rad": 0.0036230271546996914, + "camera_pose_world_cv": [ + [ + -0.9997787475585938, + 0.008114265277981758, + 0.019405299797654152, + -0.8697879314422607 + ], + [ + -0.019748630002141, + -0.044622600078582764, + -0.9988086819648743, + -11.630095481872559 + ], + [ + -0.007238684222102165, + -0.9989709258079529, + 0.044772982597351074, + 0.783816397190094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2695824104850229, + 0.2705931150966851, + 0.2711239465628946 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8931418274259108, + 0.8707837700441579, + 0.8324556716754385 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5133.203062887666, + "intensity": 0.8707837700441579 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.934957041126859, + 0.9039977719789501, + 0.8509247391539635 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5010.756234970174, + "intensity": 0.9039977719789501 + }, + "point_color_scale": [ + 0.9243032341706834, + 0.911793379496162, + 0.8903479143398397 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..00510d865dcfdbb70a421366703ea44ebb905f34 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9609374820959842, + "K": [ + [ + 454.90672418777785, + 0.0, + 346.705660350261 + ], + [ + 0.0, + 460.4698383420384, + 262.71994149906516 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.008056990826934, + -12.764475456522312, + 1.576268124286066 + ], + "camera_target": [ + -0.8895885668509851, + -13.242493488380203, + 0.8918217232534148 + ], + "camera_roll_rad": -0.047876238151731164, + "camera_pose_world_cv": [ + [ + -0.3480851650238037, + -0.486450731754303, + 0.8013753890991211, + -2.008056879043579 + ], + [ + -0.9337529540061951, + 0.10393047332763672, + -0.34249669313430786, + -12.76447582244873 + ], + [ + 0.08332046866416931, + -0.8675045371055603, + -0.49040138721466064, + 1.5762680768966675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9547908306121826, + 0.29727840423583984, + 0.0, + -0.8431071639060974 + ], + [ + -0.29727840423583984, + -0.9547908306121826, + -0.0, + -13.250038146972656 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2488776022284935, + 0.2220754772470156, + 0.23999332297560821 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.92497085530114, + 0.9278447792695588, + 0.9324430576190287 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5561.871721221016, + "intensity": 0.9289943488569262 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6500142561119872, + 0.637077635631084, + 0.6149005719495356 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5209.911549744118, + "intensity": 0.637077635631084 + }, + "point_color_scale": [ + 0.9923252110253925, + 0.9888166319034124, + 0.9828019248371607 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9280f0e17c2ea46a5fe37c13b0ca32db15fd1909 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8440427721629599, + "K": [ + [ + 545.9989500317259, + 0.0, + 300.7053126066747 + ], + [ + 0.0, + 534.5220565992345, + 222.85238247585028 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4897277961080821, + -12.069802123816642, + 0.9932177870967877 + ], + "camera_target": [ + -0.7255082468748364, + -12.493792401125928, + 0.9552669493536927 + ], + "camera_roll_rad": 0.003257405669518279, + "camera_pose_world_cv": [ + [ + -0.48537588119506836, + -0.034774601459503174, + 0.8736138343811035, + -1.4897278547286987 + ], + [ + -0.8742814064025879, + 0.026743292808532715, + -0.4846823215484619, + -12.069802284240723 + ], + [ + -0.00650864839553833, + -0.9990373849868774, + -0.043383240699768066, + 0.9932177662849426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24718547669477636, + 0.2330418529346884, + 0.2355111360880833 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0035112134578843, + 1.0401792471862439, + 1.0988481011516196 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6195.229781684166, + "intensity": 1.0548464606775878 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7594938029936436, + 0.7344215546966764, + 0.6914405576161611 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5012.30329041896, + "intensity": 0.7344215546966764 + }, + "point_color_scale": [ + 1.0674498556145808, + 1.030310184638427, + 0.9666421772507346 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b20047f48a7492595194ba6db12ab9a630382c40 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2877863717819602, + "K": [ + [ + 320.4658519669186, + 0.0, + 293.9314523741977 + ], + [ + 0.0, + 319.73875182738317, + 249.7510975716728 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5576883307930478, + -12.814087662914817, + 1.192379432091447 + ], + "camera_target": [ + -0.7572171739189837, + -12.461676953283495, + 0.912088165230691 + ], + "camera_roll_rad": 0.043014890718772375, + "camera_pose_world_cv": [ + [ + 0.3774440288543701, + -0.31290343403816223, + 0.8715661764144897, + -1.5576883554458618 + ], + [ + -0.9224103689193726, + -0.04387497901916504, + 0.3837112486362457, + -12.814087867736816 + ], + [ + -0.08182457089424133, + -0.9487711191177368, + -0.30518561601638794, + 1.1923794746398926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30188065398383546, + 0.3221728450783073, + 0.31692881483799074 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.076370183671692, + 1.0936818497349625, + 1.1213805154361958 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5814.584109926345, + "intensity": 1.100606516160271 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7974905405762257, + 0.7986195125379766, + 0.8004258676767783 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5528.257109032782, + "intensity": 0.7990711013226771 + }, + "point_color_scale": [ + 1.0326378226297892, + 1.0097708526193667, + 0.9705703326014997 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35e5541b9e311ee0bc5f7bbd1548743e83a5c547 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9663505650263943, + "K": [ + [ + 452.96166778657255, + 0.0, + 344.84015484637297 + ], + [ + 0.0, + 457.44482491388464, + 218.91180359525137 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0119192825440295, + -11.23704771349625, + 1.1767423594904882 + ], + "camera_target": [ + -0.769722488825319, + -12.445999657933726, + 0.8490468146805801 + ], + "camera_roll_rad": -0.03229075914282351, + "camera_pose_world_cv": [ + [ + -0.975217342376709, + -0.11362980306148529, + 0.18984244763851166, + -1.0119192600250244 + ], + [ + -0.21227742731571198, + 0.23865318298339844, + -0.9476198554039001, + -11.237048149108887 + ], + [ + 0.06237135827541351, + -0.9644342064857483, + -0.25685936212539673, + 1.1767423152923584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3035833753347609, + 0.29044500597014367, + 0.294364928527675 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.913523716752132, + 0.891876595234701, + 0.8547672440619621 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5153.26526701289, + "intensity": 0.891876595234701 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7670991240130307, + 0.7782695236243812, + 0.7961421630025423 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5785.418725768915, + "intensity": 0.7827376834689215 + }, + "point_color_scale": [ + 1.0222646227255854, + 1.0023597937895294, + 0.9682372298991478 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1328cf749cc754d88d4a9f05e2e0bfe2aad98a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9878975628944624, + "K": [ + [ + 463.949341103885, + 0.0, + 298.0138583564975 + ], + [ + 0.0, + 445.7063710590224, + 237.76983733501868 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.006578634785064, + -12.192732146247593, + 1.4067665272189487 + ], + "camera_target": [ + -0.7665763323353323, + -12.49958773696489, + 0.9369440149582566 + ], + "camera_roll_rad": -0.03773704469310876, + "camera_pose_world_cv": [ + [ + -0.21426856517791748, + -0.3522389233112335, + 0.9110527038574219, + -2.0065786838531494 + ], + [ + -0.9742079973220825, + 0.009489774703979492, + -0.22545284032821655, + -12.192731857299805 + ], + [ + 0.07076773047447205, + -0.935862123966217, + -0.3451871871948242, + 1.4067665338516235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3343535087715537, + 0.36899562981346234, + 0.3668358428216454 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9816348263167939, + 1.0274929837049742, + 1.1008660355260627 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6376.966303943334, + "intensity": 1.0458362466602462 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7571238100383144, + 0.7678949771246165, + 0.7851288444626998 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5778.9722623115385, + "intensity": 0.7722034439591373 + }, + "point_color_scale": [ + 1.121913148796072, + 1.1053157242372698, + 1.07686299642218 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..442737e3926caca83b521c27abb7859167a3321c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.00844533178116, + "K": [ + [ + 455.681944792977, + 0.0, + 304.781543909398 + ], + [ + 0.0, + 434.94168904982035, + 230.32083166372445 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.1647741619906125, + -12.91059274957922, + 1.2184217954977536 + ], + "camera_target": [ + -0.7084871094863613, + -12.436704202656566, + 0.8492575218616912 + ], + "camera_roll_rad": -0.02948774526202052, + "camera_pose_world_cv": [ + [ + 0.3220341205596924, + -0.20421507954597473, + 0.9244405031204224, + -2.164774179458618 + ], + [ + -0.9449924230575562, + -0.12843698263168335, + 0.3008209466934204, + -12.910593032836914 + ], + [ + 0.05730012059211731, + -0.9704638719558716, + -0.2343428134918213, + 1.2184218168258667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2949291873240149, + 0.28451226081762576, + 0.2855908640784819 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9931235459335953, + 1.0082094683376588, + 1.0323469441841604 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5797.481174630238, + "intensity": 1.0142438372992841 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8354177244493656, + 0.8575321460482418, + 0.8929152206064437 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6010.50289311323, + "intensity": 0.8663779146877922 + }, + "point_color_scale": [ + 0.8092484158891419, + 0.8229804834060412, + 0.8449517914330799 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c5155ad005b373045982c6aa31cab8b0c2b20b0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.278821045349743, + "K": [ + [ + 309.99448840766763, + 0.0, + 344.37674542661046 + ], + [ + 0.0, + 322.74202804210836, + 230.76104820381983 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0021324674119365, + -11.668599501897294, + 0.9736408883073826 + ], + "camera_target": [ + -0.7627916416807217, + -12.483978298820857, + 0.9589397730350001 + ], + "camera_roll_rad": -0.014195364522856628, + "camera_pose_world_cv": [ + [ + -0.9589923620223999, + -0.032107606530189514, + 0.281607985496521, + -1.0021324157714844 + ], + [ + -0.28200775384902954, + 0.00859522819519043, + -0.9593736529350281, + -11.668599128723145 + ], + [ + 0.028382733464241028, + -0.9994475245475769, + -0.01729714870452881, + 0.9736408591270447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2840361759615685, + 0.2784134053500526, + 0.28528441571913954 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0732003305802849, + 1.0564546230030243, + 1.0277476957277207 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5273.559234109975, + "intensity": 1.0564546230030243 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7341041774912964, + 0.7135749877587975, + 0.6783820910745139 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5089.007260530789, + "intensity": 0.7135749877587975 + }, + "point_color_scale": [ + 0.9818415771114517, + 1.022001316090522, + 1.0862568984570344 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8413b770b07db8dd2031d5f6207cdd53506116a1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2420838558177936, + "K": [ + [ + 336.41999746915104, + 0.0, + 301.63343798941264 + ], + [ + 0.0, + 335.4376729941029, + 231.15656481412285 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0872224615042425, + -12.214040845159632, + 1.464279983322328 + ], + "camera_target": [ + -0.7182046428016904, + -12.51113431809272, + 0.9276888416190259 + ], + "camera_roll_rad": -0.00963710804174124, + "camera_pose_world_cv": [ + [ + -0.2052992582321167, + -0.35358133912086487, + 0.9125964641571045, + -2.0872225761413574 + ], + [ + -0.9785337448120117, + 0.05700969696044922, + -0.19804447889328003, + -12.214040756225586 + ], + [ + 0.017997950315475464, + -0.933664858341217, + -0.3576953411102295, + 1.4642800092697144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3537019617977265, + 0.3822281624925578, + 0.3681166321323919 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1696336998827037, + 1.0934225923146994, + 0.9627749793409779 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4504.291555921138, + "intensity": 1.0934225923146994 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8929778143144411, + 0.9238447404447744, + 0.9732318222533077 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6159.414783643179, + "intensity": 0.9361915108969077 + }, + "point_color_scale": [ + 0.825324550106587, + 0.804100272548619, + 0.7677157967349596 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4566586fc16688ce95452538abd34b56b56392d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9621328714222102, + "K": [ + [ + 459.42071208126555, + 0.0, + 297.08215123255616 + ], + [ + 0.0, + 459.7991162074219, + 247.40944873217381 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.000077509335218, + -11.519917662051418, + 1.1092252538674803 + ], + "camera_target": [ + -0.7042185056817338, + -12.481769624612712, + 0.9064264463677829 + ], + "camera_roll_rad": -0.018000210949137944, + "camera_pose_world_cv": [ + [ + -0.9530961513519287, + -0.0924445316195488, + 0.2882051169872284, + -1.000077486038208 + ], + [ + -0.30060485005378723, + 0.1781177520751953, + -0.9369691014289856, + -11.519917488098145 + ], + [ + 0.03528323769569397, + -0.9796572327613831, + -0.1975523829460144, + 1.1092252731323242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35455698862680995, + 0.36435476005622297, + 0.36374862574739825 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.8582087679307696, + 0.887906187819068, + 0.9354220596403455 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 6160.100240545528, + "intensity": 0.8997851557743874 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.9920690131345558, + 0.9467090464936352, + 0.8689491036806286 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4815.524103375009, + "intensity": 0.9467090464936352 + }, + "point_color_scale": [ + 0.8518522719437394, + 0.8867578906695138, + 0.942606880630753 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b6dab30cdef06bd642bbd793c78ec6dd56dff7c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2386037300951613, + "K": [ + [ + 345.9510887763843, + 0.0, + 296.519428285285 + ], + [ + 0.0, + 336.6740844012548, + 262.514200423153 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0789146373237486, + -12.93862354995197, + 1.5289638041762221 + ], + "camera_target": [ + -0.7371566973502668, + -12.482158582241848, + 0.880996439153628 + ], + "camera_roll_rad": 0.04165614843794621, + "camera_pose_world_cv": [ + [ + 0.28819727897644043, + -0.4190771281719208, + 0.8609975576400757, + -2.0789146423339844 + ], + [ + -0.9545756578445435, + -0.054669976234436035, + 0.29291045665740967, + -12.938623428344727 + ], + [ + -0.07568135857582092, + -0.9063032865524292, + -0.41579651832580566, + 1.5289638042449951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2512963634292982, + 0.24534838576837173, + 0.2639068972233088 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.0710975545199537, + 1.0659195869910905, + 1.0570430712273253 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5430.603616256972, + "intensity": 1.0659195869910905 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8462174998765545, + 0.8262122097155642, + 0.791917426582438 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5154.09630106882, + "intensity": 0.8262122097155642 + }, + "point_color_scale": [ + 0.8328390708957435, + 0.8256776843565973, + 0.8134010217180608 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d5c3aba28f63d96f44fa071967fac26f2d4056f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2807577641009098, + "K": [ + [ + 333.0978282311601, + 0.0, + 296.6251565830881 + ], + [ + 0.0, + 322.09019269453717, + 258.2435856360038 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9946985996763018, + -12.41521452440101, + 1.286791473603213 + ], + "camera_target": [ + -0.7842755676486459, + -12.51027755662169, + 0.8538583876724872 + ], + "camera_roll_rad": -0.03594566486990258, + "camera_pose_world_cv": [ + [ + -0.05404353141784668, + -0.3395882546901703, + 0.9390204548835754, + -1.9946986436843872 + ], + [ + -0.996243953704834, + -0.0453801155090332, + -0.07374805212020874, + -12.415214538574219 + ], + [ + 0.06765693426132202, + -0.9394789338111877, + -0.33586007356643677, + 1.286791443824768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.20830389860649764, + 0.22551611156707183, + 0.22738036339719148 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9266775025627485, + 0.8733912857156343, + 0.7820434854062958 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4628.418520204545, + "intensity": 0.8733912857156343 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6616791491640505, + 0.6334621014516614, + 0.5850900196589944 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4863.654620092031, + "intensity": 0.6334621014516614 + }, + "point_color_scale": [ + 0.9337029772116489, + 0.9304363818937177, + 0.9248365042058359 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac9e465c2b7fc10e138f594f7d884c1b4458b026 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1097518665225794, + "K": [ + [ + 371.9721234285896, + 0.0, + 301.51355978701366 + ], + [ + 0.0, + 387.2003381713699, + 259.2856247593533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4879244831246251, + -10.738901655976399, + 1.2122430807946607 + ], + "camera_target": [ + -0.7538663932623921, + -12.489903400537363, + 0.9633673707852379 + ], + "camera_roll_rad": -0.012264763162069828, + "camera_pose_world_cv": [ + [ + -0.9888770580291748, + -0.003360077738761902, + -0.1486969143152237, + -0.4879244863986969 + ], + [ + 0.14673833549022675, + 0.1412184238433838, + -0.9790430665016174, + -10.73890209197998 + ], + [ + 0.024288412183523178, + -0.9899727702140808, + -0.13915467262268066, + 1.2122430801391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24912876030052566, + 0.24024269545222365, + 0.22777560478259257 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.901206748470857, + 0.9052917816848334, + 0.9118278348271955 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5590.085280110697, + "intensity": 0.9069257949704239 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5262967495357062, + 0.5478391493354756, + 0.582306989015107 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6274.271301598119, + "intensity": 0.5564561092553835 + }, + "point_color_scale": [ + 1.173281108898446, + 1.1871964686849865, + 1.209461044343451 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44a8831977d28988ba62471a6c2a8ffb4faba98a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8648811187761641, + "K": [ + [ + 524.8839305894534, + 0.0, + 289.6178427641784 + ], + [ + 0.0, + 519.9551986316533, + 243.87231087676128 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0194218022511006, + -11.461335086041458, + 1.0133708047805434 + ], + "camera_target": [ + -0.7274633748322218, + -12.450944941448986, + 0.9273417161352809 + ], + "camera_roll_rad": -0.037722037289235795, + "camera_pose_world_cv": [ + [ + -0.9546294212341309, + -0.09573712944984436, + 0.2819874882698059, + -1.0194218158721924 + ], + [ + -0.28816792368888855, + 0.05814051628112793, + -0.9558131694793701, + -11.461335182189941 + ], + [ + 0.07511191070079803, + -0.9937071800231934, + -0.08309102058410645, + 1.0133707523345947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3865109076484144, + 0.355835078267836, + 0.3591240823347083 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9904039629092719, + 0.9351333061129204, + 0.8403836087477464 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4655.6489259713035, + "intensity": 0.9351333061129204 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.8297490772823661, + 0.8527072715994074, + 0.8894403825066733 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6032.740365583278, + "intensity": 0.8618905493262239 + }, + "point_color_scale": [ + 0.8316117120917057, + 0.8003212628113741, + 0.74668049261652 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f57d1d7f4b0480e95921bf1743b5f16c70c2f6f0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0152497380412122, + "K": [ + [ + 417.9507066146505, + 0.0, + 311.504967769385 + ], + [ + 0.0, + 431.4648783092868, + 260.1741345986324 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3712660192891388, + -10.722267117415475, + 1.5000193300328044 + ], + "camera_target": [ + -0.719313397040963, + -12.456939341382208, + 0.9784116297703174 + ], + "camera_roll_rad": -0.03643661282654701, + "camera_pose_world_cv": [ + [ + -0.9266473054885864, + -0.1632218360900879, + 0.338650107383728, + -1.3712660074234009 + ], + [ + -0.36934173107147217, + 0.2273348569869995, + -0.9010581374168396, + -10.722267150878906 + ], + [ + 0.07008539140224457, + -0.9600405097007751, + -0.2709435820579529, + 1.5000193119049072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2576616661641476, + 0.28645252026605533, + 0.2812546075084626 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9107761764570745, + 0.8652966393395173, + 0.7873317185665621 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4749.150356571496, + "intensity": 0.8652966393395173 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.6385308108106431, + 0.6509417206228192, + 0.6707991763223007 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5878.43557498737, + "intensity": 0.6559060845476895 + }, + "point_color_scale": [ + 1.0261930402505652, + 1.0353278465281166, + 1.0499435365721987 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..886811094ec089ccd8e66e567dfbfa2d06973f6f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8472802132546273, + "K": [ + [ + 530.6198675245734, + 0.0, + 339.5474028089777 + ], + [ + 0.0, + 532.2148344028578, + 225.6700576265912 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9873434717213174, + -11.691987388035457, + 1.5130393065145453 + ], + "camera_target": [ + -0.7512789246994402, + -12.468693665379979, + 0.8759617646468203 + ], + "camera_roll_rad": -0.01488013083275095, + "camera_pose_world_cv": [ + [ + -0.5217368602752686, + -0.35434532165527344, + 0.7760348320007324, + -1.987343430519104 + ], + [ + -0.852670431137085, + 0.18751740455627441, + -0.487637460231781, + -11.691987037658691 + ], + [ + 0.027272015810012817, + -0.9161203503608704, + -0.3999745845794678, + 1.5130393505096436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36409490519607246, + 0.362251629447408, + 0.37759449050927696 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 0.9887144268276365, + 0.9995694768234152, + 1.016937556816661 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5716.255118706072, + "intensity": 1.0039114968217266 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.9180988423497893, + 0.8753394984532636, + 0.8020377660592195 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 4802.159023978989, + "intensity": 0.8753394984532636 + }, + "point_color_scale": [ + 1.1817834708305492, + 1.1924975884611353, + 1.209640176670073 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16adf0528fce01334e146768d39bc2f781505d08 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9053866285914467, + "K": [ + [ + 501.44647014234306, + 0.0, + 293.33248707483705 + ], + [ + 0.0, + 493.4401458785455, + 234.0184945838598 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4446161506608597, + -12.121178591699406, + 1.5289229401555047 + ], + "camera_target": [ + -0.6959415992530659, + -12.43523190464643, + 0.9319419363778907 + ], + "camera_roll_rad": 0.004586998971523336, + "camera_pose_world_cv": [ + [ + -0.17963576316833496, + -0.31186383962631226, + 0.9329909682273865, + -2.4446160793304443 + ], + [ + -0.983694851398468, + 0.06533002853393555, + -0.16756069660186768, + -12.12117862701416 + ], + [ + -0.00869607925415039, + -0.9478782415390015, + -0.31851428747177124, + 1.5289229154586792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30995504201452967, + 0.31645279227554035, + 0.3167857616868006 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1120035393594125, + 1.1282875417137008, + 1.1543419454805621 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 5786.993055297495, + "intensity": 1.134801142655416 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.5945547253218547, + 0.6028596413158946, + 0.6161475069063584 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 5774.007521454359, + "intensity": 0.6061816077135106 + }, + "point_color_scale": [ + 0.9695376047843204, + 0.9613806124065544, + 0.9473971969018125 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbab538d75449cd40aaa10347d62aa7b40e95aee --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000000/scene_b04_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 0, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0236189394318462, + "K": [ + [ + 410.53310435961976, + 0.0, + 329.2396160074358 + ], + [ + 0.0, + 427.24639583665584, + 245.48944873000372 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6313976215799386, + -12.314737638863624, + 1.3030604677194093 + ], + "camera_target": [ + -0.7551391024445703, + -12.458088528138783, + 0.9526663220519528 + ], + "camera_roll_rad": 0.04404590004274181, + "camera_pose_world_cv": [ + [ + -0.19269394874572754, + -0.3466557264328003, + 0.9179861545562744, + -1.6313976049423218 + ], + [ + -0.9778403043746948, + 0.1458585262298584, + -0.15017801523208618, + -12.314737319946289 + ], + [ + -0.08183607459068298, + -0.926582396030426, + -0.36708009243011475, + 1.3030604124069214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.019582271575927734, + -0.9998082518577576, + 0.0, + -0.737739086151123 + ], + [ + 0.9998082518577576, + 0.019582271575927734, + 0.0, + -12.475860595703125 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36061835366769124, + 0.3764659813532534, + 0.3523303608465707 + ], + "directional_primary": { + "direction": [ + 0.35086899845071706, + -0.3952025258378044, + -0.8489439955012404 + ], + "color": [ + 1.1473679927724862, + 1.1046490503515807, + 1.0314165776300284 + ], + "azimuth_rad": -0.8447509934494906, + "elevation_rad": 1.013983895513356, + "color_temp_k": 4947.543447560379, + "intensity": 1.1046490503515807 + }, + "directional_fill": { + "direction": [ + -0.04498802506721619, + -0.47974137709949866, + -0.8762558340457586 + ], + "color": [ + 0.7365251358144962, + 0.764341512442125, + 0.8088477150463311 + ], + "azimuth_rad": -1.664298463332811, + "elevation_rad": 1.068035970607597, + "color_temp_k": 6217.408696798557, + "intensity": 0.7754680630931765 + }, + "point_color_scale": [ + 0.9997607164303199, + 1.0168990672868359, + 1.0443204286572614 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a378d5518889562dd0f94772ae37349b003aa9a9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8439505719787322, + "K": [ + [ + 560.0579587297723, + 0.0, + 310.4799115674282 + ], + [ + 0.0, + 534.5880083671644, + 223.83433022765306 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.303826933771665, + -6.545601050496297, + 1.638378976082006 + ], + "camera_target": [ + -7.718627664043756, + -4.706206504682449, + 0.8441851079243938 + ], + "camera_roll_rad": -0.050807049364500693, + "camera_pose_world_cv": [ + [ + 0.9597213864326477, + -0.018097542226314545, + 0.2803700268268585, + -8.303827285766602 + ], + [ + -0.2648295760154724, + -0.3914746046066284, + 0.8812565207481384, + -6.545600891113281 + ], + [ + 0.09380919486284256, + -0.9200109839439392, + -0.38049930334091187, + 1.6383789777755737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35163411159009383, + 0.3428416307847017, + 0.33120117514955383 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.2512426452394914, + 1.1740698127208975, + 1.0417735284033083 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4560.985110054958, + "intensity": 1.1740698127208975 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6900552706792035, + 0.6964941772912467, + 0.706796427870516 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5684.213569668519, + "intensity": 0.699069739936064 + }, + "point_color_scale": [ + 1.1073511409177765, + 1.0902297082721548, + 1.0608786808796602 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60d9dfe11e1ac4bd84734faccde2e7ed87cd9724 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3013491629111438, + "K": [ + [ + 330.141381404592, + 0.0, + 350.4173169216987 + ], + [ + 0.0, + 315.26291213049353, + 216.50342064338483 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.259958703976524, + -5.532911520926963, + 1.0703054420861817 + ], + "camera_target": [ + -7.774045599910449, + -4.729780324743275, + 0.9532842905348028 + ], + "camera_roll_rad": 0.05165726939662271, + "camera_pose_world_cv": [ + [ + 0.8444247245788574, + -0.15193377435207367, + 0.5136760473251343, + -8.259958267211914 + ], + [ + -0.5258076786994934, + -0.05189269781112671, + 0.8490190505981445, + -5.53291130065918 + ], + [ + -0.10233867168426514, + -0.9870275259017944, + -0.12370741367340088, + 1.0703054666519165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28215535280061105, + 0.2770961877050784, + 0.28552104544868023 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.985001232553133, + 0.9450746177395388, + 0.8766289923448058 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4896.470711501036, + "intensity": 0.9450746177395388 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7153867727166271, + 0.7281833858221564, + 0.7486579667910033 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5849.013436849624, + "intensity": 0.7333020310643681 + }, + "point_color_scale": [ + 0.9393381003734291, + 0.9305916418684104, + 0.9155977130026639 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ddccc92fc611559ba9e086de0f08faa8161b635 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0384739908996319, + "K": [ + [ + 436.24244168510546, + 0.0, + 321.93465916459604 + ], + [ + 0.0, + 419.911404916894, + 255.51976243731994 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.505305588299967, + -3.4853691875747037, + 1.2769230008451729 + ], + "camera_target": [ + -7.696786850470467, + -4.721312779047095, + 0.9798649145021712 + ], + "camera_roll_rad": -0.0130820958903402, + "camera_pose_world_cv": [ + [ + -0.9887981414794922, + 0.009514622390270233, + -0.1489563286304474, + -7.505305767059326 + ], + [ + 0.1470736563205719, + 0.23228955268859863, + -0.9614629745483398, + -3.4853692054748535 + ], + [ + 0.02545304223895073, + -0.9726002216339111, + -0.23108673095703125, + 1.2769230604171753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24760889226940616, + 0.23493802212956685, + 0.25551940928418404 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9212801082124021, + 0.9138161399305593, + 0.9010207657331144 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5383.315566827105, + "intensity": 0.9138161399305593 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7733064114203567, + 0.7484854452069948, + 0.7059352174126599 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5026.263023696612, + "intensity": 0.7484854452069948 + }, + "point_color_scale": [ + 0.9328770430171479, + 0.9311121614596273, + 0.9280866502181632 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd38057feadf211577cd59a824e269bba984f50 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9834083910452244, + "K": [ + [ + 428.63734928373736, + 0.0, + 320.0318991101363 + ], + [ + 0.0, + 448.1130091223823, + 253.8487930446927 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.622972212662478, + -5.949776858191575, + 1.3043076885404563 + ], + "camera_target": [ + -7.755222033584414, + -4.726270509196863, + 0.8943299062280878 + ], + "camera_roll_rad": -0.0501721468848366, + "camera_pose_world_cv": [ + [ + 0.9858051538467407, + 0.13339100778102875, + -0.1019560843706131, + -7.622972011566162 + ], + [ + 0.13840331137180328, + -0.30188941955566406, + 0.9432430863380432, + -5.949776649475098 + ], + [ + 0.09504066407680511, + -0.9439648985862732, + -0.3160659074783325, + 1.3043076992034912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3570951107326314, + 0.3547123682393162, + 0.3571289342004764 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.951022544225191, + 0.9938801588329683, + 1.0624523422054124 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6347.806744880967, + "intensity": 1.0110232046760794 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5992387989476861, + 0.6189973534656701, + 0.6506110406944445 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6130.356678355805, + "intensity": 0.6269007752728637 + }, + "point_color_scale": [ + 0.8947733824720785, + 0.9044137770768629, + 0.9198384084445181 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a63c08ef532cbc9aaae5796fffa03fe51a263d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0165179510255629, + "K": [ + [ + 417.84997929456995, + 0.0, + 312.1701887190991 + ], + [ + 0.0, + 430.8215656291376, + 242.74428880103284 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.152153093960998, + -3.7893214180513772, + 1.2200709907619287 + ], + "camera_target": [ + -7.7561728300352835, + -4.734372153353107, + 0.8994669398746928 + ], + "camera_roll_rad": -0.05152742264531901, + "camera_pose_world_cv": [ + [ + -0.8533563613891602, + 0.060546621680259705, + -0.5178003311157227, + -7.152153015136719 + ], + [ + 0.5118590593338013, + 0.2857527732849121, + -0.8101516962051392, + -3.7893214225769043 + ], + [ + 0.0989108681678772, + -0.9563888311386108, + -0.27484017610549927, + 1.2200709581375122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25564863407503713, + 0.23998132793747096, + 0.23515616078284787 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1192169091317323, + 1.1185148234660658, + 1.1173112480392087 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5491.032934912093, + "intensity": 1.1185148234660658 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8440985428579056, + 0.8103381666735978, + 0.752463236071927 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 4904.827381725039, + "intensity": 0.8103381666735978 + }, + "point_color_scale": [ + 0.89067683204892, + 0.8922858482905373, + 0.8948602742771251 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3f8cfd036b0da15da813353bfd60fabc68be908 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1674670910012435, + "K": [ + [ + 348.8504568311849, + 0.0, + 291.6040070015683 + ], + [ + 0.0, + 363.3513462735769, + 222.31635709605354 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.594905588294022, + -5.140101114772344, + 1.0855762495962247 + ], + "camera_target": [ + -7.786308343184194, + -4.690805216040462, + 0.8715476952940271 + ], + "camera_roll_rad": 0.0012857400229505794, + "camera_pose_world_cv": [ + [ + 0.4851962924003601, + -0.19829100370407104, + 0.8516250848770142, + -8.594905853271484 + ], + [ + -0.8744017481803894, + -0.10723817348480225, + 0.4732036888599396, + -5.140100955963135 + ], + [ + -0.0025052130222320557, + -0.9742591381072998, + -0.22541749477386475, + 1.0855762958526611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35931828621475137, + 0.36647363343421874, + 0.38264336708340296 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0434411576842544, + 1.0125272575631625, + 0.9595320002127193 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5063.836784354936, + "intensity": 1.0125272575631625 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5499720740667156, + 0.5585531752568265, + 0.572282937161004 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5805.385082816418, + "intensity": 0.5619856157328709 + }, + "point_color_scale": [ + 1.0686874146001388, + 1.0623969616509839, + 1.051613328023861 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db4a1c7d0da5895c78a5e62554d15c3723ba63fc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9772078711653951, + "K": [ + [ + 454.1007332172754, + 0.0, + 321.1787878593674 + ], + [ + 0.0, + 451.47046951200707, + 254.25430469628546 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.143262908180583, + -4.152807598296892, + 0.8317470904295415 + ], + "camera_target": [ + -7.727863578893169, + -4.774889529046579, + 0.9796591288258247 + ], + "camera_roll_rad": -0.014833692315126643, + "camera_pose_world_cv": [ + [ + -0.7249300479888916, + -0.1384781301021576, + -0.6747593879699707, + -7.14326286315918 + ], + [ + 0.6882021427154541, + -0.10404098033905029, + -0.7180204391479492, + -4.152807712554932 + ], + [ + 0.029227524995803833, + -0.9848854541778564, + 0.17072343826293945, + 0.8317471146583557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2983435585992697, + 0.301508036779589, + 0.30170674268573305 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0924883873275841, + 1.1164687846562076, + 1.154837420382005 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5925.916509495859, + "intensity": 1.126060943587657 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8997050445269144, + 0.917621593921497, + 0.9462880729528295 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5887.47356701921, + "intensity": 0.9247882136793302 + }, + "point_color_scale": [ + 1.0120234010694487, + 0.9842786680472312, + 0.9367162685805728 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f1a5e2e3c4720c1bddfb24c91b350ff84e663fd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0267359487478331, + "K": [ + [ + 441.0894462087853, + 0.0, + 349.6087774118375 + ], + [ + 0.0, + 425.6912986738461, + 256.7381471566858 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.815079167274073, + -6.076323473466253, + 1.5380044583489236 + ], + "camera_target": [ + -7.752287160003019, + -4.70130908356064, + 0.8522107043533963 + ], + "camera_roll_rad": -0.05188492986280347, + "camera_pose_world_cv": [ + [ + 0.9956925511360168, + 0.08324170857667923, + 0.04083140566945076, + -7.815079212188721 + ], + [ + 0.0007716715335845947, + -0.44781380891799927, + 0.8941265940666199, + -6.076323509216309 + ], + [ + 0.09271349012851715, + -0.8902437090873718, + -0.44594907760620117, + 1.5380045175552368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27595019439625895, + 0.2902070237099307, + 0.28338066158217884 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1160633732057053, + 1.1077651384615332, + 1.09353959318581 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5392.986151563079, + "intensity": 1.1077651384615332 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8876238406293135, + 0.8999383927770609, + 0.9196416762134565 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5772.18563762759, + "intensity": 0.9048642136361598 + }, + "point_color_scale": [ + 0.9769485090472521, + 0.9676884759553854, + 0.9518141335121857 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1591c80be17393ec89e066d7933ccf0523efa0f0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2797604582901836, + "K": [ + [ + 307.3203681612188, + 0.0, + 291.28113232209364 + ], + [ + 0.0, + 322.42564097151427, + 260.00859235087086 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.877569725875886, + -3.629985376351746, + 1.3527375433229687 + ], + "camera_target": [ + -7.731061586946171, + -4.726007975127218, + 0.9852915769781815 + ], + "camera_roll_rad": -0.03825824196578144, + "camera_pose_world_cv": [ + [ + -0.7986944913864136, + 0.09634217619895935, + -0.5939743518829346, + -6.877569675445557 + ], + [ + 0.5971817970275879, + 0.24813568592071533, + -0.7627599239349365, + -3.6299853324890137 + ], + [ + 0.0739002525806427, + -0.9639227390289307, + -0.2557182312011719, + 1.352737545967102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3012837413423215, + 0.3181697916401784, + 0.32803812377301916 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1131319367096844, + 1.1045825106684928, + 1.089926351740736 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5389.429122268656, + "intensity": 1.1045825106684928 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6370731807056775, + 0.6078004872016773, + 0.5576187269091055 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 4811.975978010901, + "intensity": 0.6078004872016773 + }, + "point_color_scale": [ + 1.0434417127860063, + 1.056963034124672, + 1.0785971482665377 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e24979b0f7bf689b567c6ec074a46bd5160e4235 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2188488729559133, + "K": [ + [ + 347.90709423841207, + 0.0, + 289.4381369666105 + ], + [ + 0.0, + 343.80876252254916, + 243.24723711730047 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.772199461245986, + -6.0035981572749275, + 1.5357340403189261 + ], + "camera_target": [ + -7.758543045453161, + -4.707715744266479, + 0.9675401629848646 + ], + "camera_roll_rad": 0.01876041741278084, + "camera_pose_world_cv": [ + [ + 0.9990819692611694, + -0.041738323867321014, + 0.009650927037000656, + -7.772199630737305 + ], + [ + -0.025592058897018433, + -0.4008384943008423, + 0.9157912731170654, + -6.003598213195801 + ], + [ + -0.03435512259602547, + -0.915197491645813, + -0.4015387296676636, + 1.5357340574264526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30499813495643757, + 0.3088816478619566, + 0.304308217784612 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1722009326752418, + 1.123826415550325, + 1.0408986719076108 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4885.078940311662, + "intensity": 1.123826415550325 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8709385980850908, + 0.8435804268859942, + 0.7966807048304001 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5036.699756568949, + "intensity": 0.8435804268859942 + }, + "point_color_scale": [ + 0.7804189567212882, + 0.8103436339496451, + 0.8582231175150163 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5fd1eff541ba3c33196fea22524fa3f653aa5d1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2594976360727015, + "K": [ + [ + 345.0776402211616, + 0.0, + 337.5826573012372 + ], + [ + 0.0, + 329.34004535144015, + 221.5458514962568 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.407789673650743, + -3.9597107856763323, + 1.1960155485326132 + ], + "camera_target": [ + -7.706427815385497, + -4.753681969120907, + 0.9725279550705394 + ], + "camera_roll_rad": 0.047404866381670505, + "camera_pose_world_cv": [ + [ + -0.9232858419418335, + 0.17789563536643982, + -0.34043562412261963, + -7.407789707183838 + ], + [ + 0.37304553389549255, + 0.20405757427215576, + -0.9050953388214111, + -3.9597108364105225 + ], + [ + -0.09154403954744339, + -0.9626597166061401, + -0.25476664304733276, + 1.1960155963897705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2761101894029351, + 0.29649955779441617, + 0.27773095422887406 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1472931558599815, + 1.1025937302954807, + 1.0259661436134793 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4920.853570263922, + "intensity": 1.1025937302954807 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5974001964694119, + 0.610697317810062, + 0.6319727119551021 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5931.713388936434, + "intensity": 0.616016166346322 + }, + "point_color_scale": [ + 1.007093748574355, + 0.9683629266028309, + 0.9019672317945037 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff5d4418e6de5d132dd5ed60c7a4849917431ae --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8637583508203414, + "K": [ + [ + 526.2948800863934, + 0.0, + 337.58046845570993 + ], + [ + 0.0, + 520.7232486234311, + 218.27849262743484 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.281574341552942, + -3.7612511761704184, + 1.403363055211305 + ], + "camera_target": [ + -7.698098547058887, + -4.747360913288034, + 0.9005660840737677 + ], + "camera_roll_rad": 0.03970578583101583, + "camera_pose_world_cv": [ + [ + -0.905167818069458, + 0.23797795176506042, + -0.3521897792816162, + -7.281574249267578 + ], + [ + 0.4189458191394806, + 0.35953235626220703, + -0.8337991237640381, + -3.761251211166382 + ], + [ + -0.07180218398571014, + -0.9022766351699829, + -0.4251369833946228, + 1.4033631086349487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34958731513886493, + 0.33273206233517, + 0.3289217067292662 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.8722078958346146, + 0.9054865922868137, + 0.9587325066103324 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6224.396306595888, + "intensity": 0.9187980708676934 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6580220246278496, + 0.6404536239284482, + 0.6103363655866172 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5108.125954055604, + "intensity": 0.6404536239284482 + }, + "point_color_scale": [ + 0.9133747539495024, + 0.8887206418307875, + 0.8464564496272761 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..506b7f7f3ae53f5b23e4329943f4ea579261a633 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0427882348377138, + "K": [ + [ + 428.2465585856845, + 0.0, + 336.4291057394903 + ], + [ + 0.0, + 417.81678202097896, + 243.3472682566287 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.681744340883515, + -4.336296307862198, + 0.9083180476505763 + ], + "camera_target": [ + -7.69863472417307, + -4.780489993324301, + 0.8600109646055891 + ], + "camera_roll_rad": 0.03216728739017283, + "camera_pose_world_cv": [ + [ + -0.39690232276916504, + 0.06550753116607666, + -0.9155203104019165, + -6.681744575500488 + ], + [ + 0.9156108498573303, + -0.041541337966918945, + -0.39991387724876404, + -4.336296081542969 + ], + [ + -0.06422936916351318, + -0.996986985206604, + -0.043491482734680176, + 0.908318042755127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29448814422690756, + 0.2863747768841382, + 0.2990173121000365 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.2197876522625941, + 1.1538007994413684, + 1.0406804803192673 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4682.987803029849, + "intensity": 1.1538007994413684 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8010213509982973, + 0.7816107732790949, + 0.7483354971890337 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5145.227552002841, + "intensity": 0.7816107732790949 + }, + "point_color_scale": [ + 0.9094672203851346, + 0.917983877564025, + 0.9316105290502499 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f86315fd06587c2a7b6bc1388a117d774d06d081 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8461146750216986, + "K": [ + [ + 555.0184713756299, + 0.0, + 310.55039531077927 + ], + [ + 0.0, + 533.0435654294625, + 234.13737548925297 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.640141516093455, + -5.791709133319056, + 1.6330695192123212 + ], + "camera_target": [ + -7.778931357145805, + -4.688270044600312, + 0.865182080892285 + ], + "camera_roll_rad": 0.025868730936523185, + "camera_pose_world_cv": [ + [ + 0.9945217370986938, + 0.01950209215283394, + -0.10269486159086227, + -7.640141487121582 + ], + [ + 0.0954754650592804, + -0.5694413185119629, + 0.8164686560630798, + -5.791708946228027 + ], + [ + -0.04255586117506027, + -0.8218006491661072, + -0.5681837201118469, + 1.6330695152282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23377261914191194, + 0.239900177701764, + 0.22640565037693264 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0596272568695586, + 1.0491791628970368, + 1.0312681446584284 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5357.737848214981, + "intensity": 1.0491791628970368 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6431068204726704, + 0.6311042389471998, + 0.6105283849035359 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5228.3088279522535, + "intensity": 0.6311042389471998 + }, + "point_color_scale": [ + 1.2213258079449891, + 1.1856651588532543, + 1.1245326175531376 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b9a87f77b3ad8fba6b4d62012ac226f59c49fd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2557279407590523, + "K": [ + [ + 331.29726700132954, + 0.0, + 324.3132463239655 + ], + [ + 0.0, + 330.6476246499655, + 223.1877004218146 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.517859876983511, + -5.089899672372022, + 0.867667628093574 + ], + "camera_target": [ + -7.7056628098412165, + -4.722905846461626, + 0.937452432565584 + ], + "camera_roll_rad": -0.020665578434242424, + "camera_pose_world_cv": [ + [ + 0.40847790241241455, + 0.08808845281600952, + 0.9085077047348022, + -8.51785945892334 + ], + [ + -0.9118382334709167, + -0.005538582801818848, + 0.41051238775253296, + -5.08989953994751 + ], + [ + 0.041193246841430664, + -0.9960972666740417, + 0.07806003093719482, + 0.8676676154136658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23985639682132603, + 0.2544557981553702, + 0.24827303307990267 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0717366755246467, + 1.0220001454176832, + 0.9367375223771744 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4804.773231337925, + "intensity": 1.0220001454176832 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.790773359121739, + 0.7930313752393537, + 0.7966442010275376 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5556.881666819918, + "intensity": 0.7939345816863997 + }, + "point_color_scale": [ + 1.0881158487703957, + 1.1313580601770277, + 1.200545598427639 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf82a303ac8ed175060830ddd63837f9a8cd674c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8208919138430355, + "K": [ + [ + 548.4027061923667, + 0.0, + 323.9154280171596 + ], + [ + 0.0, + 551.5193689114041, + 225.88097435812517 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.494944336626238, + -3.5565776079437166, + 1.193946872113473 + ], + "camera_target": [ + -7.710192231809335, + -4.706196838539397, + 0.9606194686393517 + ], + "camera_roll_rad": -0.03414278117747173, + "camera_pose_world_cv": [ + [ + -0.8176348209381104, + -0.14934416115283966, + 0.5560306310653687, + -8.49494457244873 + ], + [ + -0.5717913508415222, + 0.097756028175354, + -0.8145542144775391, + -3.556577682495117 + ], + [ + 0.06729361414909363, + -0.9839411973953247, + -0.16532224416732788, + 1.1939468383789062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8950421810150146, + 0.445981502532959, + 0.0, + -7.738754749298096 + ], + [ + -0.445981502532959, + 0.8950421810150146, + -0.0, + -4.736793041229248 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2966311414313708, + 0.29227571368106103, + 0.3142878820349212 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0104887468341437, + 1.0343076477108053, + 1.072417889113464 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5956.372820014304, + "intensity": 1.04383520806147 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6976257096277364, + 0.677180826458188, + 0.6421324553103909 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5068.697535202571, + "intensity": 0.677180826458188 + }, + "point_color_scale": [ + 1.0551317245677596, + 1.0578490958089355, + 1.0621968897948166 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9f9622bd188753ed77ba03d0ce4c3a10b3101ba --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1538147832825365, + "K": [ + [ + 378.27600452015446, + 0.0, + 316.7383238940409 + ], + [ + 0.0, + 368.80110156973404, + 259.76663751129723 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.487724133637101, + -4.092355811275714, + 1.6191358419549586 + ], + "camera_target": [ + -7.6586958694265945, + -4.992169602062381, + 0.865009603664364 + ], + "camera_roll_rad": 0.0003364296375014744, + "camera_pose_world_cv": [ + [ + -0.7356812953948975, + -0.3550384044647217, + 0.576819896697998, + -8.487724304199219 + ], + [ + -0.6773279905319214, + 0.3863457441329956, + -0.626070499420166, + -4.092355728149414 + ], + [ + -0.0005727708339691162, + -0.851284384727478, + -0.5247043967247009, + 1.619135856628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.305351131260515, + 0.302439824763923, + 0.2985541798878828 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9360814925418285, + 0.956082762391527, + 0.9880847941510449 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5914.928263257241, + "intensity": 0.9640832703314065 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5302726072491087, + 0.5455368060872314, + 0.5699595242282275 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6053.409109557553, + "intensity": 0.5516424856224804 + }, + "point_color_scale": [ + 0.9629445667452089, + 0.979244338163592, + 1.0053239724330052 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..add2cc4d038265c17c6683552453990baf3fc1c7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1522411912514543, + "K": [ + [ + 383.7873374970098, + 0.0, + 325.9232934131534 + ], + [ + 0.0, + 369.4365988903591, + 218.806055817644 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.584177245675564, + -5.970220631636017, + 1.4592209094710809 + ], + "camera_target": [ + -7.673928481106123, + -5.003828813585999, + 0.947758956336975 + ], + "camera_roll_rad": -0.04777652934035732, + "camera_pose_world_cv": [ + [ + 0.7481318712234497, + -0.17591619491577148, + 0.6398063898086548, + -8.584177017211914 + ], + [ + -0.6575503945350647, + -0.3259165287017822, + 0.6792686581611633, + -5.970220565795898 + ], + [ + 0.08902913331985474, + -0.9288874268531799, + -0.35950231552124023, + 1.4592208862304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31718653957986026, + 0.29808693854704704, + 0.29414894253906726 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.8843355924889745, + 0.8708415420290527, + 0.8477088840977584 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5278.636938956431, + "intensity": 0.8708415420290527 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.9430126350134018, + 0.9205962725039797, + 0.8821682224878274 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5152.1452892009, + "intensity": 0.9205962725039797 + }, + "point_color_scale": [ + 1.046523978055219, + 1.0493671691084725, + 1.0539162747936786 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c824f3ade362f494279d88734a046612b0308b06 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9856928043336173, + "K": [ + [ + 435.42592956986675, + 0.0, + 331.932484446798 + ], + [ + 0.0, + 446.88582485551876, + 252.53876828890185 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.943538478717665, + -5.92671177486326, + 1.1193561629995525 + ], + "camera_target": [ + -7.712910494501106, + -5.022328992541309, + 0.9848657734183512 + ], + "camera_roll_rad": -0.040855635812475116, + "camera_pose_world_cv": [ + [ + 0.9686326384544373, + 0.04396377503871918, + 0.24457716941833496, + -7.943538665771484 + ], + [ + -0.23499880731105804, + -0.15790939331054688, + 0.9590830206871033, + -5.926711559295654 + ], + [ + 0.08078595250844955, + -0.9864744544029236, + -0.14262479543685913, + 1.1193561553955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2385611707385148, + 0.24424150770294772, + 0.26165923588734774 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9449248861945961, + 0.9101324837041069, + 0.8504883651489827 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4953.887944676094, + "intensity": 0.9101324837041069 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5433295048647842, + 0.5632812608723456, + 0.5952040704844441 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6198.51512231505, + "intensity": 0.5712619632753703 + }, + "point_color_scale": [ + 0.9931464042114978, + 0.9857543521528818, + 0.9730822629095401 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2ab1c8b9b6f1128a1aa63a6d013699cf7c13342 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.84965076216934, + "K": [ + [ + 519.1859992020155, + 0.0, + 334.17667172446806 + ], + [ + 0.0, + 530.5358969183799, + 250.7314312088341 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.003313473059943, + -5.51361892357263, + 0.9267052582312488 + ], + "camera_target": [ + -7.713414479417062, + -5.007840357197598, + 0.9152252788679305 + ], + "camera_roll_rad": 0.001541531256144077, + "camera_pose_world_cv": [ + [ + 0.5801770687103271, + 0.008935809135437012, + -0.814441442489624, + -7.0033135414123535 + ], + [ + 0.8144845962524414, + -0.010149776935577393, + 0.5800965428352356, + -5.5136189460754395 + ], + [ + -0.003082841634750366, + -0.9999086260795593, + -0.013166725635528564, + 0.9267052412033081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3466687793094103, + 0.33815264082058694, + 0.33560016176158264 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0701387910406257, + 1.0090686875453079, + 0.9043770815533345 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4635.410640820287, + "intensity": 1.0090686875453079 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8701013524864465, + 0.8628127740104607, + 0.8503180680516279 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5379.321965560424, + "intensity": 0.8628127740104607 + }, + "point_color_scale": [ + 0.916681031049006, + 0.9538293356373093, + 1.0132666229785945 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd27ae66bb1f90cd5a1dc8b999acc40b643b90b6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2535807195793107, + "K": [ + [ + 328.97069287933897, + 0.0, + 318.4625947295501 + ], + [ + 0.0, + 331.3954623615649, + 231.8541949862334 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.593942504834425, + -3.9565681934354187, + 1.0823310266732316 + ], + "camera_target": [ + -7.633963840873129, + -5.046022749393629, + 0.9836312016698074 + ], + "camera_roll_rad": 0.050410489557328506, + "camera_pose_world_cv": [ + [ + -0.9939182996749878, + 0.10387570410966873, + -0.03656096011400223, + -7.593942642211914 + ], + [ + 0.04559316486120224, + 0.08595263957977295, + -0.9952555894851685, + -3.9565682411193848 + ], + [ + -0.10024035722017288, + -0.990869402885437, + -0.09016567468643188, + 1.0823310613632202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36196546143546243, + 0.3315525258707542, + 0.35688271894520845 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.8174052561299263, + 0.8528785433644983, + 0.9096358029398135 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6318.235548618466, + "intensity": 0.8670678582583271 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8366538760147425, + 0.8325442478495249, + 0.8254991709948657 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5429.482458211114, + "intensity": 0.8325442478495249 + }, + "point_color_scale": [ + 0.8880581543536362, + 0.8646120754809237, + 0.8244187974134164 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bff883519724e3af2e35b194c4e6fdbc3b8ee0c1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8036367587728113, + "K": [ + [ + 538.5921802339972, + 0.0, + 319.2034673092978 + ], + [ + 0.0, + 564.7878863654512, + 229.7234026435922 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.02362870833653, + -5.470807273324343, + 1.227847089918382 + ], + "camera_target": [ + -7.62925140912576, + -5.02575782097592, + 0.9002058401967419 + ], + "camera_roll_rad": 0.014754575080264981, + "camera_pose_world_cv": [ + [ + 0.2724803686141968, + 0.17797648906707764, + -0.9455574154853821, + -6.0236287117004395 + ], + [ + 0.9617257118225098, + -0.07994914054870605, + 0.2620912492275238, + -5.470807075500488 + ], + [ + -0.028950393199920654, + -0.9807815551757812, + -0.19294917583465576, + 1.2278470993041992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33012777589865805, + 0.33566228167944556, + 0.308457688190112 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9199118494825422, + 0.9528743697061932, + 1.0056144020640352 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6182.411888570756, + "intensity": 0.9660593777956537 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6941844915481002, + 0.713029122975538, + 0.7431805332594383 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6023.05009990626, + "intensity": 0.720566975546513 + }, + "point_color_scale": [ + 1.0348182533402446, + 1.0732854373496128, + 1.1348329317646024 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b24e48d32f1c598135ca7d0900899c194acac906 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.793965155301197, + "K": [ + [ + 595.0206221395717, + 0.0, + 309.6317591782206 + ], + [ + 0.0, + 572.4631748871412, + 245.90659642679879 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.023974707630461, + -5.502219851779314, + 1.3617853004003386 + ], + "camera_target": [ + -7.664154090380471, + -5.008171072708697, + 0.9888782472853602 + ], + "camera_roll_rad": -0.0313317566677548, + "camera_pose_world_cv": [ + [ + 0.5889955163002014, + 0.3691312074661255, + -0.7189065217971802, + -7.023974895477295 + ], + [ + 0.8061330318450928, + -0.20576906204223633, + 0.5548051595687866, + -5.5022196769714355 + ], + [ + 0.05686715245246887, + -0.9063119888305664, + -0.4187658429145813, + 1.3617852926254272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25914328764637357, + 0.25069816737859807, + 0.24692085780334733 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.8938168094899815, + 0.9091387977377211, + 0.9336539789341043 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5834.808931602219, + "intensity": 0.9152675930368168 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5918207148360815, + 0.5919366186233511, + 0.5921220646829825 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5503.915781066629, + "intensity": 0.5919829801382589 + }, + "point_color_scale": [ + 0.926459245983916, + 0.9315403681825652, + 0.9396701637004042 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62e9de15663ce11f0a649d9c91521c881978692d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7889280174754472, + "K": [ + [ + 603.1895803004578, + 0.0, + 323.7014302024148 + ], + [ + 0.0, + 576.5311218095926, + 242.4341166053448 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.708677431211616, + -3.919612942872547, + 0.9067889853190264 + ], + "camera_target": [ + -7.704385687782334, + -5.000940755165401, + 0.9601059086311636 + ], + "camera_roll_rad": -0.027526468194928405, + "camera_pose_world_cv": [ + [ + -0.9984879493713379, + -0.05482950806617737, + 0.00396394357085228, + -7.708677291870117 + ], + [ + -0.001252971589565277, + -0.04938989877700806, + -0.9987788200378418, + -3.9196128845214844 + ], + [ + 0.05495832860469818, + -0.9972734451293945, + 0.04924654960632324, + 0.9067890048027039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3307607425109833, + 0.3398123870938198, + 0.329740663625196 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0150530173096979, + 1.0259712397588472, + 1.0434403956774858 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5711.934663115373, + "intensity": 1.0303385287385067 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6678566586304612, + 0.6643876006353694, + 0.6584406440723547 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5425.408042969102, + "intensity": 0.6643876006353694 + }, + "point_color_scale": [ + 0.9977879934572199, + 1.0084234443613898, + 1.0254401658080616 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c080c26a10f307e8bc0b910ea33f29c3fd563a6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.22394547214838, + "K": [ + [ + 341.8414889172176, + 0.0, + 327.6877924923952 + ], + [ + 0.0, + 341.94887122448085, + 221.54706316865585 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.58603459251981, + -5.728046582553276, + 1.5207236926406065 + ], + "camera_target": [ + -7.685315099683102, + -5.029133221970353, + 0.8915637808729063 + ], + "camera_roll_rad": -0.03557452292527066, + "camera_pose_world_cv": [ + [ + 0.6386259198188782, + -0.337180495262146, + 0.6917126178741455, + -8.586034774780273 + ], + [ + -0.7669961452484131, + -0.3516152501106262, + 0.5367342233657837, + -5.728046417236328 + ], + [ + 0.06224045157432556, + -0.873313307762146, + -0.48316675424575806, + 1.5207237005233765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34838888614272984, + 0.3471651144891984, + 0.3455364087895759 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9210151175703287, + 0.8633158235739823, + 0.7644027481516742 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4545.221220309769, + "intensity": 0.8633158235739823 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.9245271321757185, + 0.9398795783081214, + 0.964443492119966 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5824.568975223234, + "intensity": 0.9460205567610825 + }, + "point_color_scale": [ + 0.8739007454448148, + 0.9014564923726047, + 0.9455456874570687 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afb09283567f79614bb38c928ae2156f387ce0a9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8941677569117525, + "K": [ + [ + 487.62977833681526, + 0.0, + 332.73590044321844 + ], + [ + 0.0, + 500.55943891067176, + 240.39488170412108 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.503638663658895, + -5.319260744657456, + 1.485084155562113 + ], + "camera_target": [ + -7.620785221135918, + -5.038071769176599, + 0.949426442747681 + ], + "camera_roll_rad": -0.03133023395679213, + "camera_pose_world_cv": [ + [ + 0.21800673007965088, + 0.4233614504337311, + -0.8793396949768066, + -6.503638744354248 + ], + [ + 0.9742941856384277, + -0.04198861122131348, + 0.2213323712348938, + -5.319260597229004 + ], + [ + 0.05678129196166992, + -0.9049873948097229, + -0.4216322898864746, + 1.4850841760635376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28202898471180593, + 0.2826181233876307, + 0.27767359443293665 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0814163466683668, + 1.1330901098448332, + 1.2157681309271786 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6395.745742865108, + "intensity": 1.1537596151154195 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7013212423329412, + 0.7089832314796748, + 0.7212424141144484 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5715.2098974988, + "intensity": 0.7120480271383682 + }, + "point_color_scale": [ + 0.9773381878789913, + 0.9577305188567211, + 0.9241173719614011 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83d49c055d080d93d773666d8d2bac81ecee9dae --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1519875215217927, + "K": [ + [ + 367.1112805376608, + 0.0, + 325.870055074509 + ], + [ + 0.0, + 369.5391878448127, + 227.21097182974202 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.577797073256237, + -5.841918696308517, + 1.0947657978320582 + ], + "camera_target": [ + -7.653281638335586, + -4.979165965880265, + 0.8879004062842967 + ], + "camera_roll_rad": 0.002379001765745556, + "camera_pose_world_cv": [ + [ + 0.6816946268081665, + -0.12127679586410522, + 0.721515417098999, + -8.577796936035156 + ], + [ + -0.7316218018531799, + -0.1066669225692749, + 0.6733140349388123, + -5.841918468475342 + ], + [ + -0.004695504903793335, + -0.9868709444999695, + -0.16144299507141113, + 1.0947657823562622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3844364551244803, + 0.384832667160132, + 0.3546677888007858 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.871655813433033, + 0.8928568463666846, + 0.9267784990605273 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5970.435072094285, + "intensity": 0.9013372595401453 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6377344735442839, + 0.6410373008795728, + 0.646321824616035 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5602.834404336017, + "intensity": 0.6423584318136883 + }, + "point_color_scale": [ + 1.1121907120901293, + 1.0710401208771356, + 1.0004962502262893 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c790af15c4bc76cb46bf17f9a8692e00b81d2a2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1772282549317463, + "K": [ + [ + 354.35162700476025, + 0.0, + 295.89480930011365 + ], + [ + 0.0, + 359.5234484183534, + 233.76595766095772 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.445844256219368, + -5.5035419341634, + 1.3537987946583976 + ], + "camera_target": [ + -7.6442971439925405, + -4.958916498760856, + 0.9827501174575444 + ], + "camera_roll_rad": -0.03646429693024873, + "camera_pose_world_cv": [ + [ + 0.3946272134780884, + 0.2764769494533539, + -0.8762590885162354, + -6.4458441734313965 + ], + [ + 0.916161060333252, + -0.04560720920562744, + 0.3982073664665222, + -5.503541946411133 + ], + [ + 0.0701313316822052, + -0.9599378705024719, + -0.27129513025283813, + 1.353798747062683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25879001339369073, + 0.23777561728752966, + 0.2535738834852193 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.066486132446151, + 0.9981672653461208, + 0.8810492074603546 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4522.2241806574475, + "intensity": 0.9981672653461208 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7360679731397499, + 0.7623311327107124, + 0.8043521880242526 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6179.656384936677, + "intensity": 0.7728363965390974 + }, + "point_color_scale": [ + 0.9108143570798385, + 0.8721689624117683, + 0.8059197144093622 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85f89bfd888d6477afffdfdb933d606f8faab1c3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0308493917416437, + "K": [ + [ + 407.5911171949296, + 0.0, + 309.7282491724622 + ], + [ + 0.0, + 423.6521845627712, + 259.6501406172563 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.696042375339244, + -4.321432602673681, + 1.101020150451093 + ], + "camera_target": [ + -7.645641123619926, + -4.958282846112331, + 0.873891492645485 + ], + "camera_roll_rad": 0.0020920806121906554, + "camera_pose_world_cv": [ + [ + -0.5563077926635742, + 0.16414731740951538, + -0.8146025538444519, + -6.696042537689209 + ], + [ + 0.8309661746025085, + 0.10504782199859619, + -0.5463150143623352, + -4.321432590484619 + ], + [ + -0.004103899002075195, + -0.9808264374732971, + -0.19483977556228638, + 1.101020097732544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2815455224985957, + 0.258922873064628, + 0.2746112757358992 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.2525416080643212, + 1.181775552692713, + 1.0604623149128132 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4644.555287285843, + "intensity": 1.181775552692713 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.876477729493192, + 0.8871347723809989, + 0.9041860410014899 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5739.1086314997265, + "intensity": 0.8913975895361217 + }, + "point_color_scale": [ + 1.009396473545486, + 0.9803206266134071, + 0.9304763175869869 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7b95b49022a2fdb172daab258d8caa10fa82024 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8485207608009953, + "K": [ + [ + 548.3278876608861, + 0.0, + 327.4875420696703 + ], + [ + 0.0, + 531.3351195551079, + 259.9883181956121 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.579125954569109, + -3.6573126872887594, + 0.954338739056031 + ], + "camera_target": [ + -7.636051585986309, + -4.993102952088426, + 0.9893972219292876 + ], + "camera_roll_rad": 0.05157821475166559, + "camera_pose_world_cv": [ + [ + -0.7813560962677002, + 0.06805241107940674, + -0.6203639507293701, + -6.579125881195068 + ], + [ + 0.6155351400375366, + -0.07994604110717773, + -0.784044086933136, + -3.6573126316070557 + ], + [ + -0.1029517650604248, + -0.9944735169410706, + 0.020577669143676758, + 0.9543387293815613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2329141863438011, + 0.237271372253607, + 0.24359771865413357 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0463601246608403, + 0.99517417942844, + 0.9074268447443254 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4765.226325049696, + "intensity": 0.99517417942844 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5913383078290698, + 0.6010519626699325, + 0.6165938104153129 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5821.145772959405, + "intensity": 0.6049374246062776 + }, + "point_color_scale": [ + 0.875605355861302, + 0.8524058141151282, + 0.8126351711216873 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..72be6f419fd5051356d0a56a631e81c39c1bb2e3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.230293924319587, + "K": [ + [ + 331.3172552411192, + 0.0, + 344.9025106711004 + ], + [ + 0.0, + 339.65094525818506, + 218.25340153951487 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.95360937648128, + -6.6470852831989795, + 1.3166262873204744 + ], + "camera_target": [ + -7.71759389101199, + -5.002294856092565, + 0.9085636710719982 + ], + "camera_roll_rad": -0.04707434732271871, + "camera_pose_world_cv": [ + [ + 0.9886619448661804, + 0.05933155119419098, + 0.1379394233226776, + -7.953609466552734 + ], + [ + -0.1192157119512558, + -0.24838167428970337, + 0.9612982273101807, + -6.647085189819336 + ], + [ + 0.09129694104194641, + -0.9668434858322144, + -0.23849225044250488, + 1.3166263103485107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2826406699766677, + 0.27856716003339616, + 0.30580134178481577 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9505854025194254, + 0.9992823300385933, + 1.0771974140692622 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6456.002883682084, + "intensity": 1.0187611010462605 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6107613619772937, + 0.5891793133670793, + 0.5521815157495689 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 4976.704335758256, + "intensity": 0.5891793133670793 + }, + "point_color_scale": [ + 1.035107742655049, + 1.0208845562906586, + 0.9965019510945605 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..341b1b1ced8cc56d6b4abb600b938cd72ad3b28c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2763216927558974, + "K": [ + [ + 334.71092730989426, + 0.0, + 342.96986534515355 + ], + [ + 0.0, + 323.5857407589632, + 224.8257903642788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.9246149346977806, + -4.178797561604399, + 1.2925017823216327 + ], + "camera_target": [ + -7.622638885051662, + -4.957911140480778, + 0.9900113206767233 + ], + "camera_roll_rad": 0.007170636274277643, + "camera_pose_world_cv": [ + [ + -0.9340815544128418, + -0.10963104665279388, + 0.33981263637542725, + -7.924614906311035 + ], + [ + -0.3568049669265747, + 0.32253551483154297, + -0.8767332434654236, + -4.178797721862793 + ], + [ + -0.013484463095664978, + -0.9401871562004089, + -0.3403913378715515, + 1.2925018072128296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.11518585681915283, + 0.9933439493179321, + 0.0, + -7.669887065887451 + ], + [ + -0.9933439493179321, + 0.11518585681915283, + -0.0, + -5.000344753265381 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23867501938537458, + 0.23836286405726143, + 0.23961842090086435 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9189234683694353, + 0.9679245993859643, + 1.0463264090124111 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6492.40279378394, + "intensity": 0.987525051792576 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8940090616606589, + 0.8734821228423846, + 0.8382930848682001 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5164.283932722092, + "intensity": 0.8734821228423846 + }, + "point_color_scale": [ + 0.9425761328857054, + 0.9436445732230551, + 0.9453540777628144 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4074c83a4ee16ceed016789dcd6f9dd19674a534 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9336166529714396, + "K": [ + [ + 493.5025591781362, + 0.0, + 332.62814215469456 + ], + [ + 0.0, + 476.2309522572009, + 221.38224768467464 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.452133326733383, + -6.569612634080346, + 1.5251587360844066 + ], + "camera_target": [ + -7.472041298824273, + -5.549802848179147, + 0.9293121250868309 + ], + "camera_roll_rad": -0.012085219030732286, + "camera_pose_world_cv": [ + [ + 0.7272984981536865, + -0.25150638818740845, + 0.6385776996612549, + -8.452133178710938 + ], + [ + -0.6859598159790039, + -0.2965768575668335, + 0.6644557118415833, + -6.569612503051758 + ], + [ + 0.02227252721786499, + -0.9212962985038757, + -0.38822317123413086, + 1.5251587629318237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37660874019293694, + 0.393864575437072, + 0.3540064582259226 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0342792402769592, + 1.0605216045819117, + 1.1025093874698364 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5990.045000574579, + "intensity": 1.071018550303893 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5343707227422715, + 0.5493507758626422, + 0.5733188608552355 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6039.488517661724, + "intensity": 0.5553427971107906 + }, + "point_color_scale": [ + 1.0534103317389238, + 1.0141172108450118, + 0.9467575750268772 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a01b64751a4dc37d23557447a4703343e43abdfe --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0420464857910998, + "K": [ + [ + 405.90192706657604, + 0.0, + 328.8723534691247 + ], + [ + 0.0, + 418.1757899093855, + 217.7564128327231 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.591334604846037, + -6.383043603789618, + 1.4861829630825776 + ], + "camera_target": [ + -7.458390750949694, + -5.48677458181538, + 0.9839447763267883 + ], + "camera_roll_rad": 0.028195747052495418, + "camera_pose_world_cv": [ + [ + 0.9835957288742065, + -0.12677159905433655, + 0.1283293515443802, + -7.591334819793701 + ], + [ + -0.1735207438468933, + -0.47052496671676636, + 0.8651571869850159, + -6.3830437660217285 + ], + [ + -0.04929518699645996, + -0.8732326626777649, + -0.48480385541915894, + 1.4861829280853271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35294235300323734, + 0.3538028643851274, + 0.3515964209253878 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9542137483416453, + 0.9933753935751307, + 1.0560340259487075 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6276.215873071216, + "intensity": 1.009040051668525 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6123640580742026, + 0.5889995240182313, + 0.5489460370651379 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 4933.3118375625145, + "intensity": 0.5889995240182313 + }, + "point_color_scale": [ + 0.8472680613451956, + 0.8144057730579538, + 0.7580704217083963 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff0f6ab36939c186b2a7f72f3a9cc2f3cf2eaf1f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3086492688054874, + "K": [ + [ + 300.11564747709394, + 0.0, + 343.8537625928716 + ], + [ + 0.0, + 312.8866932306104, + 246.5244500305736 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.588921746833362, + -4.343567712207257, + 1.0892428983606552 + ], + "camera_target": [ + -7.38018282479048, + -5.508365951880652, + 0.8427873238090713 + ], + "camera_roll_rad": 0.010771505226504288, + "camera_pose_world_cv": [ + [ + -0.695989727973938, + -0.08962765336036682, + 0.712436318397522, + -8.588921546936035 + ], + [ + -0.7177355289459229, + 0.11628496646881104, + -0.6865374445915222, + -4.343567848205566 + ], + [ + -0.021312862634658813, + -0.9891636967658997, + -0.1452620029449463, + 1.089242935180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34157511800716706, + 0.3718249027807306, + 0.345501708644635 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0718526690888663, + 1.1213512518130548, + 1.200548984171757 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6367.5205365785305, + "intensity": 1.1411506849027304 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.631921653991667, + 0.6334235591069639, + 0.6358266072914389 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5547.376892815892, + "intensity": 0.6340243211530827 + }, + "point_color_scale": [ + 1.0466391518191271, + 1.0105110701599833, + 0.9485772158871653 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5384f2206626fbfc74bff18cfcb4d797b25f8ef9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9900744432677613, + "K": [ + [ + 457.75356860661464, + 0.0, + 312.84132851500095 + ], + [ + 0.0, + 444.5465594241148, + 252.42363826737636 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.15142724667853, + -4.724795980685597, + 1.2464996475986219 + ], + "camera_target": [ + -7.477839915716526, + -5.479445129509489, + 0.964926786538008 + ], + "camera_roll_rad": -0.025270530704167418, + "camera_pose_world_cv": [ + [ + -0.923148512840271, + 0.08208669722080231, + -0.3755783438682556, + -7.151427268981934 + ], + [ + 0.3814616799354553, + 0.317036509513855, + -0.8683174252510071, + -4.724795818328857 + ], + [ + 0.047794684767723083, + -0.9448544383049011, + -0.32398438453674316, + 1.2464996576309204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3804952176871289, + 0.359451231153179, + 0.3940480217816141 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1419892911736333, + 1.1659302421999551, + 1.2042357638420698 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5907.32992168356, + "intensity": 1.1755066226104838 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8379395964410806, + 0.8248538128609031, + 0.8024210410091701 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5273.366186206098, + "intensity": 0.8248538128609031 + }, + "point_color_scale": [ + 0.9137916307567919, + 0.8959212553433331, + 0.865286326063118 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e208ce88b648918c7026bf4f1ea87f04a8dd4cb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8787065517195, + "K": [ + [ + 534.4430850794874, + 0.0, + 329.59775056703387 + ], + [ + 0.0, + 510.64839432041697, + 228.9750466712083 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.171557501108271, + -4.632817881415548, + 0.9746797274300237 + ], + "camera_target": [ + -7.405424907447215, + -5.520851559693528, + 0.9411721402656424 + ], + "camera_roll_rad": 0.007774382283516831, + "camera_pose_world_cv": [ + [ + -0.7573614120483398, + -0.006880044937133789, + 0.6529596447944641, + -8.171557426452637 + ], + [ + -0.6528109312057495, + 0.03177690505981445, + -0.7568539977073669, + -4.63281774520874 + ], + [ + -0.01554185152053833, + -0.9994712471961975, + -0.028558015823364258, + 0.974679708480835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29591806685249683, + 0.2913111218651401, + 0.2950909783367415 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1297604449540477, + 1.165121399163199, + 1.2216989258978415 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6099.7113591095285, + "intensity": 1.1792657808468596 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7330272944453123, + 0.7563698026912485, + 0.7937178158847464 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6109.6983352725365, + "intensity": 0.765706805989623 + }, + "point_color_scale": [ + 1.1083016996157509, + 1.1104153352995634, + 1.1137971523936632 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2d28cd6176c4fea41867044b7a8e3728177d1c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0597788765687468, + "K": [ + [ + 415.2877165122105, + 0.0, + 290.216863868688 + ], + [ + 0.0, + 409.718170286724, + 234.14696310428113 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.870127822118002, + -4.551007539923364, + 0.9515578146023129 + ], + "camera_target": [ + -7.389543876900268, + -5.557192952975473, + 0.8656620462782406 + ], + "camera_roll_rad": -0.024455748556269197, + "camera_pose_world_cv": [ + [ + -0.8996585607528687, + -0.07718057930469513, + 0.42971867322921753, + -7.8701276779174805 + ], + [ + -0.4338648319244385, + 0.04815018177032471, + -0.899690568447113, + -4.5510077476501465 + ], + [ + 0.04874764382839203, + -0.995853841304779, + -0.07680439949035645, + 0.9515578150749207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34430532611709724, + 0.3264315420392745, + 0.3587361972443643 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.8351603091897973, + 0.8693866827126632, + 0.9241488803492486 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6275.1614984032285, + "intensity": 0.8830772321218096 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6521582893653827, + 0.6762418788791875, + 0.7147756221012752 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6202.273109942025, + "intensity": 0.6858753146847094 + }, + "point_color_scale": [ + 1.1950775671697902, + 1.1886153853859347, + 1.1775373594707539 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28220572b9cb7222a020dbaed3738b0a15b41d0a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.907890442383703, + "K": [ + [ + 503.83483858159764, + 0.0, + 346.33928777542565 + ], + [ + 0.0, + 491.87364333822853, + 227.20811934446795 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.948178251519211, + -4.521725126040025, + 0.7765493768031705 + ], + "camera_target": [ + -7.4596143224396005, + -5.560313254764428, + 0.8755978417262771 + ], + "camera_roll_rad": 0.026913568149193823, + "camera_pose_world_cv": [ + [ + -0.9016005992889404, + 0.08522827923297882, + 0.42409008741378784, + -7.948178291320801 + ], + [ + -0.4292355179786682, + -0.054785311222076416, + -0.9015295505523682, + -4.521725177764893 + ], + [ + -0.05360190570354462, + -0.9948540925979614, + 0.08597743511199951, + 0.7765493988990784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2952943133060162, + 0.2810362771585637, + 0.29284035980106515 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0619736963554725, + 1.0973352614570628, + 1.1539137656196075 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6136.296985655778, + "intensity": 1.111479887497699 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.9156453811665789, + 0.9028281569219292, + 0.8808557725025298 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5297.189307742394, + "intensity": 0.9028281569219292 + }, + "point_color_scale": [ + 0.9905167779589389, + 1.0320134222573023, + 1.0984080531346836 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa7e5835763a5a4fefad2c2a6811842acb316ba --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1576846389222166, + "K": [ + [ + 352.3017437208027, + 0.0, + 308.48660355305935 + ], + [ + 0.0, + 367.24477046007775, + 251.614696581963 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.630374428292454, + -5.601210497305235, + 1.2568883225470424 + ], + "camera_target": [ + -7.477760031700957, + -5.543201327503136, + 0.8943760329416731 + ], + "camera_roll_rad": 5.238880163939419e-05, + "camera_pose_world_cv": [ + [ + 0.06833779811859131, + 0.3916201591491699, + -0.9175857305526733, + -6.630374431610107 + ], + [ + 0.9976621866226196, + -0.026914000511169434, + 0.06281483173370361, + -5.601210594177246 + ], + [ + -9.635090827941895e-05, + -0.9197332262992859, + -0.3925439119338989, + 1.2568882703781128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23511289300948202, + 0.21683889639102247, + 0.22604735480108348 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1400957808238181, + 1.0954516131512162, + 1.0189187542838984 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4917.798270377574, + "intensity": 1.0954516131512162 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7024289103524411, + 0.6923176390959543, + 0.6749840312276912 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5291.357717789556, + "intensity": 0.6923176390959543 + }, + "point_color_scale": [ + 1.0127604831094923, + 1.009834526883708, + 1.0048186019252205 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57a7fb765c264aef0c113ada37b5412334406b59 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0388944230756143, + "K": [ + [ + 403.75673312538, + 0.0, + 325.7482817723826 + ], + [ + 0.0, + 419.70658473857674, + 233.95667578736789 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.815914133906007, + -6.3321449152755696, + 1.0417129841472397 + ], + "camera_target": [ + -7.455739586163469, + -5.573458703460391, + 0.8618101202781561 + ], + "camera_roll_rad": 0.030594946292773914, + "camera_pose_world_cv": [ + [ + 0.7700493335723877, + 0.06802511215209961, + -0.6343473196029663, + -6.815914154052734 + ], + [ + 0.6351404190063477, + -0.17551738023757935, + 0.7521902322769165, + -6.332144737243652 + ], + [ + -0.06017112731933594, + -0.9821232557296753, + -0.17836254835128784, + 1.041712999343872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3718166760834926, + 0.361231027843599, + 0.37908265977452194 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9130660973866919, + 0.9192840382928708, + 0.9292327437427571 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5634.9128896046905, + "intensity": 0.9217712146553424 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8733373109769462, + 0.8623815109114632, + 0.8436001393706354 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5318.5125405326935, + "intensity": 0.8623815109114632 + }, + "point_color_scale": [ + 1.173870600493892, + 1.1639118726149669, + 1.1468397676796669 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2d4782ec04dfb63f5fccd14679e173335d2a014 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8297712498572497, + "K": [ + [ + 562.6319876759379, + 0.0, + 334.0606685960823 + ], + [ + 0.0, + 544.8946021227265, + 262.3101001000732 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.441513083507346, + -6.571309265330809, + 1.5628682828211289 + ], + "camera_target": [ + -7.418868338260955, + -5.545506222820065, + 0.8674570304610613 + ], + "camera_roll_rad": 0.0016048764503141244, + "camera_pose_world_cv": [ + [ + 0.724968671798706, + 0.3016035258769989, + -0.6192381381988525, + -6.4415130615234375 + ], + [ + 0.688775897026062, + -0.32120704650878906, + 0.6499337553977966, + -6.5713090896606445 + ], + [ + -0.002881377935409546, + -0.8976978659629822, + -0.44060224294662476, + 1.5628682374954224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.355126357188692, + 0.37290801434153215, + 0.3735760362863341 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9674627981049683, + 0.9929533336191143, + 1.033738190441748 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6008.21007833617, + "intensity": 1.0031495478247727 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7129722660450227, + 0.6940279853710135, + 0.6615520756441405 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5110.055232985165, + "intensity": 0.6940279853710135 + }, + "point_color_scale": [ + 1.1511410789077894, + 1.1310437852170143, + 1.096591281747114 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32db5e5fb8aa199667b36892133ea30a1e3aecab --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9098262884510835, + "K": [ + [ + 479.2856782781749, + 0.0, + 340.09314881051694 + ], + [ + 0.0, + 490.66798734103276, + 234.99450178551868 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.6351245865122594, + -4.234244742683487, + 0.8503061732812013 + ], + "camera_target": [ + -7.449391454460071, + -5.5724096316592915, + 0.9738453067812483 + ], + "camera_roll_rad": -0.028814752701546632, + "camera_pose_world_cv": [ + [ + -0.8505027294158936, + -0.09000594913959503, + -0.5182129144668579, + -6.635124683380127 + ], + [ + 0.5228276252746582, + -0.03711289167404175, + -0.8516303300857544, + -4.2342448234558105 + ], + [ + 0.0574193149805069, + -0.9952496290206909, + 0.07862246036529541, + 0.8503061532974243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33473583968359055, + 0.3492141488947487, + 0.33685364031916326 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1166427197716668, + 1.0730851528452063, + 0.9984150381141315 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4920.129004261741, + "intensity": 1.0730851528452063 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6864254089819056, + 0.6636733657351329, + 0.6246698630263797 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5010.257295198845, + "intensity": 0.6636733657351329 + }, + "point_color_scale": [ + 1.066403613836176, + 1.0220674612382221, + 0.9460626282131582 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce2e8a9a9ff2733f82eed092a0d6eb6383905a1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2340368042710863, + "K": [ + [ + 340.0521135548805, + 0.0, + 335.57404837948235 + ], + [ + 0.0, + 338.3058003170458, + 216.8787864899448 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.295592429060337, + -4.933712977852833, + 1.153545501164114 + ], + "camera_target": [ + -7.428516288936217, + -5.567006373548066, + 0.8902068942461017 + ], + "camera_roll_rad": 0.0010491488737794513, + "camera_pose_world_cv": [ + [ + -0.5902131795883179, + -0.1911168098449707, + 0.7842977046966553, + -8.295592308044434 + ], + [ + -0.8072448968887329, + 0.14218604564666748, + -0.5728340744972229, + -4.933712959289551 + ], + [ + -0.002037912607192993, + -0.9712144732475281, + -0.23819810152053833, + 1.1535454988479614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35995753694178934, + 0.35198078494839724, + 0.3406862914027548 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.021520966769369, + 1.0262280247948437, + 1.0337593176356035 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5591.567130812957, + "intensity": 1.0281108480050336 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.9745467278177848, + 0.9416506372696248, + 0.8852573391870648 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5000.935769500849, + "intensity": 0.9416506372696248 + }, + "point_color_scale": [ + 1.1539724758476433, + 1.1734053491717116, + 1.2044979464902208 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0162b35943dcf3c38e2bef870f0c499a938bd070 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1709288364564303, + "K": [ + [ + 378.6831504605933, + 0.0, + 322.1170564058357 + ], + [ + 0.0, + 361.98735523067194, + 259.0576806680448 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.516358564915213, + -7.409708009730577, + 1.637355844740616 + ], + "camera_target": [ + -7.470716013268501, + -5.519433518687864, + 0.956752359100333 + ], + "camera_roll_rad": -0.0018994077661660114, + "camera_pose_world_cv": [ + [ + 0.9997324347496033, + -0.00437756534665823, + 0.022712353616952896, + -7.516358375549316 + ], + [ + -0.022852536290884018, + -0.33866870403289795, + 0.9406281113624573, + -7.409708023071289 + ], + [ + 0.0035743024200201035, + -0.9408954977989197, + -0.33867812156677246, + 1.6373558044433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30181738724051815, + 0.31267846407416955, + 0.28754382549331065 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.1008858662014547, + 1.1136166000319419, + 1.1339857741607215 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5727.596900386263, + "intensity": 1.1187088935641367 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6427700616874038, + 0.6261838120443239, + 0.5977502412276157 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5121.602444976977, + "intensity": 0.6261838120443239 + }, + "point_color_scale": [ + 0.894887403597435, + 0.8776907652117564, + 0.8482108136934504 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2144cf5209a47bd7bceb193ee3eed8672c26237 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8998637245746223, + "K": [ + [ + 498.4145300863773, + 0.0, + 299.5955834803627 + ], + [ + 0.0, + 496.924213799778, + 248.28428938030672 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.627566956430137, + -5.54216559388844, + 1.479695117536044 + ], + "camera_target": [ + -7.4744434880365205, + -5.4915966236680065, + 0.9274964812151251 + ], + "camera_roll_rad": -0.019694618414419662, + "camera_pose_world_cv": [ + [ + 0.03811657428741455, + 0.5464629530906677, + -0.8366155028343201, + -6.627566814422607 + ], + [ + 0.9987282156944275, + 0.006818652153015137, + 0.049956321716308594, + -5.542165756225586 + ], + [ + 0.033003807067871094, + -0.8374556303024292, + -0.5455079078674316, + 1.4796950817108154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31107128598475137, + 0.30741316544635583, + 0.3317264897044627 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0316368042237218, + 1.0462697143132396, + 1.0696823704564682 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5778.159716714444, + "intensity": 1.0521228783490466 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6374164437089054, + 0.6606034093009961, + 0.6977025542483416 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6192.274080468451, + "intensity": 0.6698781955378326 + }, + "point_color_scale": [ + 1.0214150038513095, + 1.036986011646724, + 1.0618996241193874 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ac6fc5c46311635d09b6253227f6e83da566206 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8203723517860906, + "K": [ + [ + 555.0398546368996, + 0.0, + 294.93609236482746 + ], + [ + 0.0, + 551.9111941705122, + 227.8807086549563 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.285022419740118, + -6.106285214795012, + 1.5693009039627233 + ], + "camera_target": [ + -7.464158268388579, + -5.520261119464204, + 0.8763709021933646 + ], + "camera_roll_rad": -0.027681917426749032, + "camera_pose_world_cv": [ + [ + 0.6056481599807739, + -0.42801401019096375, + 0.67081618309021, + -8.285022735595703 + ], + [ + -0.7944244146347046, + -0.3735535740852356, + 0.4789024591445923, + -6.106285095214844 + ], + [ + 0.045608848333358765, + -0.8229591846466064, + -0.5662667751312256, + 1.569300889968872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30749748382984343, + 0.31077269553214476, + 0.28663073694842084 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.8318913330323164, + 0.8514766876922029, + 0.882813255148021 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5955.838655495647, + "intensity": 0.8593108295561573 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5769807576837591, + 0.5880544606506409, + 0.605772385397652 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5873.806011772755, + "intensity": 0.5924839418373937 + }, + "point_color_scale": [ + 1.1537101091495778, + 1.179776386208783, + 1.2214824295035112 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..166937e89877664b53662c91dcae1e68674794e0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8471632100078825, + "K": [ + [ + 522.4348328182053, + 0.0, + 321.6558703194203 + ], + [ + 0.0, + 532.297930317163, + 245.43424353509667 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.834000040037109, + -3.8466869615124644, + 1.5029090116943349 + ], + "camera_target": [ + -7.45521634784016, + -5.5137175741891875, + 0.9522736996863985 + ], + "camera_roll_rad": 0.02554181279056124, + "camera_pose_world_cv": [ + [ + -0.9773406982421875, + -0.01805058866739273, + 0.21090218424797058, + -7.834000110626221 + ], + [ + -0.2060178816318512, + 0.30989086627960205, + -0.9281834363937378, + -3.846687078475952 + ], + [ + -0.04860237240791321, + -0.9506008625030518, + -0.30658745765686035, + 1.5029090642929077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9034616947174072, + -0.4286688268184662, + 0.0, + -7.4283766746521 + ], + [ + 0.4286688268184662, + -0.9034616947174072, + 0.0, + -5.526429176330566 + ], + [ + 0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2708286036127276, + 0.2711008569691075, + 0.27559741489385414 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.16541333293593, + 1.1539815414375318, + 1.1343841845831355 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5358.480139191368, + "intensity": 1.1539815414375318 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5648751542648539, + 0.5694169230778358, + 0.5766837531786067 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5659.016156250719, + "intensity": 0.5712336306030285 + }, + "point_color_scale": [ + 0.9120982579915095, + 0.9418040340391344, + 0.9893332757153344 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edbf60be79140dbac3215a60c90f63aa7e7a54b4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0188723396413637, + "K": [ + [ + 424.90299393270703, + 0.0, + 336.14502438970453 + ], + [ + 0.0, + 429.6311549659756, + 260.1689850984779 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.595745532093854, + -3.9971129807874304, + 1.3241862277492955 + ], + "camera_target": [ + -7.884606130350154, + -5.594515701407658, + 0.9664301424794415 + ], + "camera_roll_rad": -0.0014393601875713272, + "camera_pose_world_cv": [ + [ + -0.9133224487304688, + -0.08415289223194122, + 0.3984483778476715, + -8.595745086669922 + ], + [ + -0.4072282910346985, + 0.18195116519927979, + -0.8950191140174866, + -3.997112989425659 + ], + [ + 0.002820342779159546, + -0.9797001481056213, + -0.2004491686820984, + 1.3241862058639526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2972958952820996, + 0.2905576291966811, + 0.2794337831639949 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0928414390901646, + 1.12401848663352, + 1.1739017627028894 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6048.65536153023, + "intensity": 1.1364893056508625 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7859093949857747, + 0.787056442034826, + 0.7888917173133082 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5529.130789105135, + "intensity": 0.7875152608544466 + }, + "point_color_scale": [ + 0.996211269546953, + 0.9963274414321319, + 0.9965133164484181 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef5608ed77ca812ccfa7edd775224fca5988a80e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.796935667051686, + "K": [ + [ + 578.4500955737059, + 0.0, + 303.36132570256393 + ], + [ + 0.0, + 570.0870493897711, + 240.44939791516248 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.198281365239808, + -4.859632194826055, + 0.8004416617855864 + ], + "camera_target": [ + -7.839293804798675, + -5.585700660463841, + 0.8573096243955877 + ], + "camera_roll_rad": -0.02778287855565949, + "camera_pose_world_cv": [ + [ + -0.7463400363922119, + -0.08036631345748901, + -0.6606950759887695, + -7.198281288146973 + ], + [ + 0.6632517576217651, + -0.007115840911865234, + -0.7483626008033752, + -4.8596320152282715 + ], + [ + 0.055441707372665405, + -0.9967400431632996, + 0.05861401557922363, + 0.8004416823387146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2960893515916274, + 0.273497666944497, + 0.29348828692730705 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0388931831502624, + 1.0919152039264823, + 1.1767504371684343 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6452.670505592008, + "intensity": 1.1131240122369703 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6215945111034338, + 0.6292635757692555, + 0.6415340792345706 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5742.564802938241, + "intensity": 0.6323312016355843 + }, + "point_color_scale": [ + 1.113230531574641, + 1.0857500295932696, + 1.0386405976252049 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50242672fd4d0b38f021d45b73727ddfc843d097 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0097466267827673, + "K": [ + [ + 412.8477897779251, + 0.0, + 303.9818090913764 + ], + [ + 0.0, + 434.2734641203277, + 232.228309869786 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.940091524557168, + -4.654136867467861, + 1.4302261619837433 + ], + "camera_target": [ + -7.846317708563381, + -5.554778747880244, + 0.9404119958240846 + ], + "camera_roll_rad": 0.04151907939645032, + "camera_pose_world_cv": [ + [ + -0.9952831268310547, + 0.03339526057243347, + 0.0910869687795639, + -7.940091609954834 + ], + [ + -0.06395204365253448, + 0.4801802635192871, + -0.8748356103897095, + -4.654136657714844 + ], + [ + -0.07295352220535278, + -0.876534104347229, + -0.47577929496765137, + 1.43022620677948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3103951275768153, + 0.320954798133508, + 0.3182916776926885 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0070541790873535, + 1.0118584917041722, + 1.019545391891082 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5594.780161171741, + "intensity": 1.0137802167508996 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8369652442731321, + 0.8179906816249221, + 0.7854628599422762 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5168.62069852648, + "intensity": 0.8179906816249221 + }, + "point_color_scale": [ + 0.8703710429288661, + 0.8378478811071719, + 0.7820938894128392 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d093f942772ada180e7727a622b7bed5b2a51828 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7995995361010724, + "K": [ + [ + 586.604351723849, + 0.0, + 289.66110658242644 + ], + [ + 0.0, + 567.9704233527724, + 219.649897814772 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.809175763562877, + -5.855355690353502, + 0.9122100554711214 + ], + "camera_target": [ + -7.848490482779317, + -5.51598102505267, + 0.9736065755475627 + ], + "camera_roll_rad": -0.004627769326034689, + "camera_pose_world_cv": [ + [ + 0.31088709831237793, + -0.050422877073287964, + -0.9491084814071655, + -6.809175968170166 + ], + [ + 0.9504019021987915, + 0.026201367378234863, + 0.3099188506603241, + -5.855355739593506 + ], + [ + 0.009240895509719849, + -0.9983842372894287, + 0.056067705154418945, + 0.9122100472450256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3367954348117741, + 0.36145626469039444, + 0.35115933909140834 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0503009456698333, + 1.0084682145869668, + 0.9367549613020524 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4907.407754258558, + "intensity": 1.0084682145869668 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.863319862838961, + 0.8822438602347509, + 0.9125222560680146 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5925.347519758832, + "intensity": 0.8898134591930669 + }, + "point_color_scale": [ + 1.1623175784516804, + 1.163282897206646, + 1.164827407214591 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8018844048eb664623eee2b715e0e9f9f5bae1a9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.137733043327541, + "K": [ + [ + 362.9145616391839, + 0.0, + 300.99609010700226 + ], + [ + 0.0, + 375.3691787201643, + 254.87649188027262 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.493939681843747, + -6.847935080101392, + 0.6754594649628453 + ], + "camera_target": [ + -7.841174216775775, + -5.596424313440801, + 0.9614722414592305 + ], + "camera_roll_rad": -0.03820851900324345, + "camera_pose_world_cv": [ + [ + 0.6872096657752991, + -0.06031593680381775, + -0.7239508628845215, + -6.4939398765563965 + ], + [ + 0.7225319147109985, + 0.16023039817810059, + 0.6725130677223206, + -6.847935199737549 + ], + [ + 0.07543566823005676, + -0.9852350354194641, + 0.15369200706481934, + 0.6754594445228577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2687400571616699, + 0.26981625429122197, + 0.25575331997395384 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9735336984542624, + 0.9777083131660614, + 0.9843876967049399 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5585.250312623779, + "intensity": 0.9793781590507811 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8062511853268924, + 0.7930866335433671, + 0.7705188304858951 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5262.86950564443, + "intensity": 0.7930866335433671 + }, + "point_color_scale": [ + 1.0490066867526258, + 1.0717607569317293, + 1.108167269218295 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d0c79724724f48d65a9ac321daa065f58d0cf69 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.084832762462969, + "K": [ + [ + 379.75808658655507, + 0.0, + 316.6120740745668 + ], + [ + 0.0, + 398.19549782367835, + 245.28029507333943 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.493832365585562, + -7.149150481383225, + 1.5841478022201763 + ], + "camera_target": [ + -7.868762084380227, + -5.608431455715502, + 0.9516447107764016 + ], + "camera_roll_rad": -0.0024416267141936163, + "camera_pose_world_cv": [ + [ + 0.9712050557136536, + 0.09234649688005447, + -0.2196197211742401, + -7.493832588195801 + ], + [ + 0.23820185661315918, + -0.35883212089538574, + 0.9024962186813354, + -7.149150371551514 + ], + [ + 0.004535742104053497, + -0.9288227558135986, + -0.3704966902732849, + 1.5841478109359741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23922553289258078, + 0.2466735775601684, + 0.25457671508697255 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.030398524288418, + 1.0080413720721737, + 0.9697148254157555 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5183.159940006293, + "intensity": 1.0080413720721737 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7642042213440022, + 0.7879031603738295, + 0.8258214628215531 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6094.41816232777, + "intensity": 0.7973827359857604 + }, + "point_color_scale": [ + 1.1411009254878137, + 1.134549167025576, + 1.1233175810903115 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f4c858fa789305889b89c04f5242aa2ad17b66 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8644248204731848, + "K": [ + [ + 499.84131321650705, + 0.0, + 306.95848308714636 + ], + [ + 0.0, + 520.2671123595303, + 218.05951065987927 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.653753399528624, + -7.222562576578677, + 1.5938532551702993 + ], + "camera_target": [ + -7.899453523228633, + -5.608428341608209, + 0.8840305324720835 + ], + "camera_roll_rad": -0.02355580934335554, + "camera_pose_world_cv": [ + [ + 0.9846898913383484, + 0.10648934543132782, + -0.13800683617591858, + -7.653753280639648 + ], + [ + 0.16888029873371124, + -0.38663387298583984, + 0.9066387414932251, + -7.222562789916992 + ], + [ + 0.04318925738334656, + -0.9160646200180054, + -0.3986983895301819, + 1.593853235244751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2673065784469777, + 0.24012610881569238, + 0.26711830869385744 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0001981298290583, + 1.0074022210418687, + 1.0189287669823652 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5642.615189961459, + "intensity": 1.0102838575269928 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6967899183600047, + 0.6739495374615958, + 0.6347945987786091 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5015.852244783016, + "intensity": 0.6739495374615958 + }, + "point_color_scale": [ + 0.9287920591365415, + 0.9534851953744482, + 0.9929942133550991 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e90788810085d6216621d84a8c6c2392bd7c5ba7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2345340175449075, + "K": [ + [ + 327.98446730080934, + 0.0, + 345.67036248796535 + ], + [ + 0.0, + 338.1276420202002, + 262.596750850969 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.543633247592838, + -4.852422545024531, + 1.0538200456028495 + ], + "camera_target": [ + -7.90035946262959, + -5.528037551169115, + 0.8678821857702897 + ], + "camera_roll_rad": 0.024746803481388913, + "camera_pose_world_cv": [ + [ + -0.43982410430908203, + 0.1309194266796112, + -0.8884903192520142, + -6.543633460998535 + ], + [ + 0.8967405557632446, + 0.009926438331604004, + -0.4424454867839813, + -4.852422714233398 + ], + [ + -0.04910525679588318, + -0.9913433790206909, + -0.12176650762557983, + 1.053820013999939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2443684238271771, + 0.25078339860443155, + 0.25368741164648334 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0144756645656663, + 1.0531769550920327, + 1.1150990199342192 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6224.2973836919655, + "intensity": 1.0686574713025794 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.9722840598230867, + 0.9370025581644454, + 0.8765199838924889 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 4962.091700951527, + "intensity": 0.9370025581644454 + }, + "point_color_scale": [ + 0.9239150219332185, + 0.951279114224022, + 0.9950616618893077 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41a86541bd04317f0fe1c8bac456a822207ee1a0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9537307034964964, + "K": [ + [ + 461.62465253043837, + 0.0, + 308.19941631765795 + ], + [ + 0.0, + 464.5463338953151, + 219.2742264567544 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.622656001966889, + -5.4869052040899575, + 0.8871561231850276 + ], + "camera_target": [ + -7.862199096174168, + -5.547636867302063, + 0.9202288290104114 + ], + "camera_roll_rad": -0.03211086677895056, + "camera_pose_world_cv": [ + [ + -0.04712820053100586, + -0.029693812131881714, + -0.9984474182128906, + -6.622655868530273 + ], + [ + 0.9968265295028687, + 0.06279969215393066, + -0.048919230699539185, + -5.486905097961426 + ], + [ + 0.06415483355522156, + -0.997584342956543, + 0.026639938354492188, + 0.8871561288833618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33328027277794503, + 0.32812068859409016, + 0.33386225002375824 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.147876437920746, + 1.155426207877043, + 1.167505839807118 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5630.343049243944, + "intensity": 1.1584461158595616 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5685421407400064, + 0.5721160607948954, + 0.5778343328827179 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5624.625483146356, + "intensity": 0.573545628816851 + }, + "point_color_scale": [ + 0.8322092647375952, + 0.8017849356783686, + 0.7496289430054088 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6373bdb765b08ff737dba44a57c9ce61cceb645d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1349318639924328, + "K": [ + [ + 386.08003868149825, + 0.0, + 347.4281380913455 + ], + [ + 0.0, + 376.530138811497, + 253.3405638888516 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.527583079850558, + -4.677173610802668, + 0.9053584366726571 + ], + "camera_target": [ + -7.85503099741096, + -5.546675055010498, + 0.8700460529047693 + ], + "camera_roll_rad": 0.04935704534599404, + "camera_pose_world_cv": [ + [ + -0.7890777587890625, + 0.05840691924095154, + 0.6115105748176575, + -8.527583122253418 + ], + [ + -0.6063445806503296, + 0.0855710506439209, + -0.7905846834182739, + -4.677173614501953 + ], + [ + -0.09850311279296875, + -0.9946187734603882, + -0.03210729360580444, + 0.9053584337234497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22548751693619037, + 0.23061313223128466, + 0.23095247872041452 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0235290296392996, + 1.065268243654983, + 1.1320509860800765 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6271.545388656019, + "intensity": 1.0819639292612564 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6483895881311873, + 0.6615731607312724, + 0.6826668768914085 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5895.400465483564, + "intensity": 0.6668465897713064 + }, + "point_color_scale": [ + 0.7954732361650698, + 0.8064794066501974, + 0.8240892794264015 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73561a0032287c091fbc88bc44c66928ad5f6590 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2229247824083829, + "K": [ + [ + 348.87259768819223, + 0.0, + 294.7838630314874 + ], + [ + 0.0, + 342.3202662910521, + 263.22782725892534 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.401025138275916, + -7.1356030910237855, + 1.584464242269 + ], + "camera_target": [ + -7.900609074711565, + -5.54833967256013, + 0.9901618956621064 + ], + "camera_roll_rad": 0.04611570991127381, + "camera_pose_world_cv": [ + [ + 0.9403584003448486, + -0.18852627277374268, + 0.2831677496433258, + -8.40102481842041 + ], + [ + -0.32894212007522583, + -0.29167675971984863, + 0.8981770277023315, + -7.135602951049805 + ], + [ + -0.08673647046089172, + -0.9377540349960327, + -0.33629488945007324, + 1.584464192390442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35887866596368007, + 0.3677970324683373, + 0.3604818758085843 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.178393884770721, + 1.1195932351116817, + 1.018792121410472 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 4749.719224357746, + "intensity": 1.1195932351116817 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.5760533330640754, + 0.5866166633639962, + 0.6035179918438696 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5857.568702992016, + "intensity": 0.5908419954839645 + }, + "point_color_scale": [ + 1.1852871163158196, + 1.1886516038430015, + 1.1940347838864929 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e06d823d3be9b8d8fe2d8790cb8baf06c0e2ed90 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9700700420356322, + "K": [ + [ + 454.6601707515155, + 0.0, + 336.44551131292303 + ], + [ + 0.0, + 455.3842850874512, + 228.15112951596677 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.580118869020282, + -5.997429427372628, + 1.5568860859339912 + ], + "camera_target": [ + -7.888373218481927, + -5.602217162068882, + 0.913589073312908 + ], + "camera_roll_rad": 0.01773548629870464, + "camera_pose_world_cv": [ + [ + 0.30346018075942993, + 0.39718008041381836, + -0.8661177754402161, + -6.580118656158447 + ], + [ + 0.9523037672042847, + -0.15703099966049194, + 0.2616465389728546, + -5.997429370880127 + ], + [ + -0.03208661079406738, + -0.9042065143585205, + -0.42588871717453003, + 1.556886076927185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2828789503459521, + 0.31125635706470534, + 0.28618463447651366 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 1.0385801405962154, + 1.037317838427758, + 1.0351538918532597 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5482.615850752021, + "intensity": 1.037317838427758 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.6683338737171184, + 0.6833542525380538, + 0.7073868586515505 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5935.775978856196, + "intensity": 0.6893624040664279 + }, + "point_color_scale": [ + 0.9137447659440825, + 0.8925594408104957, + 0.8562417405814896 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c79cda4738ea70d75152b214e5d54bbc9b13219 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9040735563940834, + "K": [ + [ + 518.6617945300177, + 0.0, + 323.58975689481156 + ], + [ + 0.0, + 494.2648925001222, + 239.57895887600753 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.692080531467955, + -5.3932458645302965, + 1.4847560372839737 + ], + "camera_target": [ + -7.822749876021662, + -5.590203981221449, + 0.8537886501988923 + ], + "camera_roll_rad": -0.040525390559821586, + "camera_pose_world_cv": [ + [ + -0.2094740867614746, + 0.4591638445854187, + -0.8633013367652893, + -6.692080497741699 + ], + [ + 0.9752369523048401, + 0.16216564178466797, + -0.15038353204727173, + -5.393245697021484 + ], + [ + 0.07094711065292358, + -0.8734248280525208, + -0.4817630648612976, + 1.4847559928894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2346412295252118, + 0.21769203952286192, + 0.21046787051322446 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9029796966984379, + 0.926478607142439, + 0.9640768638528405 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6002.178834043243, + "intensity": 0.9358781713200394 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8782331886389919, + 0.9055801357886264, + 0.9493352512280416 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 6096.756852751329, + "intensity": 0.9165189146484802 + }, + "point_color_scale": [ + 0.9978755009627337, + 0.9681327773779258, + 0.9171452512325406 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61d9ada30ff70fe0270d04242c7ef72996cfecd9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9115617656505257, + "K": [ + [ + 493.45168714333096, + 0.0, + 312.35899014861917 + ], + [ + 0.0, + 489.59117150239217, + 218.94234466611448 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.596539614143115, + -4.532312677886631, + 1.1991393486385524 + ], + "camera_target": [ + -7.806042225830867, + -5.549563682078203, + 0.9672766991772264 + ], + "camera_roll_rad": -0.030883837803593807, + "camera_pose_world_cv": [ + [ + -0.7813997268676758, + -0.1572226881980896, + 0.6039003133773804, + -8.596539497375488 + ], + [ + -0.6210666298866272, + 0.1017221212387085, + -0.7771286368370056, + -4.532312870025635 + ], + [ + 0.06075224280357361, + -0.9823103547096252, + -0.1771312952041626, + 1.1991393566131592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33903297782508524, + 0.32409894747673773, + 0.3428677771262295 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9326568009226358, + 0.9726655331292958, + 1.036679504659952 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6309.34531484303, + "intensity": 0.9886690260119598 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.8023265357956015, + 0.7653011882339337, + 0.7018291638425033 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 4808.855722783, + "intensity": 0.7653011882339337 + }, + "point_color_scale": [ + 1.0842334089415449, + 1.1169810611905744, + 1.1693773047890215 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf7190d2d91595aafd0b0fa5c28ff4db804829ae --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.306577998895202, + "K": [ + [ + 317.7479354386927, + 0.0, + 318.05959079978044 + ], + [ + 0.0, + 313.5585975185352, + 258.8529206066589 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.982753596207196, + -4.677879516471882, + 1.5422306426654195 + ], + "camera_target": [ + -7.8313173124592765, + -5.5859080533923775, + 0.8569950029019335 + ], + "camera_roll_rad": -0.0052991657104214315, + "camera_pose_world_cv": [ + [ + -0.7340786457061768, + 0.32190603017807007, + -0.5979175567626953, + -6.982753753662109 + ], + [ + 0.6790012717247009, + 0.35998666286468506, + -0.639818012714386, + -4.677879333496094 + ], + [ + 0.009280979633331299, + -0.8756633400917053, + -0.4828328490257263, + 1.5422306060791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32583942731696497, + 0.30419436468063343, + 0.2968082761039814 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.8208510728052516, + 0.84969020461467, + 0.8958328155097396 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 6169.722850601442, + "intensity": 0.8612258573384374 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.7401699328377133, + 0.7267655711338141, + 0.7037866653557012 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 5236.516300317402, + "intensity": 0.7267655711338141 + }, + "point_color_scale": [ + 0.8439405836933987, + 0.8223206767762079, + 0.7852579792038806 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a655817aaba3ace68858235ba53c4cd06f0206 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000002/scene_b04_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 2, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.141440679648554, + "K": [ + [ + 380.1436603395023, + 0.0, + 295.189318171673 + ], + [ + 0.0, + 373.8403320626475, + 257.2717973416197 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.5026877027346535, + -5.405743874589704, + 0.8327949973327453 + ], + "camera_target": [ + -7.886960260521313, + -5.567663957973885, + 0.930678267517436 + ], + "camera_roll_rad": 0.026989526462589078, + "camera_pose_world_cv": [ + [ + -0.11976432800292969, + -0.06321552395820618, + -0.9907877445220947, + -6.502687931060791 + ], + [ + 0.9913425445556641, + -0.061715006828308105, + -0.11589375138282776, + -5.4057440757751465 + ], + [ + -0.0538201630115509, + -0.9960899353027344, + 0.07005953788757324, + 0.8327950239181519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.904754638671875, + 0.42593318223953247, + 0.0, + -7.855454444885254 + ], + [ + -0.42593318223953247, + 0.904754638671875, + -0.0, + -5.564785480499268 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33683048492779827, + 0.32772080911700646, + 0.31958867977126226 + ], + "directional_primary": { + "direction": [ + 0.022165117222407216, + -0.6749566639226539, + -0.7375243774987498 + ], + "color": [ + 0.9185979395474471, + 0.8974204379458255, + 0.8611161494859025 + ], + "azimuth_rad": -1.537968804994901, + "elevation_rad": 0.8293971352605237, + "color_temp_k": 5162.882942739167, + "intensity": 0.8974204379458255 + }, + "directional_fill": { + "direction": [ + -0.4837850913556741, + 0.013771016102054723, + -0.8750784779078382 + ], + "color": [ + 0.9415399040886552, + 0.8996709152107144, + 0.8278955057056734 + ], + "azimuth_rad": 3.113135186079897, + "elevation_rad": 1.0655979453427296, + "color_temp_k": 4835.169779939013, + "intensity": 0.8996709152107144 + }, + "point_color_scale": [ + 1.0564295617013832, + 1.009514597576215, + 0.9290889447902121 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5246c6313c9ea481bb31d89161871229866b647 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9585287780854927, + "K": [ + [ + 477.81862414782364, + 0.0, + 345.96257533174463 + ], + [ + 0.0, + 461.82602443716604, + 233.04866387215242 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.2549849293864614, + -2.3532860322084597, + 1.5762928372566145 + ], + "camera_target": [ + -5.058854316409067, + -1.1179171648241055, + 0.9105452792373823 + ], + "camera_roll_rad": -0.03788193760412235, + "camera_pose_world_cv": [ + [ + 0.8187724351882935, + 0.28731489181518555, + -0.49705323576927185, + -4.2549848556518555 + ], + [ + 0.5699591040611267, + -0.30275970697402954, + 0.7638607025146484, + -2.353286027908325 + ], + [ + 0.06898084282875061, + -0.9087281227111816, + -0.41164904832839966, + 1.576292872428894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3145985336911076, + 0.2874815674688188, + 0.29938199967553936 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9695030154730125, + 1.0005671720298035, + 1.0502698225206692 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6113.314438052204, + "intensity": 1.0129928346525199 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.8690480020885961, + 0.9019818944532766, + 0.9546761222367653 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6219.74422081689, + "intensity": 0.9151554513991488 + }, + "point_color_scale": [ + 1.2030900644184643, + 1.1979669527250778, + 1.1891844755364156 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1db22b0d15e8f98f2eb3c1786e6c4e4c707d06fd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2593678325560576, + "K": [ + [ + 318.0088891025711, + 0.0, + 301.73957047821096 + ], + [ + 0.0, + 329.38495727544364, + 239.64585507724678 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.6243568794548455, + -0.4778571435485851, + 1.2101741644498305 + ], + "camera_target": [ + -5.118704553721955, + -1.0982881424899225, + 0.9753753750758077 + ], + "camera_roll_rad": 0.03407762748028313, + "camera_pose_world_cv": [ + [ + -0.785475492477417, + -0.12463332712650299, + 0.6062135696411133, + -5.624356746673584 + ], + [ + -0.6154330968856812, + 0.26072192192077637, + -0.7438187003135681, + -0.47785714268684387 + ], + [ + -0.06534859538078308, + -0.9573351740837097, + -0.281494140625, + 1.2101742029190063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26393073008743007, + 0.2808708160570997, + 0.28149978612775955 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0528955553440307, + 1.0578109244881548, + 1.0656755151187538 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5592.762322818926, + "intensity": 1.0597770721458046 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.5961814502971546, + 0.61179239594349, + 0.6367699089776266 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6005.178536228412, + "intensity": 0.6180367742020242 + }, + "point_color_scale": [ + 0.9880038242472253, + 0.9458136400449755, + 0.8734876099839756 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8dcbc0fbe1d928a590c357d4782ddb49c266da6a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2672405062937078, + "K": [ + [ + 329.58815302458936, + 0.0, + 341.6160284100323 + ], + [ + 0.0, + 326.6753992164068, + 260.93844404548145 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.7123759578131645, + -2.1487375259104295, + 1.271387482154285 + ], + "camera_target": [ + -5.046125487807944, + -1.1004408037418776, + 0.9432356386916695 + ], + "camera_roll_rad": 0.04300714977347306, + "camera_pose_world_cv": [ + [ + 0.9567998647689819, + 0.004533618688583374, + -0.29071199893951416, + -4.712376117706299 + ], + [ + 0.2788490056991577, + -0.2974207401275635, + 0.9131177067756653, + -2.1487374305725098 + ], + [ + -0.08232403546571732, + -0.9547356963157654, + -0.2858363389968872, + 1.2713874578475952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23250597226091432, + 0.23779549288469068, + 0.23189287199724992 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9321010006149787, + 0.9116007094371678, + 0.8764573531323488 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5178.739496899939, + "intensity": 0.9116007094371678 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7816016064318397, + 0.7672647923099385, + 0.7426873966723934 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5233.062650123346, + "intensity": 0.7672647923099385 + }, + "point_color_scale": [ + 0.7790964376478587, + 0.8113730206679882, + 0.8630155535001954 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8169ed76341c10f85b69bbf9e1f77d5aad27c487 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.070492987532952, + "K": [ + [ + 391.2941905198318, + 0.0, + 347.38116194177974 + ], + [ + 0.0, + 404.7310241288454, + 240.11635840087385 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.558568094296946, + -0.878888137990316, + 1.219196252661463 + ], + "camera_target": [ + -5.124283952234486, + -1.074987539337701, + 0.8513906040756968 + ], + "camera_roll_rad": -0.04995875529382721, + "camera_pose_world_cv": [ + [ + -0.11044955253601074, + -0.25627657771110535, + 0.9602725505828857, + -6.558568000793457 + ], + [ + -0.9891682863235474, + -0.06564044952392578, + -0.13129115104675293, + -0.8788881301879883 + ], + [ + 0.09667959809303284, + -0.9643721580505371, + -0.24625074863433838, + 1.2191962003707886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21669895081239182, + 0.22399988642212498, + 0.23720085573113395 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0810924732178793, + 1.0230927885073169, + 0.9236647575749243 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4690.135114093144, + "intensity": 1.0230927885073169 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7384043570291788, + 0.741962930140434, + 0.7476566471184424 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5595.739532110853, + "intensity": 0.7433863593849361 + }, + "point_color_scale": [ + 0.9637487498946741, + 0.9809591479365639, + 1.0084957848035878 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce76427b33c1cd70a5dfde9ab0c2e93d4f64895e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8881763189248879, + "K": [ + [ + 486.1661601334941, + 0.0, + 351.77309450015275 + ], + [ + 0.0, + 504.4301349376186, + 236.84638145970862 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.066387392858033, + -1.2388246070091604, + 1.4727811395809325 + ], + "camera_target": [ + -5.1178353230171485, + -1.114711770859989, + 0.8490537902879269 + ], + "camera_roll_rad": 0.047600985110140354, + "camera_pose_world_cv": [ + [ + 0.07767248153686523, + -0.5514300465583801, + 0.8305972218513489, + -6.066387176513672 + ], + [ + -0.9937939047813416, + 0.02371680736541748, + 0.10867908596992493, + -1.2388246059417725 + ], + [ + -0.07962805032730103, + -0.8338838815689087, + -0.5461657047271729, + 1.4727811813354492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2247208052742641, + 0.23521801940264472, + 0.2232038091445463 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9015880611581665, + 0.9423981385664977, + 1.0076942624198275 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6351.343146228588, + "intensity": 0.9587221695298301 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7754424236077088, + 0.7965686138338344, + 0.8303705181956353 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6024.861844657935, + "intensity": 0.8050190899242846 + }, + "point_color_scale": [ + 0.9518819838976623, + 0.9522942935599262, + 0.9529539890195483 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8215e5e71f563fe2737cc9a53f6877f3a9faf747 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9690157764746725, + "K": [ + [ + 443.2155931514533, + 0.0, + 330.7053343865315 + ], + [ + 0.0, + 455.96685502745777, + 245.16941318284697 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.708119385795601, + -2.084060044122492, + 1.5972616245221776 + ], + "camera_target": [ + -5.10554550384219, + -1.0687496433045984, + 0.8521265678750002 + ], + "camera_roll_rad": 0.051099428766691726, + "camera_pose_world_cv": [ + [ + 0.9473254084587097, + 0.10958939045667648, + -0.3009398281574249, + -4.7081193923950195 + ], + [ + 0.3089981973171234, + -0.559860110282898, + 0.7688151597976685, + -2.084059953689575 + ], + [ + -0.0842302143573761, + -0.8213080167770386, + -0.564232587814331, + 1.597261667251587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31941342670921746, + 0.3162719731484281, + 0.30138853321910697 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.2203681446288324, + 1.1774251829305178, + 1.1038086771619786 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4978.972515368142, + "intensity": 1.1774251829305178 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.8262722687687589, + 0.8456594932189883, + 0.8766790523393554 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5954.344919336807, + "intensity": 0.8534143829990801 + }, + "point_color_scale": [ + 0.8831547706077216, + 0.8810713728892997, + 0.8774998339434336 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed373ab1c91f404d899f37b0b2a1d0c1858c11ec --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.104088766856607, + "K": [ + [ + 378.51603113709626, + 0.0, + 291.65209320717423 + ], + [ + 0.0, + 389.6599761057681, + 247.19741467382372 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.6228647554801565, + -1.8515098334777909, + 1.0471046340827495 + ], + "camera_target": [ + -5.135696308051249, + -1.0743945957776564, + 0.9675105949789745 + ], + "camera_roll_rad": 0.01051595696572638, + "camera_pose_world_cv": [ + [ + 0.8354431390762329, + 0.029350847005844116, + -0.5487925410270691, + -4.622864723205566 + ], + [ + 0.5491772890090942, + -0.08265846967697144, + 0.8316081762313843, + -1.8515098094940186 + ], + [ + -0.020954012870788574, + -0.9961457252502441, + -0.0851752758026123, + 1.0471045970916748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2454539704019037, + 0.2715340306771824, + 0.25733170071076383 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.1642267134950177, + 1.1632782988781594, + 1.1616524452492591 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5488.35293303941, + "intensity": 1.1632782988781594 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7597747365530335, + 0.741452655535818, + 0.71004337379202 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5146.984857930682, + "intensity": 0.741452655535818 + }, + "point_color_scale": [ + 0.8385175443630728, + 0.8385378382133719, + 0.8385703083738504 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e6b3eb9c83e697ac2ba585b01d24c7266a6c6c6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0722522028714299, + "K": [ + [ + 407.1893719986651, + 0.0, + 307.1667125771507 + ], + [ + 0.0, + 403.9207613548545, + 225.174694296765 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.054366042739899, + -1.4325507982766004, + 1.0012674941063389 + ], + "camera_target": [ + -5.1162379078049485, + -1.1354103334429297, + 0.9917513203312496 + ], + "camera_roll_rad": 0.0046575702310227216, + "camera_pose_world_cv": [ + [ + 0.2695412039756775, + 0.005800098180770874, + -0.9629713296890259, + -4.054366111755371 + ], + [ + 0.9629437923431396, + -0.011295855045318604, + 0.2694654166698456, + -1.4325507879257202 + ], + [ + -0.009314626455307007, + -0.9999192953109741, + -0.008629918098449707, + 1.0012675523757935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23485146880211474, + 0.22369019714391106, + 0.24439757365191758 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9254137971380242, + 0.9178318666485201, + 0.9048342715236558 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5381.990049983, + "intensity": 0.9178318666485201 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6613575622894892, + 0.687148555754916, + 0.7284141452995991 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6239.563854765038, + "intensity": 0.6974649531410868 + }, + "point_color_scale": [ + 1.0961050756521673, + 1.0609546066655144, + 1.0006966598312526 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c0c9b40942fed67f224867e093f45e4f57e40e7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9195606115771771, + "K": [ + [ + 463.45510369341946, + 0.0, + 330.2432272950306 + ], + [ + 0.0, + 484.6769616284082, + 224.62784866868793 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.252944705677597, + -0.7891493775135526, + 1.5940523009893108 + ], + "camera_target": [ + -5.136848376194906, + -1.0919454781899638, + 0.8539481922533961 + ], + "camera_roll_rad": 0.013969405771539142, + "camera_pose_world_cv": [ + [ + -0.30754268169403076, + 0.5962358713150024, + -0.7415661811828613, + -4.252944469451904 + ], + [ + 0.9512823820114136, + 0.1747218370437622, + -0.25403591990470886, + -0.7891494035720825 + ], + [ + -0.021897584199905396, + -0.7835656404495239, + -0.6209229826927185, + 1.5940523147583008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2566621506711586, + 0.23234059327275677, + 0.2431994989272272 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0761928407140762, + 1.086438104346449, + 1.1028305261582456 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5687.894056892573, + "intensity": 1.0905362097993982 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6368611039845334, + 0.6571753073831386, + 0.6896780328209071 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6110.677084277271, + "intensity": 0.6653009887425807 + }, + "point_color_scale": [ + 1.1363089619433768, + 1.1706366875587, + 1.2255610485432173 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..017ecedcf0cc35c4417bde6409dfe20430bfcf16 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1476628381441467, + "K": [ + [ + 372.9911303183175, + 0.0, + 341.4136047688629 + ], + [ + 0.0, + 371.2943616792091, + 257.07609313494004 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.986131518179078, + -1.4374442097394289, + 1.6239530224777623 + ], + "camera_target": [ + -5.07948806047902, + -1.1258199118882881, + 0.8661731300057425 + ], + "camera_roll_rad": 0.049731381944106215, + "camera_pose_world_cv": [ + [ + 0.26520949602127075, + -0.6158077716827393, + 0.7419195175170898, + -5.98613166809082 + ], + [ + -0.9610385894775391, + -0.10666000843048096, + 0.25500673055648804, + -1.4374442100524902 + ], + [ + -0.07790201902389526, + -0.7806435227394104, + -0.6201023459434509, + 1.6239529848098755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.355979724922258, + 0.3631147560090044, + 0.3628758208035188 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.1117993155208157, + 1.0499704469741005, + 0.9439781008940176 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4658.767227008299, + "intensity": 1.0499704469741005 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7903444287747124, + 0.7613312872356395, + 0.7115944731686573 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4955.5938295099895, + "intensity": 0.7613312872356395 + }, + "point_color_scale": [ + 0.8915287860608415, + 0.8756464856047018, + 0.8484196848227482 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..baa2de312a57007b3fcdfc30fcd86f9c0b30eae1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1900469832411376, + "K": [ + [ + 342.17157175747633, + 0.0, + 328.31731021381023 + ], + [ + 0.0, + 354.5806908032877, + 253.27995284542305 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.713814915077208, + -2.1565532972489616, + 1.0191811346245045 + ], + "camera_target": [ + -5.069626930963998, + -1.1200833720498633, + 0.8814993133414516 + ], + "camera_roll_rad": 0.03834165843641002, + "camera_pose_world_cv": [ + [ + 0.610438346862793, + 0.01717129349708557, + -0.7918776869773865, + -3.7138149738311768 + ], + [ + 0.7883744239807129, + -0.10955590009689331, + 0.6053622364997864, + -2.156553268432617 + ], + [ + -0.07636010646820068, + -0.9938324093818665, + -0.08041447401046753, + 1.0191811323165894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26024731717673083, + 0.2550223659276013, + 0.2547110507871753 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9374348444879433, + 0.9633982625579505, + 1.0049397314699617 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6033.248193455751, + "intensity": 0.9737836297859533 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.5640387839671407, + 0.5837577027189171, + 0.6153079727217595 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6166.579105566296, + "intensity": 0.5916452702196278 + }, + "point_color_scale": [ + 1.0138216453624755, + 1.0376252623102793, + 1.0757110494267654 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e62c9b8f82909cdd1ddc482f3de4fae2fc0f8d7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8811074212499606, + "K": [ + [ + 529.2091182492148, + 0.0, + 330.3185456804341 + ], + [ + 0.0, + 509.06006478397137, + 218.814282995427 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.126454306448191, + -1.5079866625849978, + 1.026951838024388 + ], + "camera_target": [ + -5.098508127347215, + -1.1335292211827068, + 0.9628934695057548 + ], + "camera_roll_rad": -0.04803133988816556, + "camera_pose_world_cv": [ + [ + 0.3523218631744385, + 0.09149080514907837, + -0.9313961267471313, + -4.1264543533325195 + ], + [ + 0.9309695363044739, + 0.06754136085510254, + 0.35879504680633545, + -1.5079866647720337 + ], + [ + 0.09573414921760559, + -0.993512749671936, + -0.06137889623641968, + 1.026951789855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25446524732558234, + 0.25174082315650187, + 0.24846641912913253 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0872469727003409, + 1.105202503869433, + 1.1339313537399804 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5822.829519416938, + "intensity": 1.11238471633707 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7286150019656416, + 0.734270819702282, + 0.7433201280809069 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5653.5794488336805, + "intensity": 0.7365331467969383 + }, + "point_color_scale": [ + 1.0138165274766395, + 0.9762673854506914, + 0.9118974276919232 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0060d7863a9d650d10c7392c4d6db15ba131db65 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.913631626915246, + "K": [ + [ + 475.9722539454029, + 0.0, + 334.926735530386 + ], + [ + 0.0, + 488.31185373709764, + 247.39448263811533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.84553942424483, + -0.06750477401971455, + 0.7586129955487974 + ], + "camera_target": [ + -5.1016253419610935, + -1.095087061324218, + 0.8992672722162057 + ], + "camera_roll_rad": -0.03904056303023097, + "camera_pose_world_cv": [ + [ + -0.8125886917114258, + 0.0012418031692504883, + 0.5828363299369812, + -5.845539569854736 + ], + [ + -0.5776585340499878, + -0.13473159074783325, + -0.8050826191902161, + -0.06750477105379105 + ], + [ + 0.0775267481803894, + -0.9908813834190369, + 0.1101987361907959, + 0.7586129903793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2645556022855982, + 0.2531844319365614, + 0.25745280769010476 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.8794755266415157, + 0.8668719869824849, + 0.8452659189955751 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5292.298552426035, + "intensity": 0.8668719869824849 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7771932683366369, + 0.8076740787118242, + 0.8564433753121239 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6243.555541946548, + "intensity": 0.8198664028618992 + }, + "point_color_scale": [ + 1.0348361336394478, + 1.0095856046220404, + 0.9662989834493421 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34971c077a30a3581ea1be022ed3c946f2272fc3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0837975324555904, + "K": [ + [ + 407.53120777700474, + 0.0, + 322.20041735947854 + ], + [ + 0.0, + 398.6620964149615, + 258.30389708781524 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.037259742174985, + -2.6255979615182565, + 1.3179870141486285 + ], + "camera_target": [ + -5.04929123550036, + -1.0393268305673165, + 0.9336656377104036 + ], + "camera_roll_rad": -0.047375094548668215, + "camera_pose_world_cv": [ + [ + 0.8290737271308899, + 0.1869107484817505, + -0.5269735455513, + -4.037259578704834 + ], + [ + 0.5514022707939148, + -0.1170661449432373, + 0.8259849548339844, + -2.6255979537963867 + ], + [ + 0.09269468486309052, + -0.9753768444061279, + -0.20011943578720093, + 1.3179869651794434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2955625619062372, + 0.28961202164750083, + 0.3063630501337678 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.896475398797714, + 0.9221049426757697, + 0.9631122128806588 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6049.77976181169, + "intensity": 0.932356760226992 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.9365284035765389, + 0.9258338092488788, + 0.9075002189728901 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5334.981270460925, + "intensity": 0.9258338092488788 + }, + "point_color_scale": [ + 1.0936090016176627, + 1.0606303735497022, + 1.0040955825760556 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95ce90d9d546527eddf2eadaf8490131f18216ad --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2084139623096406, + "K": [ + [ + 350.27582543479883, + 0.0, + 336.68091418297445 + ], + [ + 0.0, + 347.65946143380876, + 263.60420998290016 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.316991132138471, + -0.12651176546554854, + 1.0354766654387042 + ], + "camera_target": [ + -5.091210171426976, + -1.0623625500056846, + 0.9811433346447225 + ], + "camera_roll_rad": 0.0146993278344663, + "camera_pose_world_cv": [ + [ + -0.7693365812301636, + 0.051122575998306274, + -0.636794924736023, + -4.316991329193115 + ], + [ + 0.638168454170227, + 0.01568150520324707, + -0.7697370648384094, + -0.12651176750659943 + ], + [ + -0.02936503291130066, + -0.9985693097114563, + -0.0446891188621521, + 1.0354766845703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3291855231667269, + 0.32663218533649113, + 0.33351821993803227 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9835448328431949, + 0.9752374758058683, + 0.9609962923133082 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5378.310122355992, + "intensity": 0.9752374758058683 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7301430041805482, + 0.7609253652568728, + 0.8101771429789923 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6296.193377660478, + "intensity": 0.7732383096874027 + }, + "point_color_scale": [ + 1.1226691137012834, + 1.1603621728938651, + 1.2206710676019958 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c758d5c30ef4cccc3fec830787bb4b42e791c265 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9338163356773772, + "K": [ + [ + 481.91241260935124, + 0.0, + 323.4510369653384 + ], + [ + 0.0, + 476.11266538526485, + 245.38543997888132 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9123168700190964, + -1.749820730836559, + 1.344019320598745 + ], + "camera_target": [ + -5.045781894193404, + -1.1026330421836124, + 0.9935099948919783 + ], + "camera_roll_rad": -0.05145519638883797, + "camera_pose_world_cv": [ + [ + 0.47008562088012695, + 0.274973064661026, + -0.8386951088905334, + -3.9123167991638184 + ], + [ + 0.8770270347595215, + -0.038709163665771484, + 0.478879451751709, + -1.7498207092285156 + ], + [ + 0.09921365976333618, + -0.9606724977493286, + -0.2593553066253662, + 1.3440192937850952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23554611206054688, + 0.9718632102012634, + 0.0, + -5.0902605056762695 + ], + [ + -0.9718632102012634, + -0.23554611206054688, + -0.0, + -1.0873032808303833 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32832296943872336, + 0.3376259639035054, + 0.30748152607341833 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9388559396547881, + 0.9168171890334743, + 0.879036473682651 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5156.595340536641, + "intensity": 0.9168171890334743 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6382952961891573, + 0.6471787826512615, + 0.6613923609906284 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5773.030496196936, + "intensity": 0.6507321772361032 + }, + "point_color_scale": [ + 1.0693121985786036, + 1.0846964394136072, + 1.1093112247496129 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13070d2a48c01e4a86555c05831ccb4b1e949ebe --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0209590984486179, + "K": [ + [ + 426.69657451301754, + 0.0, + 311.9405870815706 + ], + [ + 0.0, + 428.5802479510362, + 226.6071812661839 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.763308471481138, + -1.6543560327310645, + 0.9461281010438309 + ], + "camera_target": [ + -5.119936432205313, + -0.49462274834707215, + 0.8668995953279791 + ], + "camera_roll_rad": 0.03951477823408589, + "camera_pose_world_cv": [ + [ + 0.9543570280075073, + -0.05636775493621826, + -0.29330071806907654, + -4.763308525085449 + ], + [ + 0.2880909740924835, + -0.08529174327850342, + 0.9537971615791321, + -1.6543560028076172 + ], + [ + -0.07877954840660095, + -0.9947603344917297, + -0.06515973806381226, + 0.9461281299591064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3130884148230894, + 0.3004508475482721, + 0.31291672018267214 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0220787839831234, + 1.0528976294001398, + 1.1022077820673661 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6078.635322471942, + "intensity": 1.0652251675669464 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.8431608863481985, + 0.8041154008644398, + 0.7371802828922821 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4806.327612717848, + "intensity": 0.8041154008644398 + }, + "point_color_scale": [ + 0.8214749137853834, + 0.8487568302134114, + 0.8924078964982566 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e999ac384b50d7cf2347308f0ca2ee13ab7521e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0683951764123523, + "K": [ + [ + 394.4432766577786, + 0.0, + 325.1203887551866 + ], + [ + 0.0, + 405.7003859974096, + 224.89452248062273 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3258186304926642, + -0.40545470491980845, + 1.2778706669865052 + ], + "camera_target": [ + -5.156328633315239, + -0.5663753635914371, + 0.9698092579004481 + ], + "camera_roll_rad": 0.03415755724753962, + "camera_pose_world_cv": [ + [ + -0.0761253833770752, + 0.1702972948551178, + -0.9824478626251221, + -3.3258185386657715 + ], + [ + 0.9948229789733887, + -0.05355429649353027, + -0.08636727929115295, + -0.40545469522476196 + ], + [ + -0.06732246279716492, + -0.9839364290237427, + -0.16533875465393066, + 1.2778706550598145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3340217688509531, + 0.32706581848620975, + 0.3491268614335146 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9763735688579412, + 0.945906628411595, + 0.8936775876464301 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5039.867896784644, + "intensity": 0.945906628411595 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7415382231977227, + 0.7602844452412654, + 0.7902784005109338 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5988.3208837280545, + "intensity": 0.7677829340586825 + }, + "point_color_scale": [ + 0.8055969734345176, + 0.8374142146898483, + 0.8883218006983774 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3430a03f5f05ff39a9382831d70e1fb7b032e546 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9150831905851239, + "K": [ + [ + 502.4520891402549, + 0.0, + 311.5369987748682 + ], + [ + 0.0, + 487.41789618990464, + 248.42119695257477 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.510887566257945, + -1.9463914608074686, + 1.2270768209052725 + ], + "camera_target": [ + -5.166235742277168, + -0.5113081939648741, + 0.9921824734202243 + ], + "camera_roll_rad": -0.044824640649805174, + "camera_pose_world_cv": [ + [ + 0.9717329144477844, + 0.050497278571128845, + 0.23061904311180115, + -5.510887622833252 + ], + [ + -0.21890099346637726, + -0.1731237769126892, + 0.9602659344673157, + -1.9463914632797241 + ], + [ + 0.08841646462678909, + -0.9836047291755676, + -0.15717613697052002, + 1.227076768875122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2653209420664003, + 0.2717337617632745, + 0.26419273228890017 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.8845357729952663, + 0.8602182352947239, + 0.8185310278080796 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5096.156671099848, + "intensity": 0.8602182352947239 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7421295678094717, + 0.7290960250458133, + 0.7067528088795417 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5244.624217309972, + "intensity": 0.7290960250458133 + }, + "point_color_scale": [ + 0.9613147293101194, + 0.9380696713020087, + 0.8982210004309615 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e0b52d3f09d8552e07ef9a17b128d4cd5d54a31 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2089295798677957, + "K": [ + [ + 334.3753902730392, + 0.0, + 305.2950119447968 + ], + [ + 0.0, + 347.46782305888064, + 236.0486915614718 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.517970348788608, + -1.3908065679477744, + 1.602552580340399 + ], + "camera_target": [ + -5.197818336081535, + -0.5297733524269783, + 0.9673167595398766 + ], + "camera_roll_rad": 0.021289739004355504, + "camera_pose_world_cv": [ + [ + 0.7973516583442688, + 0.27683061361312866, + -0.536279022693634, + -4.517970561981201 + ], + [ + 0.6023897528648376, + -0.41929829120635986, + 0.6792021989822388, + -1.3908065557479858 + ], + [ + -0.036836981773376465, + -0.8646119832992554, + -0.5010880827903748, + 1.6025525331497192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29823606321638013, + 0.29953000641378813, + 0.30001846950299627 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0078821709089978, + 0.9425010722511618, + 0.8304191888377288 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4509.003042425144, + "intensity": 0.9425010722511618 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.5747538825984666, + 0.5948835540769055, + 0.6270910284424079 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6167.72230396932, + "intensity": 0.6029354226682812 + }, + "point_color_scale": [ + 1.017277651866047, + 1.0168623509858814, + 1.0161504066198832 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc5e902d8a00d060e745e8e2c0591c3804e128ca --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.916167139202185, + "K": [ + [ + 494.44410538051415, + 0.0, + 311.0539444233431 + ], + [ + 0.0, + 486.75205435057376, + 253.9810508633173 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.416133094224106, + -1.5386664021963352, + 0.986627247136578 + ], + "camera_target": [ + -5.13460972096822, + -0.59420633940084, + 0.8562619752334125 + ], + "camera_roll_rad": 0.027004318108330205, + "camera_pose_world_cv": [ + [ + 0.5888603925704956, + -0.09763231873512268, + 0.8023162484169006, + -6.416132926940918 + ], + [ + -0.8064420223236084, + -0.004894554615020752, + 0.5912928581237793, + -1.5386663675308228 + ], + [ + -0.053802311420440674, + -0.9952105283737183, + -0.08161699771881104, + 0.9866272211074829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2975436011085931, + 0.31816373179518853, + 0.31236551255858086 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9451555095993905, + 0.9589565883042208, + 0.9810383142319494 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5786.18781830365, + "intensity": 0.964477019786153 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.5780002950130525, + 0.5873668989191425, + 0.6023534651688867 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5816.913867290507, + "intensity": 0.5911135404815786 + }, + "point_color_scale": [ + 1.1146150185550745, + 1.1550444044814836, + 1.2197314219637383 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e292c971618dabb7b214d5182593562367b959d5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9917505979325476, + "K": [ + [ + 465.03532056062573, + 0.0, + 330.4875495757007 + ], + [ + 0.0, + 443.6567094335835, + 238.34604808129086 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.213112909017565, + -2.2927347775849585, + 0.7221781734819951 + ], + "camera_target": [ + -5.166118127649699, + -0.49941391164111326, + 0.9898031894227345 + ], + "camera_roll_rad": -0.030757867093133877, + "camera_pose_world_cv": [ + [ + 0.9975283145904541, + 0.06531381607055664, + 0.025909656658768654, + -5.213112831115723 + ], + [ + -0.03521466627717018, + 0.14561021327972412, + 0.9887152314186096, + -2.2927348613739014 + ], + [ + 0.06080404669046402, + -0.9871838688850403, + 0.14755034446716309, + 0.7221781611442566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2531730614662932, + 0.24413754070518892, + 0.2626741098327043 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0449479600018519, + 0.9916926454913316, + 0.9003978206161538 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4732.836695167567, + "intensity": 0.9916926454913316 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6273542783246955, + 0.604718611706005, + 0.56591461178825 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4965.260933396734, + "intensity": 0.604718611706005 + }, + "point_color_scale": [ + 0.9462492819773093, + 0.9066350646416477, + 0.8387249777805134 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d10306dda35eb2f3eb5e154d7f2df207509f059d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8341562447162003, + "K": [ + [ + 568.2477800711318, + 0.0, + 342.7525110129031 + ], + [ + 0.0, + 541.6720443850149, + 243.4099168478228 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.19626289784606, + -0.6906007130526803, + 0.7966687568176435 + ], + "camera_target": [ + -5.164257964423217, + -0.5456760010230222, + 0.9268427768189702 + ], + "camera_roll_rad": 0.04480388025161673, + "camera_pose_world_cv": [ + [ + 0.1494917869567871, + 0.1098065972328186, + 0.9826468229293823, + -6.196262836456299 + ], + [ + -0.9847676157951355, + 0.10578620433807373, + 0.13799339532852173, + -0.6906006932258606 + ], + [ + -0.08879780769348145, + -0.9883076548576355, + 0.12394821643829346, + 0.7966687679290771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3445425478189729, + 0.3263386930534969, + 0.3661139928216944 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.1377997388871222, + 1.1514005147499045, + 1.173161756130356 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5735.136512608208, + "intensity": 1.1568408250950173 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.629386273494271, + 0.6270796014658052, + 0.6231253065598639 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5447.450917758312, + "intensity": 0.6270796014658052 + }, + "point_color_scale": [ + 1.0824195145152768, + 1.086836421562899, + 1.093903472839094 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38a667977b0db514f83199113c4b0f03503e44cd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2831710001832282, + "K": [ + [ + 324.95097739433214, + 0.0, + 316.022394539352 + ], + [ + 0.0, + 321.2803442185808, + 235.66010177485035 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.498347678436323, + -1.3262126963028404, + 1.3093493590310081 + ], + "camera_target": [ + -5.123442205213318, + -0.5560351437406686, + 0.8801500210558459 + ], + "camera_roll_rad": 0.03895540274774996, + "camera_pose_world_cv": [ + [ + 0.4432942271232605, + 0.1758061647415161, + -0.878966748714447, + -3.498347759246826 + ], + [ + 0.8931735754013062, + -0.16944974660873413, + 0.4165669083595276, + -1.3262126445770264 + ], + [ + -0.07570576667785645, + -0.9697315096855164, + -0.232141375541687, + 1.3093494176864624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2801435696774963, + 0.2640581477577654, + 0.26833738501576426 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.183563412489834, + 1.1348211050926524, + 1.0512628638403412 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4886.406655658961, + "intensity": 1.1348211050926524 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6044521892042019, + 0.6099069913922519, + 0.6186346748931321 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5678.235615078956, + "intensity": 0.612088912267472 + }, + "point_color_scale": [ + 0.8270020758696338, + 0.8605885222611513, + 0.9143268364875794 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..504fbff0ed288adf5a0a2c9d69fe0a3e1bea81d5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.994045968641876, + "K": [ + [ + 420.59510390798937, + 0.0, + 322.1265477562139 + ], + [ + 0.0, + 442.4425887125982, + 241.58397570553737 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.42128990450785, + -1.9684178917367658, + 0.9077683591894368 + ], + "camera_target": [ + -5.127165278064667, + -0.5106153343583829, + 0.9970998719930734 + ], + "camera_roll_rad": -0.043357082573530575, + "camera_pose_world_cv": [ + [ + 0.9755375981330872, + 0.09670880436897278, + 0.1974179446697235, + -5.421289920806885 + ], + [ + -0.20212095975875854, + 0.04142642021179199, + 0.9784841537475586, + -1.9684178829193115 + ], + [ + 0.08644974231719971, + -0.9944503307342529, + 0.05995988845825195, + 0.9077683687210083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27023326085199184, + 0.28514551311760905, + 0.2835582718751018 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.971183757440598, + 1.010858278804887, + 1.0743375129877495 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6272.834051256283, + "intensity": 1.0267280873506026 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6062280688958746, + 0.5805031077680549, + 0.5364031744060782 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4866.929410427934, + "intensity": 0.5805031077680549 + }, + "point_color_scale": [ + 0.887190370552761, + 0.8769467225927952, + 0.8593861832328541 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2009fbd97dfc2c4b385a1c000bf3fff62ba18da --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0923832848871566, + "K": [ + [ + 393.5230759370756, + 0.0, + 315.2161535123195 + ], + [ + 0.0, + 394.81640097881757, + 233.68614079507466 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.99695472108684, + -0.9422519902905349, + 0.8992980592538891 + ], + "camera_target": [ + -5.13292140115002, + -0.5575058501534776, + 0.930314956614354 + ], + "camera_roll_rad": 0.009975301640094289, + "camera_pose_world_cv": [ + [ + 0.40730035305023193, + 0.021820515394210815, + 0.9130335450172424, + -5.996954917907715 + ], + [ + -0.913076639175415, + 0.031554222106933594, + 0.4065653681755066, + -0.942251980304718 + ], + [ + -0.01993858814239502, + -0.9992638230323792, + 0.03277587890625, + 0.8992980718612671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22835574914813042, + 0.22695243203198695, + 0.23731346900421085 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0079732582996253, + 1.020234144540545, + 1.0398515625260165 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5739.204483149124, + "intensity": 1.0251384990369128 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.755898270641223, + 0.7693853905521402, + 0.7909647824096078 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5848.153430881031, + "intensity": 0.7747802385165071 + }, + "point_color_scale": [ + 1.145427701297187, + 1.133990408606621, + 1.1143836211370797 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eacb0257b450c7dc7bc07d5c2ce4af439dd1000c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1142666734750997, + "K": [ + [ + 384.07683706229926, + 0.0, + 288.83653745891604 + ], + [ + 0.0, + 385.25547782617053, + 223.43781061844783 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.699039159136915, + -0.9366841280407994, + 1.0235535941763858 + ], + "camera_target": [ + -5.170823732744179, + -0.5656481476533789, + 0.9010299063389821 + ], + "camera_roll_rad": 0.03956277972002463, + "camera_pose_world_cv": [ + [ + 0.22923147678375244, + -0.09389552474021912, + 0.9688326120376587, + -6.699038982391357 + ], + [ + -0.9701766967773438, + 0.058542490005493164, + 0.2352232038974762, + -0.9366841316223145 + ], + [ + -0.07880416512489319, + -0.9938594102859497, + -0.077675461769104, + 1.0235536098480225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27115659004049725, + 0.2664831960248198, + 0.2650844183400124 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9461106759902703, + 0.9603017069976121, + 0.983007356609359 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5793.816820947211, + "intensity": 0.9659781194005488 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.8705927994377508, + 0.83315189956054, + 0.768967499771036 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4858.016229059799, + "intensity": 0.83315189956054 + }, + "point_color_scale": [ + 0.7709823189645806, + 0.7994842390128506, + 0.845087311090083 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8a61ae3bdda55b809b398cc87f8e2f1c7127e24 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1107696004501542, + "K": [ + [ + 397.4860601290971, + 0.0, + 337.06882714579706 + ], + [ + 0.0, + 386.76069007404493, + 230.02757221241166 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.767317104087143, + -0.3624515851729785, + 1.3418669153443754 + ], + "camera_target": [ + -5.125813382607484, + -0.5292238650546224, + 0.9785477820874814 + ], + "camera_roll_rad": 0.042883927406229386, + "camera_pose_world_cv": [ + [ + -0.09958553314208984, + 0.2641541063785553, + -0.9593255519866943, + -3.767317056655884 + ], + [ + 0.9915784597396851, + -0.05387759208679199, + -0.11776912212371826, + -0.36245158314704895 + ], + [ + -0.0827954113483429, + -0.9629745483398438, + -0.25656402111053467, + 1.3418669700622559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3580663885735608, + 0.34794099257519473, + 0.3681455081210424 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.1237718718313168, + 1.0639779067771828, + 0.9614739666843823 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4697.164249997699, + "intensity": 1.0639779067771828 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.665561964754028, + 0.6431613329163962, + 0.6047602497661702 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5002.4436173723125, + "intensity": 0.6431613329163962 + }, + "point_color_scale": [ + 0.8956284413291354, + 0.8613096622348537, + 0.8024774695017994 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..69637c7af1faabfcf84b6d7cf413ba8adcaa5ff0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8548830719334655, + "K": [ + [ + 542.7109732233743, + 0.0, + 293.32899991917793 + ], + [ + 0.0, + 526.8610769947405, + 256.35439590553426 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.741882286198993, + -2.1020583532361643, + 1.265831926073112 + ], + "camera_target": [ + -5.157293809298851, + -0.5366704783161399, + 0.8630936436958538 + ], + "camera_roll_rad": 0.01877579120266709, + "camera_pose_world_cv": [ + [ + 0.9330688714981079, + -0.11708498001098633, + 0.3401082158088684, + -5.74188232421875 + ], + [ + -0.3578413426876068, + -0.20621353387832642, + 0.9107280969619751, + -2.1020584106445312 + ], + [ + -0.03649763762950897, + -0.9714767932891846, + -0.23430925607681274, + 1.2658319473266602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2702100274280122, + 0.27176823300273684, + 0.25306435657911097 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9809847478045632, + 0.9906367139441971, + 1.006079859767611 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5694.107398676239, + "intensity": 0.9944975004000505 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6575978485901943, + 0.6796160984708991, + 0.7148452982800271 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6139.671746519285, + "intensity": 0.6884233984231811 + }, + "point_color_scale": [ + 0.9003310256452632, + 0.8764577264763336, + 0.8355320707581682 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..910ed749340d0a0c84a9db2b7f76f88956a3a205 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8756384286205018, + "K": [ + [ + 529.4972678817162, + 0.0, + 341.44584179663656 + ], + [ + 0.0, + 512.6900038267871, + 223.73015361965142 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.470357859021574, + -0.5816338636585315, + 1.110350233560538 + ], + "camera_target": [ + -5.175023617022997, + -0.5924728473011283, + 0.9979508287151782 + ], + "camera_roll_rad": -0.03992189841401501, + "camera_pose_world_cv": [ + [ + -0.0014462471008300781, + -0.08683359622955322, + 0.9962217211723328, + -6.470357894897461 + ], + [ + -0.9968369007110596, + -0.07903510332107544, + -0.008336097002029419, + -0.5816338658332825 + ], + [ + 0.07946032285690308, + -0.9930827617645264, + -0.0864446759223938, + 1.110350251197815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25265668843618294, + 0.25877626332976095, + 0.2451906203926005 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9578458769593368, + 0.9903296981630009, + 1.0423038120888637 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6147.524553225059, + "intensity": 1.0033232266444665 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7273011111390354, + 0.7276972932312353, + 0.7283311845787553 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5510.886280240387, + "intensity": 0.7278557660681154 + }, + "point_color_scale": [ + 1.1140339651458233, + 1.0766134342780886, + 1.0124639527905437 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed48625b1869c12c6beb6d3166f4bddb2b8391b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2431533919987365, + "K": [ + [ + 346.8791608087055, + 0.0, + 306.9425515907245 + ], + [ + 0.0, + 335.05889810746737, + 221.80517804696444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.569445709127145, + -0.91923064818893, + 1.5997267225553382 + ], + "camera_target": [ + -5.150649190064646, + -0.5137645228408384, + 0.8798154701349328 + ], + "camera_roll_rad": -0.02348097322427988, + "camera_pose_world_cv": [ + [ + 0.22976869344711304, + 0.4021066725254059, + -0.8862938284873962, + -3.5694456100463867 + ], + [ + 0.9722970724105835, + -0.05464804172515869, + 0.22727125883102417, + -0.9192306399345398 + ], + [ + 0.04295295476913452, + -0.9139606356620789, + -0.40352344512939453, + 1.599726676940918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2782688735806475, + 0.2814886504893086, + 0.28740556135410605 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.051692220785351, + 0.9878605197299699, + 0.8784347464921737 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4576.912756977509, + "intensity": 0.9878605197299699 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.8458420875765236, + 0.8567612261447538, + 0.8742318478539223 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5753.600565534319, + "intensity": 0.8611288815720459 + }, + "point_color_scale": [ + 0.8593556745720011, + 0.8643156214599612, + 0.8722515364806973 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce7c00f1cbf2974c507855d07adba6ff77c3cd42 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.015137701330767, + "K": [ + [ + 427.70182114977746, + 0.0, + 321.1312300883272 + ], + [ + 0.0, + 431.5217804690764, + 252.27523913862123 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.611171436520115, + -0.5963230912946814, + 1.6414966468407628 + ], + "camera_target": [ + -5.1429741498172, + -0.5028513439009067, + 0.9271876753809464 + ], + "camera_roll_rad": -0.02056295514631979, + "camera_pose_world_cv": [ + [ + 0.08140343427658081, + -0.43291258811950684, + 0.8977528810501099, + -6.611171245574951 + ], + [ + -0.9959948062896729, + -0.06875866651535034, + 0.05715480446815491, + -0.5963230729103088 + ], + [ + 0.03698527812957764, + -0.8988097906112671, + -0.436775803565979, + 1.6414966583251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.4730769395828247, + -0.8810211420059204, + 0.0, + -5.16267728805542 + ], + [ + 0.8810211420059204, + -0.4730769395828247, + 0.0, + -0.5445622205734253 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32442085281546884, + 0.3045070237268241, + 0.3057486626362654 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.095629089944547, + 1.0402236323179095, + 0.9452428478151024 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4739.099638834685, + "intensity": 1.0402236323179095 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.5954576904979735, + 0.5803130559031617, + 0.5543508251691989 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5127.180673289682, + "intensity": 0.5803130559031617 + }, + "point_color_scale": [ + 0.9992279022735102, + 0.962592654804272, + 0.8997893734284352 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..473db1216d99fe0cd1cd48dcdb4e31769af021b9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8413748116704223, + "K": [ + [ + 531.1400183849773, + 0.0, + 342.20216982655893 + ], + [ + 0.0, + 536.435968423677, + 228.21256168520986 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.123361233911138, + -1.5802938459462053, + 1.528987770787651 + ], + "camera_target": [ + -4.02999512927248, + -0.5302773802163325, + 0.9390717654087346 + ], + "camera_roll_rad": 0.034328257865740855, + "camera_pose_world_cv": [ + [ + 0.9907561540603638, + -0.11148329824209213, + 0.07729018479585648, + -4.123361110687256 + ], + [ + -0.12173060327768326, + -0.47920161485671997, + 0.8692223429679871, + -1.580293893814087 + ], + [ + -0.05986618250608444, + -0.8705959916114807, + -0.48834288120269775, + 1.5289877653121948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3031629674548415, + 0.2910995450451078, + 0.2867964625687272 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0282412402106562, + 1.0523896908327992, + 1.0910272118282285 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5954.752068989598, + "intensity": 1.0620490710816566 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6498811071065166, + 0.628437598459178, + 0.5916772979208835 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5012.543745679437, + "intensity": 0.628437598459178 + }, + "point_color_scale": [ + 1.0656195080192368, + 1.1079570741945008, + 1.1756971800749236 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..791d47780608de4c57c37423bdcda6b14483c738 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0008192455250826, + "K": [ + [ + 429.8548557451249, + 0.0, + 344.45870319635105 + ], + [ + 0.0, + 438.8896601149579, + 241.30216419561702 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.232814979878732, + -0.6157879082066761, + 1.3692528146853786 + ], + "camera_target": [ + -4.007462366405822, + -0.5484640252130006, + 0.9442665685315955 + ], + "camera_roll_rad": 0.011765289438878668, + "camera_pose_world_cv": [ + [ + 0.04337054491043091, + 0.2316094934940338, + -0.9718416333198547, + -2.2328150272369385 + ], + [ + 0.9987970590591431, + -0.03233170509338379, + 0.03686821460723877, + -0.615787923336029 + ], + [ + -0.02288234233856201, + -0.9722714424133301, + -0.23273307085037231, + 1.3692528009414673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2660904550617154, + 0.24399771977904236, + 0.24837905396102175 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.010584440355785, + 1.0083254885703488, + 1.004452999795315 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5467.995711545781, + "intensity": 1.0083254885703488 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.967858915861619, + 0.9495943291630221, + 0.9182836091082847 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5225.227226922479, + "intensity": 0.9495943291630221 + }, + "point_color_scale": [ + 1.1905962821135605, + 1.1695053661934929, + 1.13334951033052 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..719f3d7a04e3d693448a69188de3e962c32902ae --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2443377831712712, + "K": [ + [ + 322.601029905823, + 0.0, + 339.68123250320514 + ], + [ + 0.0, + 334.64010685089966, + 242.7003258714712 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.853351512571334, + -0.8484487164291952, + 1.6398391604103812 + ], + "camera_target": [ + -4.043159951747151, + -0.5605118004548802, + 0.8724483710571795 + ], + "camera_roll_rad": 0.012773476053775587, + "camera_pose_world_cv": [ + [ + 0.3187379240989685, + -0.6357658505439758, + 0.7029993534088135, + -4.853351593017578 + ], + [ + -0.9476513266563416, + -0.1988375186920166, + 0.24984140694141388, + -0.8484486937522888 + ], + [ + -0.01905795931816101, + -0.7458321452140808, + -0.6658613085746765, + 1.6398391723632812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2537772926156028, + 0.2558877246106149, + 0.25688855975949104 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.1215240407854727, + 1.1265189160418407, + 1.1345107164520298 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5588.521056374342, + "intensity": 1.128516866144388 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7052009444323294, + 0.712868668191218, + 0.7251370262054394 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5714.201446888967, + "intensity": 0.7159357576947734 + }, + "point_color_scale": [ + 1.122142227078808, + 1.1466025293116342, + 1.185739012884156 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ac245a2a53270361af4d4c0ce1dcbd0efde17fe --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2305017271108933, + "K": [ + [ + 353.8343020286535, + 0.0, + 298.20139476453386 + ], + [ + 0.0, + 339.5760767974322, + 261.7067760680387 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.57746334574023, + -1.233235009057573, + 0.9256381975465531 + ], + "camera_target": [ + -4.05036633119166, + -0.5088163193734065, + 0.8709444010989471 + ], + "camera_roll_rad": -0.014540157849019103, + "camera_pose_world_cv": [ + [ + 0.8093055486679077, + -0.012325763702392578, + 0.587258517742157, + -4.577463150024414 + ], + [ + -0.586670458316803, + -0.0663597583770752, + 0.8071023225784302, + -1.2332350015640259 + ], + [ + 0.029022157192230225, + -0.9977196455001831, + -0.06093645095825195, + 0.9256381988525391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3043626222046145, + 0.28157215600271646, + 0.30567979223242875 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0120898963802627, + 1.0253912595991042, + 1.0466734407492508 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5758.100531220838, + "intensity": 1.0307118048866408 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.9562680737587557, + 0.9131292916175092, + 0.839177093661087 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4825.102894014201, + "intensity": 0.9131292916175092 + }, + "point_color_scale": [ + 1.1391278363100794, + 1.1112330034977689, + 1.0634132901052364 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c7afb2749b836fac862e02ee56e2af5c966560b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2155554657507668, + "K": [ + [ + 337.1643828072895, + 0.0, + 291.6400925480334 + ], + [ + 0.0, + 345.01785684996224, + 250.94950716134264 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1995135791375096, + -0.09044129107763643, + 1.4731276346670137 + ], + "camera_target": [ + -4.00236448643997, + -0.5856444888329353, + 0.9615717142391491 + ], + "camera_roll_rad": 0.04210199581207813, + "camera_pose_world_cv": [ + [ + -0.4889897108078003, + 0.4484606981277466, + -0.7481794357299805, + -3.1995136737823486 + ], + [ + 0.8691509962081909, + 0.1777968406677246, + -0.4614814817905426, + -0.09044129401445389 + ], + [ + -0.07393249869346619, + -0.8759404420852661, + -0.4767206311225891, + 1.4731276035308838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2970714067926908, + 0.32296268886176077, + 0.33063258129856277 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.24090438824988, + 1.1758733354447086, + 1.0643915306358436 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4709.936128262891, + "intensity": 1.1758733354447086 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.8846325851993985, + 0.9200290303581643, + 0.9766633426121899 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6257.801641547546, + "intensity": 0.9341876084216707 + }, + "point_color_scale": [ + 0.9073700946361948, + 0.9027634404216692, + 0.894866318911054 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee65f53c159847cb45612c82ad63a8b7b939a172 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1351188897023745, + "K": [ + [ + 373.3071734041043, + 0.0, + 324.85755506332146 + ], + [ + 0.0, + 376.4524663717756, + 236.33811307730662 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9887097534677105, + -1.0175473703249973, + 1.0803087756316554 + ], + "camera_target": [ + -3.9854130202182687, + -0.4944917292605875, + 0.9653383920572328 + ], + "camera_roll_rad": -0.046357066100074694, + "camera_pose_world_cv": [ + [ + 0.45435935258865356, + 0.13260933756828308, + -0.8808929920196533, + -2.9887096881866455 + ], + [ + 0.8860445022583008, + 0.03496408462524414, + 0.4622800350189209, + -1.017547369003296 + ], + [ + 0.09210216999053955, + -0.9905515909194946, + -0.1016114354133606, + 1.0803087949752808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26500354821932615, + 0.2536362562056019, + 0.2684850486063502 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.2120892224394646, + 1.160842660263572, + 1.0729914108191845 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4869.342831350053, + "intensity": 1.160842660263572 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7551888133749529, + 0.7676108379299689, + 0.7874860772179944 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5821.572658331373, + "intensity": 0.7725796477519752 + }, + "point_color_scale": [ + 1.0742077687928364, + 1.1023199100885492, + 1.1472993361616897 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04d12e45f9cc50df7134face09b090a442d3084a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.835836429779654, + "K": [ + [ + 523.1054175072695, + 0.0, + 306.5414424147116 + ], + [ + 0.0, + 540.44570386913, + 236.11711195614484 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0944766575199645, + -0.3915885015791848, + 1.3923453458824695 + ], + "camera_target": [ + -4.052455443266968, + -0.5852772466203972, + 0.9143280669083138 + ], + "camera_roll_rad": 0.030225899330796627, + "camera_pose_world_cv": [ + [ + -0.17179572582244873, + 0.44182729721069336, + -0.8804970979690552, + -3.0944766998291016 + ], + [ + 0.9836366176605225, + 0.02769339084625244, + -0.17802304029464722, + -0.3915885090827942 + ], + [ + -0.05427160859107971, + -0.8966726660728455, + -0.43935495615005493, + 1.3923453092575073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2514369569495056, + 0.2770431067811714, + 0.27319134089241603 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9992694811457249, + 1.0259449850824345, + 1.0686257913811703 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6014.665505195482, + "intensity": 1.0366151866571185 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7244593158559097, + 0.7319605727208993, + 0.7439625837048829 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5704.126643311672, + "intensity": 0.7349610754668953 + }, + "point_color_scale": [ + 0.9999641570362319, + 1.0022815403308232, + 1.0059893536021691 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33358c5120d45b41183e4e66b832e813154d2d73 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8014522694801476, + "K": [ + [ + 548.9768784268279, + 0.0, + 344.72468119770963 + ], + [ + 0.0, + 566.5061508565082, + 247.36747081915158 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.429528370990008, + -1.599039439714021, + 1.1591075739281487 + ], + "camera_target": [ + -4.0645279083147585, + -0.510393968803381, + 0.863638501171219 + ], + "camera_roll_rad": 0.02513748494088129, + "camera_pose_world_cv": [ + [ + 0.616179347038269, + -0.16161978244781494, + 0.7708450555801392, + -5.42952823638916 + ], + [ + -0.7860457897186279, + -0.06461936235427856, + 0.6147817373275757, + -1.5990394353866577 + ], + [ + -0.049549251794815063, + -0.9847352504730225, + -0.16685760021209717, + 1.1591075658798218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2213785586306177, + 0.22579206949274244, + 0.20948998813634753 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0639743114307554, + 1.009508160331547, + 0.9161376155900469 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4729.240630813434, + "intensity": 1.009508160331547 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.66933903322599, + 0.6528408265997581, + 0.6245581866690746 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5138.979891443701, + "intensity": 0.6528408265997581 + }, + "point_color_scale": [ + 0.8992979847334761, + 0.9024026340953069, + 0.9073700730742362 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16e66e1265795c43b813a4ac7c3f4959a78a6a95 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0686945450121366, + "K": [ + [ + 387.571777676416, + 0.0, + 337.92837365755537 + ], + [ + 0.0, + 405.56184282604295, + 222.26095552355878 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.7153260444916385, + -1.4879537299563386, + 0.725877253799644 + ], + "camera_target": [ + -4.055840716705705, + -0.5764198341084854, + 0.9217227531942676 + ], + "camera_roll_rad": -0.032412095610521496, + "camera_pose_world_cv": [ + [ + 0.5675472021102905, + -0.0625486671924591, + -0.820961594581604, + -2.7153260707855225 + ], + [ + 0.820825457572937, + 0.12086892127990723, + 0.5582442283630371, + -1.487953782081604 + ], + [ + 0.06431117653846741, + -0.9906960725784302, + 0.11994040012359619, + 0.7258772253990173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23600444149093538, + 0.22846667338788204, + 0.2202661712645868 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.1562533372434947, + 1.0920032177272183, + 0.9818601556993162 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4659.472394098935, + "intensity": 1.0920032177272183 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.6727530175412618, + 0.6722537342514984, + 0.6713978200404753 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5489.389990621423, + "intensity": 0.6722537342514984 + }, + "point_color_scale": [ + 0.8840933064494942, + 0.8583575664639947, + 0.8142391550602812 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f5f4b0a9dfe2a10f10a4d07f1b75d1f95f98c65 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1819796499283894, + "K": [ + [ + 363.2898138081669, + 0.0, + 290.0736271477631 + ], + [ + 0.0, + 357.6803543380476, + 239.44095197046425 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.718358373452636, + -1.6290146773264935, + 1.0823182426543037 + ], + "camera_target": [ + -4.0417329649371405, + -0.5181854583363463, + 0.9231877766813602 + ], + "camera_roll_rad": -0.042769286627998615, + "camera_pose_world_cv": [ + [ + 0.6345667243003845, + 0.12491613626480103, + -0.7627063989639282, + -2.718358278274536 + ], + [ + 0.768171489238739, + 0.006689190864562988, + 0.6402091979980469, + -1.6290147304534912 + ], + [ + 0.08507430553436279, + -0.9921448230743408, + -0.09171229600906372, + 1.0823181867599487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34531665391074634, + 0.3407421930704691, + 0.3604190551321153 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.0942194509025778, + 1.1241394952075445, + 1.1720115660954915 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6026.711494545369, + "intensity": 1.1361075129295313 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.792113035511688, + 0.7566247466483322, + 0.6957876800254366 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4829.951131737921, + "intensity": 0.7566247466483322 + }, + "point_color_scale": [ + 1.0539103060985648, + 1.008435488623907, + 0.9304786586673511 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3848701b8051e218f9324f8278fdb59a259915cf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.266989240972598, + "K": [ + [ + 342.86337612044883, + 0.0, + 298.236259011663 + ], + [ + 0.0, + 326.76142875674213, + 219.1712831444363 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.529498245986879, + -0.23097092571821126, + 1.062064655726764 + ], + "camera_target": [ + -4.028999433168318, + -0.5287395852569153, + 0.9646670335086499 + ], + "camera_roll_rad": -0.00825797527704588, + "camera_pose_world_cv": [ + [ + -0.19359493255615234, + -0.06553077697753906, + 0.9788906574249268, + -5.529498100280762 + ], + [ + -0.9809432029724121, + -0.0038328170776367188, + -0.19425737857818604, + -0.23097091913223267 + ], + [ + 0.016481846570968628, + -0.9978432655334473, + -0.06353980302810669, + 1.0620646476745605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25109189767490425, + 0.24822630065788595, + 0.24321983683208126 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 1.059481889358739, + 1.112473656270385, + 1.1972604833290192 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6434.870816765069, + "intensity": 1.1336703630350435 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.8233002857357193, + 0.8547958524570853, + 0.9051887592112711 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6226.211245352023, + "intensity": 0.8673940791456318 + }, + "point_color_scale": [ + 0.9362303970422684, + 0.9167490097815476, + 0.8833523459060263 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0aed29c12b848c84e164f2630840c1ec78ce0bc0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1202517259520446, + "K": [ + [ + 369.379013925825, + 0.0, + 330.577031865481 + ], + [ + 0.0, + 382.6988946111117, + 244.1681267884415 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.497242895923996, + -1.3846995979067327, + 1.1420410251589272 + ], + "camera_target": [ + -4.0387817224898805, + -0.5262350835864346, + 0.9730124074397141 + ], + "camera_roll_rad": 0.007036984925673229, + "camera_pose_world_cv": [ + [ + 0.846927285194397, + 0.07573126256465912, + -0.5262879133224487, + -3.4972429275512695 + ], + [ + 0.5315274596214294, + -0.1464294195175171, + 0.8342882394790649, + -1.3846995830535889 + ], + [ + -0.013882368803024292, + -0.9863179922103882, + -0.16426831483840942, + 1.1420409679412842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29342027720483055, + 0.2737039272721864, + 0.2673077526418526 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.8685545031887436, + 0.884279879077777, + 0.9094404805002307 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5853.153045112881, + "intensity": 0.8905700294333905 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.9856431487035583, + 0.9480477168665927, + 0.8835984051460803 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 4933.490964520182, + "intensity": 0.9480477168665927 + }, + "point_color_scale": [ + 1.1423383746234876, + 1.1667254399390283, + 1.2057447444438936 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aadd4931e916394de6e27b6004fd951d6910bdfe --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0448396330083916, + "K": [ + [ + 409.9108618488593, + 0.0, + 346.5227159466917 + ], + [ + 0.0, + 416.8263109588654, + 221.2848309975821 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.212086378417947, + -1.2657220127990545, + 1.1384481249756577 + ], + "camera_target": [ + -4.027214347307669, + -0.5366297420586249, + 0.9688584022107091 + ], + "camera_roll_rad": 0.003299481906958786, + "camera_pose_world_cv": [ + [ + 0.5233749747276306, + -0.10651257634162903, + 0.84541916847229, + -5.212086200714111 + ], + [ + -0.8520772457122803, + -0.0577927827835083, + 0.5202155709266663, + -1.2657220363616943 + ], + [ + -0.006550401449203491, + -0.9926303029060364, + -0.12100428342819214, + 1.1384481191635132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2623700021451786, + 0.25716604603038484, + 0.253389632967204 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.931711933548294, + 0.8771652694494009, + 0.7836567024227273 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4611.640547459496, + "intensity": 0.8771652694494009 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7920412779570746, + 0.8110573008256864, + 0.8414829374154652 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5964.562497077974, + "intensity": 0.8186637099731311 + }, + "point_color_scale": [ + 1.0132281519634527, + 1.051413371365264, + 1.1125097224081626 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1113de7af7a28e563e6f92f7c7fc46e4460b4c18 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0860364753836966, + "K": [ + [ + 408.27474766472005, + 0.0, + 290.1160521187811 + ], + [ + 0.0, + 397.6539673282833, + 219.0402037843854 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.606388740189489, + -1.0428803443318824, + 1.2477182296157356 + ], + "camera_target": [ + -4.050349615183417, + -0.4949093574202532, + 0.9102046969982671 + ], + "camera_roll_rad": 0.004265506718235328, + "camera_pose_world_cv": [ + [ + 0.356492280960083, + 0.1965722143650055, + -0.9133853316307068, + -2.606388807296753 + ], + [ + 0.9342612028121948, + -0.08372193574905396, + 0.3466220796108246, + -1.0428802967071533 + ], + [ + -0.008334219455718994, + -0.9769084453582764, + -0.2134959101676941, + 1.2477182149887085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2304449300309872, + 0.21635692032618395, + 0.2195507703382326 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9706847255383242, + 0.9218644120831803, + 0.8381724461600766 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 4743.453765849172, + "intensity": 0.9218644120831803 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.9336981388117651, + 0.932629675491283, + 0.9307980240847423 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5483.6336306657495, + "intensity": 0.932629675491283 + }, + "point_color_scale": [ + 0.8696323210080701, + 0.8626936730402799, + 0.8507988479526395 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1cbb69dfaed4c49cae43c444d27b51046f21cbe --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2445250163983823, + "K": [ + [ + 331.55966035550625, + 0.0, + 327.5763371342257 + ], + [ + 0.0, + 334.57396598468677, + 259.4393945211827 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.127855261214206, + -1.6559307851374068, + 0.7319317078960772 + ], + "camera_target": [ + -3.989955028478237, + -0.5221419661001289, + 0.9640751457349193 + ], + "camera_roll_rad": -0.05054515959894255, + "camera_pose_world_cv": [ + [ + 0.8017821311950684, + -0.01653534173965454, + -0.5973876714706421, + -3.1278553009033203 + ], + [ + 0.5892575979232788, + 0.18847894668579102, + 0.7856534123420715, + -1.655930757522583 + ], + [ + 0.09960395097732544, + -0.9819380640983582, + 0.16086268424987793, + 0.7319316864013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3103491170227117, + 0.3006462158586802, + 0.3192657251177201 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9509513641218074, + 0.9362150110670991, + 0.910952691544742 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 5275.137840277709, + "intensity": 0.9362150110670991 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.5704043934190522, + 0.5893139069666115, + 0.6195691286427064 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 6133.614328535763, + "intensity": 0.5968777123856353 + }, + "point_color_scale": [ + 0.9558058517332321, + 0.983329775826223, + 1.0273680543750088 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87bbf9ccee2362bcaf8521ddefb70ba3f12e90bd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000003/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 3, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1701949245059962, + "K": [ + [ + 374.59323971089754, + 0.0, + 333.75584153392595 + ], + [ + 0.0, + 362.27593447947334, + 231.4561896769364 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.125599815451742, + -1.0612072117578393, + 0.7848254624986212 + ], + "camera_target": [ + -3.974920328672046, + -0.5762224278050394, + 0.9961990707930208 + ], + "camera_roll_rad": -0.043235998335821514, + "camera_pose_world_cv": [ + [ + 0.5098660588264465, + -0.13993090391159058, + -0.8487967848777771, + -3.1255998611450195 + ], + [ + 0.8561019897460938, + 0.17935729026794434, + 0.4846857786178589, + -1.0612071752548218 + ], + [ + 0.08441531658172607, + -0.9737814664840698, + 0.2112433910369873, + 0.7848254442214966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7524628043174744, + 0.6586347818374634, + 0.0, + -4.0198445320129395 + ], + [ + -0.6586347818374634, + 0.7524628043174744, + -0.0, + -0.5368289947509766 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25531628024358827, + 0.2584511966062841, + 0.2496238796160184 + ], + "directional_primary": { + "direction": [ + -0.5278809251587683, + -0.2558511864685686, + -0.8098653574737893 + ], + "color": [ + 0.9473329355710001, + 0.975063737766852, + 1.0194330212802154 + ], + "azimuth_rad": -2.6902792707123155, + "elevation_rad": 0.9439225559511305, + "color_temp_k": 6062.4019028783205, + "intensity": 0.9861560586451928 + }, + "directional_fill": { + "direction": [ + 0.14548101595935, + -0.17582208587728768, + -0.9736127906479017 + ], + "color": [ + 0.7586313459933566, + 0.7568869509410592, + 0.7538965594228348 + ], + "azimuth_rad": -0.8795502668564712, + "elevation_rad": 1.3405613189907337, + "color_temp_k": 5467.075757763359, + "intensity": 0.7568869509410592 + }, + "point_color_scale": [ + 1.080960674577469, + 1.1101072493790025, + 1.1567417690614568 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db055b38a03c2e850e160b57f62b007238589808 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9343268391611167, + "K": [ + [ + 482.60891649421393, + 0.0, + 311.9706454128203 + ], + [ + 0.0, + 475.81046923529937, + 231.53403610743084 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.478991960047469, + -0.11265412038493339, + 1.056654261920281 + ], + "camera_target": [ + -5.483606457664681, + -1.437550440232317, + 0.9097190480424533 + ], + "camera_roll_rad": -0.02764660417868896, + "camera_pose_world_cv": [ + [ + -0.7985519170761108, + 0.009068667888641357, + -0.6018580198287964, + -4.478991985321045 + ], + [ + 0.5994036197662354, + 0.10342764854431152, + -0.7937369346618652, + -0.11265411972999573 + ], + [ + 0.05505052208900452, + -0.9945957660675049, + -0.08802789449691772, + 1.0566542148590088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.21466386318206787, + 0.976688027381897, + 0.0, + -5.526343822479248 + ], + [ + -0.976688027381897, + 0.21466386318206787, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2141306390010798, + 0.2193963709284785, + 0.2166333608376814 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.093713438445853, + 1.1508551618709437, + 1.242281919351089 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6473.692535602741, + "intensity": 1.17371185124098 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8381221660153039, + 0.8255715113525759, + 0.8040561033593276 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5282.823093887224, + "intensity": 0.8255715113525759 + }, + "point_color_scale": [ + 0.9320366548432102, + 0.9058796291109976, + 0.8610390135700619 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d86ac771d7088c5e3d9a278e6508f8b1be59174e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.178932576583194, + "K": [ + [ + 343.41206562541686, + 0.0, + 309.9838769515639 + ], + [ + 0.0, + 358.86082617317186, + 227.42465495113404 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.390977681191946, + -2.383746072764341, + 0.7856007565251215 + ], + "camera_target": [ + -5.499228481424694, + -1.4266302624406006, + 0.8278369004565449 + ], + "camera_roll_rad": -0.003987841836804978, + "camera_pose_world_cv": [ + [ + 0.9936724305152893, + 0.003002014011144638, + -0.11227662861347198, + -5.39097785949707 + ], + [ + 0.11203376948833466, + 0.04442417621612549, + 0.9927108883857727, + -2.3837461471557617 + ], + [ + 0.007967934012413025, + -0.9990082383155823, + 0.04380679130554199, + 0.7856007814407349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24650119104081145, + 0.25339387150780196, + 0.272230448127011 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1103339764831757, + 1.1336192815072876, + 1.170875769545867 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5907.465648522662, + "intensity": 1.1429334035169325 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.790822686403809, + 0.7760432870148941, + 0.7507071737767542 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5227.934922552269, + "intensity": 0.7760432870148941 + }, + "point_color_scale": [ + 1.0121396274936916, + 0.9699377973102868, + 0.8975918027101648 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35c87e3067c8cab87c27bde86bc1711015086fc1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.116403612231129, + "K": [ + [ + 397.161181448266, + 0.0, + 289.3041620953322 + ], + [ + 0.0, + 384.3398480506797, + 247.43594796376865 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.582456164548431, + -0.4045764975155228, + 0.6976114971204349 + ], + "camera_target": [ + -5.525674359549664, + -1.4343007416089495, + 0.9053246803465356 + ], + "camera_roll_rad": 0.01341737989434473, + "camera_pose_world_cv": [ + [ + -0.7398031949996948, + -0.07955673336982727, + -0.6681032180786133, + -4.582456111907959 + ], + [ + 0.6722996234893799, + -0.12657690048217773, + -0.7293773889541626, + -0.40457651019096375 + ], + [ + -0.02653956413269043, + -0.988761305809021, + 0.14712798595428467, + 0.6976115107536316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.21466386318206787, + 0.976688027381897, + 0.0, + -5.526343822479248 + ], + [ + -0.976688027381897, + 0.21466386318206787, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38132336582393567, + 0.3840006078836044, + 0.35717134770102416 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.022515346761862, + 1.0527059297638983, + 1.1010108625671569 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6067.075295814042, + "intensity": 1.064782162964713 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8380045216401111, + 0.8177765728575992, + 0.783100089230436 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5146.638572827707, + "intensity": 0.8177765728575992 + }, + "point_color_scale": [ + 1.0366592613302776, + 1.068476134071587, + 1.1193831304576818 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9171263698e889e42b6962da1f329633c27476db --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1821734204333452, + "K": [ + [ + 366.02481235722007, + 0.0, + 312.294227828219 + ], + [ + 0.0, + 357.6054667002335, + 257.158979636229 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.676887010771251, + -1.7834218448682249, + 1.2153616715881108 + ], + "camera_target": [ + -5.539049886258521, + -1.4959257194128055, + 0.9353750058578562 + ], + "camera_roll_rad": -0.026056807642236956, + "camera_pose_world_cv": [ + [ + 0.3013570308685303, + 0.2953972816467285, + -0.9066004753112793, + -4.676887035369873 + ], + [ + 0.9522110223770142, + -0.04359316825866699, + 0.30231425166130066, + -1.7834218740463257 + ], + [ + 0.04978117346763611, + -0.9543794393539429, + -0.2944176197052002, + 1.2153617143630981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2919707653766561, + 0.29112684235056824, + 0.30153016556696116 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.8574351771706972, + 0.9002724860095866, + 0.9688121801518096 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6433.877542151713, + "intensity": 0.9174074095451423 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.724498074995399, + 0.7336930392740677, + 0.7484049821199377 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5749.398578655817, + "intensity": 0.7373710249855352 + }, + "point_color_scale": [ + 0.9499528413558854, + 0.9349131764771849, + 0.9091308938279838 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c75759a848bf5845b65720c7393c31d18c7bd71 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8068204750066057, + "K": [ + [ + 575.4501416944414, + 0.0, + 317.5933444662694 + ], + [ + 0.0, + 562.2994127465726, + 256.93193956968696 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.848406834993907, + -1.9377582103890907, + 1.0434930272729448 + ], + "camera_target": [ + -5.500193493696497, + -1.487637910956024, + 0.8934957217681966 + ], + "camera_roll_rad": 0.01417476891158699, + "camera_pose_world_cv": [ + [ + 0.5723679065704346, + 0.13692915439605713, + -0.8084834218025208, + -4.848406791687012 + ], + [ + 0.8195238709449768, + -0.12901067733764648, + 0.5583340525627136, + -1.937758207321167 + ], + [ + -0.027850806713104248, + -0.9821439385414124, + -0.18605828285217285, + 1.0434930324554443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.21466386318206787, + 0.976688027381897, + 0.0, + -5.526343822479248 + ], + [ + -0.976688027381897, + 0.21466386318206787, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2641597655798063, + 0.27954815751209217, + 0.2646957914732381 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0407625374830172, + 0.9877370897749423, + 0.8968363222753855 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4733.0890439659, + "intensity": 0.9877370897749423 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6652671365766974, + 0.6689712471919869, + 0.67489782417645 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5610.495775694074, + "intensity": 0.6704528914381026 + }, + "point_color_scale": [ + 1.1142337199075552, + 1.1198919794373974, + 1.1289451946851452 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8823ddc4bcb6c15cc026c3d6ab40cdaedc9ade --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0575524021708844, + "K": [ + [ + 400.85777849269664, + 0.0, + 350.95095004401395 + ], + [ + 0.0, + 410.76599731441246, + 262.6106183009548 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.193961371737311, + -1.1603585221562362, + 1.462368302451632 + ], + "camera_target": [ + -5.534015106637139, + -1.451398972615946, + 0.8777746664127045 + ], + "camera_roll_rad": 0.03254197439708681, + "camera_pose_world_cv": [ + [ + -0.18686437606811523, + 0.3962174355983734, + -0.8989403247833252, + -4.193961143493652 + ], + [ + 0.9805623292922974, + 0.019498586654663086, + -0.1952369511127472, + -1.1603585481643677 + ], + [ + -0.05982831120491028, + -0.9179497957229614, + -0.3921593427658081, + 1.4623682498931885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2826353419943588, + 0.29120992499308884, + 0.28432486073679625 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0535500077537394, + 1.020141062234756, + 0.9628685842022127 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5032.152299383315, + "intensity": 1.020141062234756 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5995922765320856, + 0.6114645783311964, + 0.6304602612097739 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5885.330792571014, + "intensity": 0.6162134990508408 + }, + "point_color_scale": [ + 0.8053188509370435, + 0.8233365432030287, + 0.8521648508286055 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16475f342d2ab353e3ff67e5283c746e56ebbe30 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.90130412072577, + "K": [ + [ + 493.8027152523394, + 0.0, + 306.157315942063 + ], + [ + 0.0, + 496.01172197513273, + 233.36711870691173 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.488502036485851, + -0.8690340167366701, + 1.3207421615926136 + ], + "camera_target": [ + -5.567543266803507, + -1.445606610097184, + 0.8049097246746891 + ], + "camera_roll_rad": -0.012184829339329815, + "camera_pose_world_cv": [ + [ + -0.47948765754699707, + 0.3310735821723938, + -0.8127003908157349, + -4.488502025604248 + ], + [ + 0.8772613406181335, + 0.20453286170959473, + -0.4342566728591919, + -0.8690339922904968 + ], + [ + 0.02245303988456726, + -0.9211713075637817, + -0.38850903511047363, + 1.320742130279541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3189449268444735, + 0.32145573977322645, + 0.31034311273765436 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.166864320078759, + 1.1593560119506567, + 1.1464846265881958 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5407.481788526113, + "intensity": 1.1593560119506567 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.894338543500462, + 0.8976761564558564, + 0.9030163371844873 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5574.250753479226, + "intensity": 0.8990112016380141 + }, + "point_color_scale": [ + 0.7918745485238697, + 0.8227174641067667, + 0.8720661290394021 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28d3750e29c94c7cee352cff6141b770411b9938 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9761666516922518, + "K": [ + [ + 462.6526702077634, + 0.0, + 328.2047868363068 + ], + [ + 0.0, + 452.0381117443051, + 257.9656995446325 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.211686164405077, + -1.789819140270213, + 1.453966128248481 + ], + "camera_target": [ + -5.528176783459292, + -1.5153308199372193, + 0.8794405982637948 + ], + "camera_roll_rad": 0.04204860027062028, + "camera_pose_world_cv": [ + [ + 0.2356947660446167, + 0.3660939633846283, + -0.9002351760864258, + -4.211686134338379 + ], + [ + 0.9687525033950806, + -0.16213500499725342, + 0.18769904971122742, + -1.7898191213607788 + ], + [ + -0.07724419236183167, + -0.9163446426391602, + -0.39286869764328003, + 1.4539661407470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33729022598221636, + 0.3267903603522805, + 0.3228499115776286 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1057859254479034, + 1.0428067313917255, + 0.9348423987239917 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4637.229608184082, + "intensity": 1.0428067313917255 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6961523411783299, + 0.7233533003596174, + 0.7668748350496776 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6240.934658075347, + "intensity": 0.7342336840321324 + }, + "point_color_scale": [ + 0.8141860783592809, + 0.8095278573115295, + 0.8015423355153845 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce0ad4065665fa79e2b1b336b65a5f8c6236e009 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9523045317506267, + "K": [ + [ + 473.3642362266347, + 0.0, + 308.6414131867703 + ], + [ + 0.0, + 465.35979026214545, + 217.8317825250563 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.650748887851728, + -1.0780716219138775, + 1.469907006152209 + ], + "camera_target": [ + -5.482393753393346, + -1.4453867322182123, + 0.9260690662573927 + ], + "camera_roll_rad": -0.021360006488837846, + "camera_pose_world_cv": [ + [ + -0.4237065315246582, + 0.4519028067588806, + -0.7850204706192017, + -4.6507487297058105 + ], + [ + 0.905057966709137, + 0.24628055095672607, + -0.346722275018692, + -1.0780715942382812 + ], + [ + 0.036650389432907104, + -0.8573973178863525, + -0.5133485794067383, + 1.4699070453643799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3145913843660919, + 0.3222599812313489, + 0.31618392094137165 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9849598221175777, + 0.9660429104138892, + 0.9336139189218516 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5220.259221558597, + "intensity": 0.9660429104138892 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6070866544208251, + 0.5924046504879967, + 0.5672355008888624 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5145.946544894031, + "intensity": 0.5924046504879967 + }, + "point_color_scale": [ + 1.1754021259561824, + 1.1429436528369568, + 1.0873005560611408 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a63c81e240b057c19d9f0def1a45aa1d2dc13449 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9242610180957389, + "K": [ + [ + 471.56183435416494, + 0.0, + 301.1564716522698 + ], + [ + 0.0, + 481.82606198156685, + 220.27503221006123 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.201465814765919, + -1.5324827901028144, + 1.1735427641015113 + ], + "camera_target": [ + -5.525169100576568, + -1.5140483855133735, + 0.8196706326463408 + ], + "camera_roll_rad": 0.0442506392713696, + "camera_pose_world_cv": [ + [ + 0.03669315576553345, + 0.25597554445266724, + -0.9659866094589233, + -4.201465606689453 + ], + [ + 0.9956719279289246, + -0.09195917844772339, + 0.013452649116516113, + -1.5324827432632446 + ], + [ + -0.08538779616355896, + -0.9622993469238281, + -0.2582418918609619, + 1.1735427379608154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.21466386318206787, + 0.976688027381897, + 0.0, + -5.526343822479248 + ], + [ + -0.976688027381897, + 0.21466386318206787, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2836214346474243, + 0.2947143270018604, + 0.30115992408056813 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0590194422485435, + 0.9982263035113274, + 0.8940094942475282 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4629.983444158157, + "intensity": 0.9982263035113274 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7121809694519765, + 0.6796949833894008, + 0.6240047215678427 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4817.215035389228, + "intensity": 0.6796949833894008 + }, + "point_color_scale": [ + 1.0574347818343095, + 1.065599618483178, + 1.0786633571213675 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..078a8c58eb106895d9c5b40747320f70164e219c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.219538977365433, + "K": [ + [ + 342.98202983908607, + 0.0, + 291.3007641900132 + ], + [ + 0.0, + 343.5561302289711, + 248.06193513818178 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.8914012914739065, + -3.2339055481062875, + 1.47058936778618 + ], + "camera_target": [ + -5.520698265213769, + -1.451919981605792, + 0.8090687286771565 + ], + "camera_roll_rad": -0.002488124833117715, + "camera_pose_world_cv": [ + [ + 0.9793741106987, + -0.06469713896512985, + 0.19141753017902374, + -5.891401290893555 + ], + [ + -0.20200127363204956, + -0.33543455600738525, + 0.9201517701148987, + -3.233905553817749 + ], + [ + 0.004676893353462219, + -0.9398394227027893, + -0.34158480167388916, + 1.4705893993377686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28124554233647076, + 0.28748465664031014, + 0.28056223664767005 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1275205917070739, + 1.092282721075686, + 1.0318749428504497 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5039.132001116689, + "intensity": 1.092282721075686 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6657760274240594, + 0.6520473045021381, + 0.6285123509217015 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5199.217201242704, + "intensity": 0.6520473045021381 + }, + "point_color_scale": [ + 0.8068347546597405, + 0.8253342125158881, + 0.8549333450857243 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c89d51d9a6519d76193f0df7d868582e22bf6c60 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1171778351750334, + "K": [ + [ + 394.4014264989277, + 0.0, + 340.5651357089695 + ], + [ + 0.0, + 384.0088839905635, + 240.07923292308007 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.535769378516543, + -0.05919097626131786, + 0.740489789847142 + ], + "camera_target": [ + -5.523323920610199, + -1.4496842338634717, + 0.8368997854053037 + ], + "camera_roll_rad": 0.03584516966087377, + "camera_pose_world_cv": [ + [ + -0.8155453205108643, + 0.025802671909332275, + -0.5781176090240479, + -4.535769462585449 + ], + [ + 0.5742573142051697, + -0.08737218379974365, + -0.8139991760253906, + -0.05919097736477852 + ], + [ + -0.07151475548744202, + -0.9958415031433105, + 0.056438565254211426, + 0.7404897809028625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37027572952253474, + 0.367071091065702, + 0.3820605823172948 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9914410211891717, + 0.9944435342625538, + 0.9992475551799653 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5560.312952148854, + "intensity": 0.9956445394919067 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5987223015837019, + 0.6226894989261335, + 0.661037014674024 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6258.124079328509, + "intensity": 0.6322763778631061 + }, + "point_color_scale": [ + 0.8532906059897276, + 0.8712113352860104, + 0.8998845021600629 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b5c3eb46f6b95713e90b62a69cf75e59275eca1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.122334916440152, + "K": [ + [ + 387.45615664703746, + 0.0, + 347.6462079688362 + ], + [ + 0.0, + 381.814753163896, + 226.74956285045894 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.8483608439294, + -2.9495567827820945, + 1.1723829230567602 + ], + "camera_target": [ + -5.543891879246626, + -1.4275017108924635, + 0.9419090925709712 + ], + "camera_roll_rad": 0.013163606120892637, + "camera_pose_world_cv": [ + [ + 0.9794753193855286, + -0.05461187660694122, + 0.1940249651670456, + -5.848361015319824 + ], + [ + -0.19987528026103973, + -0.13880425691604614, + 0.9699398875236511, + -2.949556827545166 + ], + [ + -0.026038721203804016, + -0.9888129830360413, + -0.1468709111213684, + 1.1723829507827759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.21466386318206787, + 0.976688027381897, + 0.0, + -5.526343822479248 + ], + [ + -0.976688027381897, + 0.21466386318206787, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.365788884794917, + 0.3787378533186892, + 0.37578047305516354 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9111775956161714, + 0.9221242403203642, + 0.9396388718470726 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5736.300279803456, + "intensity": 0.9265028982020413 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.631438212589188, + 0.612090020655584, + 0.5789216916265488 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5048.427955723598, + "intensity": 0.612090020655584 + }, + "point_color_scale": [ + 1.1858225856946576, + 1.1695654872590646, + 1.141696175655191 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6913d006294347295d4f7957c7177962829c70a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0584118746937974, + "K": [ + [ + 420.583195529331, + 0.0, + 313.57091207707504 + ], + [ + 0.0, + 410.36103825799216, + 239.61602703296617 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.144371862556807, + -0.7683206715759003, + 1.5189512132669223 + ], + "camera_target": [ + -5.487585522844008, + -1.454343429108, + 0.8800951167770011 + ], + "camera_roll_rad": 0.014905157017421622, + "camera_pose_world_cv": [ + [ + -0.4442887306213379, + 0.3607487976551056, + -0.8200415372848511, + -4.14437198638916 + ], + [ + 0.8954633474349976, + 0.15077781677246094, + -0.4188217520713806, + -0.7683206796646118 + ], + [ + -0.02744540572166443, + -0.9203947186470032, + -0.3900260925292969, + 1.518951177597046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.2146640419960022, + 0.9766879081726074, + 0.0, + -5.526343822479248 + ], + [ + -0.9766879081726074, + 0.2146640419960022, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25282307783553565, + 0.2639113474117357, + 0.24853609016071995 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0928626130230872, + 1.1182371176392742, + 1.1588363250251734 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5949.748294277484, + "intensity": 1.128386919485749 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5779881117793163, + 0.557372332126308, + 0.5220309955782937 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4971.607898482161, + "intensity": 0.557372332126308 + }, + "point_color_scale": [ + 1.0832062244426977, + 1.1155731472874904, + 1.167360223839159 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2573a0a8739445a2ba2f2e1aa38e28e22826ed4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9036486127729131, + "K": [ + [ + 515.9483948878418, + 0.0, + 290.02356394255605 + ], + [ + 0.0, + 494.53227937511264, + 230.32359507354388 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.086128303620361, + -3.1404498280734803, + 0.6952982207660553 + ], + "camera_target": [ + -5.4937779077282, + -1.468800518728426, + 0.8872078824174394 + ], + "camera_roll_rad": -0.0013024424393975748, + "camera_pose_world_cv": [ + [ + 0.9424757957458496, + 0.03838759660720825, + 0.3320629596710205, + -6.086128234863281 + ], + [ + -0.3342644274234772, + 0.10053324699401855, + 0.937102198600769, + -3.1404497623443604 + ], + [ + 0.0025897324085235596, + -0.9941929578781128, + 0.10758185386657715, + 0.6952981948852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.21466386318206787, + 0.976688027381897, + 0.0, + -5.526343822479248 + ], + [ + -0.976688027381897, + 0.21466386318206787, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.363198131929275, + 0.34778903375752157, + 0.3425182766899491 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0684278808907182, + 1.0368505734772202, + 0.9827180464826523 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5064.928251803382, + "intensity": 1.0368505734772202 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8684362451829835, + 0.8688852413405447, + 0.8696036351926428 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5510.3328575037685, + "intensity": 0.8690648398035692 + }, + "point_color_scale": [ + 0.8929485366578598, + 0.9179901138931106, + 0.9580566374695118 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..903a8e4329cd3e9c18b639994fe71236000536ce --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8638287783136152, + "K": [ + [ + 508.50290172143843, + 0.0, + 310.55583517538753 + ], + [ + 0.0, + 520.6750164153826, + 226.5318710115457 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.345208063894387, + -2.9612218340073753, + 1.1650791894446104 + ], + "camera_target": [ + -5.56156802743907, + -1.5030488327909874, + 0.9332647897082816 + ], + "camera_roll_rad": -0.019970331597013377, + "camera_pose_world_cv": [ + [ + 0.9874712824821472, + 0.06227956712245941, + -0.14498889446258545, + -5.345208168029785 + ], + [ + 0.15278936922550201, + -0.14767998456954956, + 0.9771623015403748, + -2.961221933364868 + ], + [ + 0.03944528475403786, + -0.9870724081993103, + -0.1553453803062439, + 1.1650792360305786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.21466386318206787, + 0.976688027381897, + 0.0, + -5.526343822479248 + ], + [ + -0.976688027381897, + 0.21466386318206787, + -0.0, + -1.469470500946045 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2446222849573575, + 0.2578578070150815, + 0.2374508427652175 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.196522445853457, + 1.1308206632719022, + 1.0181890359892372 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4669.98607780434, + "intensity": 1.1308206632719022 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5491624336796083, + 0.5639928979035014, + 0.5877216406617304 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6020.435567790606, + "intensity": 0.5699250835930586 + }, + "point_color_scale": [ + 0.7935808576331419, + 0.819213412935934, + 0.8602255014204014 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf7fab946f48481c524025b6cac6968956bc22e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.856263135738282, + "K": [ + [ + 549.9159483782641, + 0.0, + 321.18033065474174 + ], + [ + 0.0, + 525.8988399207681, + 247.31119740695698 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.111712201226795, + -2.5055099554838467, + 1.2556359824479748 + ], + "camera_target": [ + -5.4679525182250215, + -1.715848346026037, + 0.8567746465598385 + ], + "camera_roll_rad": 0.0235400978768434, + "camera_pose_world_cv": [ + [ + 0.9186192750930786, + 0.12889152765274048, + -0.37353137135505676, + -5.1117119789123535 + ], + [ + 0.392824649810791, + -0.40015363693237305, + 0.8279891014099121, + -2.505509853363037 + ], + [ + -0.04274919629096985, + -0.9073390960693359, + -0.418220579624176, + 1.2556359767913818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2902219354043105, + 0.28245358980560265, + 0.27464765356719817 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1657477651879213, + 1.1857623397240011, + 1.2177856589817289 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5835.317611020209, + "intensity": 1.1937681695384332 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6235425556428883, + 0.6426729561428044, + 0.6732815969426701 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6088.333435666751, + "intensity": 0.6503251163427708 + }, + "point_color_scale": [ + 0.9363689732459544, + 0.921762916064595, + 0.8967239608965505 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2756f49696fac88ea03eba20b51c86f5424be41e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1642849443033663, + "K": [ + [ + 376.3414119733882, + 0.0, + 334.9778230211798 + ], + [ + 0.0, + 364.6114911933516, + 241.30643702974533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.623416269751213, + -1.976080400418768, + 0.6330476869178318 + ], + "camera_target": [ + -5.436791850782196, + -1.7191955470256144, + 0.922281767359789 + ], + "camera_roll_rad": 0.0013149611169408076, + "camera_pose_world_cv": [ + [ + 0.30035626888275146, + -0.3070102035999298, + -0.9030675292015076, + -4.623416423797607 + ], + [ + 0.9538239240646362, + 0.09420382976531982, + 0.28521186113357544, + -1.9760804176330566 + ], + [ + -0.0024906396865844727, + -0.9470325112342834, + 0.3211284875869751, + 0.6330476999282837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.310039664822679, + 0.30646110751398187, + 0.31590184435262486 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1669935061322592, + 1.1718461606187092, + 1.1796104077970289 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5582.683716329317, + "intensity": 1.173787222413289 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7377546544875836, + 0.7443886375199223, + 0.7550030103716645 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5677.606640144848, + "intensity": 0.7470422307328579 + }, + "point_color_scale": [ + 1.0468161530617317, + 1.0686965475487704, + 1.103705178728032 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6452f083e059ab607cd9e77e9dbd23021add1d0f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.200622521559342, + "K": [ + [ + 342.2441457594336, + 0.0, + 295.96116109847003 + ], + [ + 0.0, + 350.57282506958325, + 220.68877195905665 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.899557978438551, + -2.562942458436445, + 1.2027694338245656 + ], + "camera_target": [ + -5.436727016649401, + -1.7076964507518946, + 0.8971176730014586 + ], + "camera_roll_rad": -0.0019187802196654821, + "camera_pose_world_cv": [ + [ + 0.8462238311767578, + 0.15731538832187653, + -0.5090748071670532, + -4.899558067321777 + ], + [ + 0.5328149795532227, + -0.24325227737426758, + 0.8105162978172302, + -2.5629425048828125 + ], + [ + 0.003673046827316284, + -0.9571208357810974, + -0.2896658182144165, + 1.20276939868927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.39531035778068974, + 0.3756421802815227, + 0.39313943316944716 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.16351726212046, + 1.121871702945841, + 1.050479315789351 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4969.6928730128275, + "intensity": 1.121871702945841 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6933139478934647, + 0.7038993540378042, + 0.7208360038687475 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5798.966392573121, + "intensity": 0.70813351649554 + }, + "point_color_scale": [ + 0.9000791302277614, + 0.8776539931903173, + 0.8392109011261274 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de71109884d8455653b80d025b056f7c6c362768 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2159028864569985, + "K": [ + [ + 350.5817212490821, + 0.0, + 300.7959797689231 + ], + [ + 0.0, + 344.8900398860817, + 227.1089740484493 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.713989470095882, + -2.893204348821735, + 1.225900106938462 + ], + "camera_target": [ + -5.416248990812868, + -1.754058532994521, + 0.8544433986999127 + ], + "camera_roll_rad": 0.04303065701120748, + "camera_pose_world_cv": [ + [ + 0.9573781490325928, + -0.15896229445934296, + 0.24115996062755585, + -5.7139892578125 + ], + [ + -0.27696144580841064, + -0.26827549934387207, + 0.9226704239845276, + -2.8932044506073 + ], + [ + -0.08197246491909027, + -0.9501364827156067, + -0.30086749792099, + 1.2259000539779663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.300776704734076, + 0.28730183864870085, + 0.27623123029281066 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.8609929162947563, + 0.884140167889305, + 0.9211757704405834 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6018.183920489416, + "intensity": 0.8933990685271247 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.9473354867357767, + 0.9185073601776437, + 0.8690877146494155 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5051.630833614386, + "intensity": 0.9185073601776437 + }, + "point_color_scale": [ + 0.9603807082532538, + 0.9939433180231007, + 1.0476434936548555 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f24f34ebe76b1908c469765cbdbb356a3c19e002 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8989016923813822, + "K": [ + [ + 485.8167464816137, + 0.0, + 337.58638902012274 + ], + [ + 0.0, + 497.5351790027576, + 260.8767110174676 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.611177662334768, + -0.3506295574482341, + 0.7766002155224297 + ], + "camera_target": [ + -5.456838643672592, + -1.7194795591077638, + 0.8369696932052506 + ], + "camera_roll_rad": 0.006821607629944174, + "camera_pose_world_cv": [ + [ + -0.993544340133667, + 0.018461883068084717, + 0.11193335056304932, + -5.611177444458008 + ], + [ + -0.1126239150762558, + -0.04197424650192261, + -0.9927508234977722, + -0.3506295680999756 + ], + [ + -0.013629723340272903, + -0.9989481568336487, + 0.043782591819763184, + 0.7766002416610718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38261146288492276, + 0.3825046503090445, + 0.37083330295280603 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1627434997352406, + 1.16847696155795, + 1.1776505004742852 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5597.943406935315, + "intensity": 1.1707703462870338 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.886556902625737, + 0.8534086273313713, + 0.7965830125410304 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4945.111316251512, + "intensity": 0.8534086273313713 + }, + "point_color_scale": [ + 0.9104747369002124, + 0.9343287098358021, + 0.9724950665327454 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51e785dab98e0c49f7e83e8290839b27858a7180 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7904820927474769, + "K": [ + [ + 587.0508340542276, + 0.0, + 318.6704469560835 + ], + [ + 0.0, + 575.270826294217, + 226.25426843437353 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.4186060406313405, + -2.8199926335295844, + 0.9480633347168955 + ], + "camera_target": [ + -5.443259947690829, + -1.7169691543436427, + 0.9074109066631064 + ], + "camera_roll_rad": -0.03162134376954802, + "camera_pose_world_cv": [ + [ + 0.9976996779441833, + 0.06400591135025024, + -0.022330574691295624, + -5.418605804443359 + ], + [ + 0.02462758868932724, + -0.03532612323760986, + 0.9990723729133606, + -2.8199925422668457 + ], + [ + 0.06315768510103226, + -0.9973240494728088, + -0.036821186542510986, + 0.948063313961029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33486974291982874, + 0.36913819363340084, + 0.33645335489518563 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1270901140381744, + 1.0954890586698904, + 1.0413158208956894 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5087.90674854711, + "intensity": 1.0954890586698904 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8725399305728384, + 0.8921756412854658, + 0.9235927784256698 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5936.3346185446135, + "intensity": 0.9000299255705169 + }, + "point_color_scale": [ + 0.9728882353333561, + 0.97942042613545, + 0.9898719314188001 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aea1ad697a98916b1865ddca79614df61949f952 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3058936985050627, + "K": [ + [ + 323.0946159442247, + 0.0, + 325.27840646709524 + ], + [ + 0.0, + 313.78097907826356, + 259.5216195307384 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.826815580731933, + -0.024375096926957385, + 0.7604930166285389 + ], + "camera_target": [ + -5.429391029546322, + -1.7374955345847625, + 0.9305192041250072 + ], + "camera_roll_rad": -0.000570972345073438, + "camera_pose_world_cv": [ + [ + -0.9433091878890991, + -0.03200848400592804, + -0.33036869764328003, + -4.826815605163574 + ], + [ + 0.3319137692451477, + -0.08755826950073242, + -0.9392374157905579, + -0.024375097826123238 + ], + [ + 0.0011370331048965454, + -0.9956451058387756, + 0.09321868419647217, + 0.7604930400848389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3245956155859912, + 0.3190782551774774, + 0.3075487612114254 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.056478986796897, + 1.0962336698903479, + 1.1598411628398695 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6214.92514269702, + "intensity": 1.1121355431277282 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.842868042920929, + 0.8087285954603909, + 0.7502038283851827 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4896.946769248637, + "intensity": 0.8087285954603909 + }, + "point_color_scale": [ + 0.9618870270309293, + 0.9620085687956736, + 0.9622030356192643 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..702feca8619ddf98e0193285dce97cc05125219d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.099591304385225, + "K": [ + [ + 386.72792413457836, + 0.0, + 339.9772717719671 + ], + [ + 0.0, + 391.62951519525967, + 254.5040841958547 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.542341520327965, + -0.7300264592369613, + 1.108424164106189 + ], + "camera_target": [ + -5.46853844139156, + -1.7125148529978063, + 0.8154916170632796 + ], + "camera_roll_rad": 0.010142925701579389, + "camera_pose_world_cv": [ + [ + -0.9974185228347778, + -0.0011159144341945648, + 0.07180154323577881, + -5.542341709136963 + ], + [ + -0.06912790238857269, + 0.2856473922729492, + -0.9558385014533997, + -0.7300264835357666 + ], + [ + -0.019443277269601822, + -0.9583342671394348, + -0.28498685359954834, + 1.108424186706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38795277535505335, + 0.37647425254311856, + 0.3631656376950742 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1317004277161704, + 1.1723138488983667, + 1.2372953227898809 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6183.40593533104, + "intensity": 1.1885592173712451 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.9096060163478472, + 0.8890406123321246, + 0.8537856340194574 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5169.54098399597, + "intensity": 0.8890406123321246 + }, + "point_color_scale": [ + 1.150177219882244, + 1.1808497537552656, + 1.2299258079521005 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3754aa06fbcf64d9254435e59c38966925f2f521 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9535249132119477, + "K": [ + [ + 478.5310213801531, + 0.0, + 294.98544369104275 + ], + [ + 0.0, + 464.6635733751889, + 233.1753059781697 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.889626373997404, + -3.5070598064838743, + 0.7888613936034009 + ], + "camera_target": [ + -5.419245266232958, + -1.6779768553900822, + 0.8570990878505453 + ], + "camera_roll_rad": 0.020629712994030214, + "camera_pose_world_cv": [ + [ + 0.9680338501930237, + -0.030962400138378143, + 0.24890121817588806, + -5.889626502990723 + ], + [ + -0.24740922451019287, + 0.04521358013153076, + 0.96785569190979, + -3.5070598125457764 + ], + [ + -0.04122081398963928, + -0.998497486114502, + 0.03610789775848389, + 0.7888613939285278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3960768044320106, + 0.3764542098048008, + 0.39081467168248846 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9784380154461904, + 0.9942265061499496, + 1.0194880912759643 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5815.5987903233445, + "intensity": 1.0005419024314532 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5852402601745551, + 0.5842655633094779, + 0.5825946543979168 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5476.167958880198, + "intensity": 0.5842655633094779 + }, + "point_color_scale": [ + 0.765531657460454, + 0.7926907140878101, + 0.83614520469158 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f323e8e2d0f7e764bde977f7f415baae8ac6c86e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.855053761816096, + "K": [ + [ + 518.2769812168464, + 0.0, + 349.6325692733272 + ], + [ + 0.0, + 526.7419070761734, + 234.23899411536016 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.121820123131863, + -2.218191861112793, + 0.9048903388366518 + ], + "camera_target": [ + -5.44823468100299, + -1.6814032301851303, + 0.8578190559844234 + ], + "camera_roll_rad": -0.001626870368965673, + "camera_pose_world_cv": [ + [ + 0.37503552436828613, + 0.03169751167297363, + -0.9264683723449707, + -4.121819972991943 + ], + [ + 0.9270047545433044, + -0.009317636489868164, + 0.37493380904197693, + -2.2181918621063232 + ], + [ + 0.003251999616622925, + -0.9994540214538574, + -0.03287816047668457, + 0.9048903584480286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2792555391756369, + 0.308172659057196, + 0.28160953459027227 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9763317090094752, + 1.0216724718045682, + 1.0942176922767173 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6372.09809729213, + "intensity": 1.0398087769226054 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6472995198577972, + 0.6583784856433549, + 0.6761048309002473 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5834.302879642024, + "intensity": 0.662810071957578 + }, + "point_color_scale": [ + 1.0108641559676559, + 1.0522319906283413, + 1.1184205260854376 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10581e0bb3a5ecc716a534c15b3e3949e4f2fb5b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0433458311483923, + "K": [ + [ + 401.52985388416016, + 0.0, + 346.7644234473489 + ], + [ + 0.0, + 417.5472094854606, + 233.9106898206773 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.267045460171181, + -1.6306909114151804, + 0.8903401516624039 + ], + "camera_target": [ + -5.471440055445717, + -1.7535012610580787, + 0.8837195171113379 + ], + "camera_roll_rad": 0.008729305310219017, + "camera_pose_world_cv": [ + [ + -0.10133218765258789, + 0.00721055269241333, + -0.9948265552520752, + -4.267045497894287 + ], + [ + 0.9946995377540588, + -0.016812920570373535, + -0.10144102573394775, + -1.6306909322738647 + ], + [ + -0.01745745539665222, + -0.9998327493667603, + -0.005468606948852539, + 0.8903401494026184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24210846099927866, + 0.25160453845620895, + 0.2602323080602871 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9713422590009254, + 0.9570187898975911, + 0.9324642714347323 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5286.189164360727, + "intensity": 0.9570187898975911 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6155338363368678, + 0.5927327106584335, + 0.5536450666382604 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4950.459944292698, + "intensity": 0.5927327106584335 + }, + "point_color_scale": [ + 0.9884613232883449, + 1.0252089454702582, + 1.0840051409613192 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f3416ac5de013a07ae065991fcfc838d8baf3d8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7937333311853574, + "K": [ + [ + 588.360427175974, + 0.0, + 327.8436444073303 + ], + [ + 0.0, + 572.6493203066184, + 232.53437347758816 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.355349500432517, + -0.8498312409766605, + 0.8771292475375223 + ], + "camera_target": [ + -5.408832178771521, + -1.6745622464953402, + 0.9064940333885336 + ], + "camera_roll_rad": 0.04676180936641146, + "camera_pose_world_cv": [ + [ + -0.6153515577316284, + 0.04036432504653931, + -0.7872188687324524, + -4.355349540710449 + ], + [ + 0.7827041745185852, + -0.08700108528137207, + -0.6162833571434021, + -0.849831223487854 + ], + [ + -0.0933648943901062, + -0.9953902363777161, + 0.021943092346191406, + 0.8771292567253113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3040600352838512, + 0.3183736099918998, + 0.30534117434714575 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.978053482779999, + 0.9160734783890059, + 0.8098220422901606 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4533.452386686114, + "intensity": 0.9160734783890059 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.841545296585614, + 0.8123546055650182, + 0.7623134209582824 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4986.665221239492, + "intensity": 0.8123546055650182 + }, + "point_color_scale": [ + 1.147168149022028, + 1.1665124983278614, + 1.197463457217195 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfe639d3ee9b7bf28cf865b24c836e3c5b7241e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2337515550081295, + "K": [ + [ + 322.0007122020195, + 0.0, + 292.5155371651298 + ], + [ + 0.0, + 338.4080653943363, + 246.31404436668691 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.908323959012169, + -3.204977837142759, + 0.866553313331607 + ], + "camera_target": [ + -5.475551184561483, + -1.716389050173287, + 0.8766668803457748 + ], + "camera_roll_rad": -0.008038795296756211, + "camera_pose_world_cv": [ + [ + 0.9343728423118591, + 0.012762874364852905, + -0.35606813430786133, + -4.908323764801025 + ], + [ + 0.35593390464782715, + 0.011656403541564941, + 0.9344384670257568, + -3.2049777507781982 + ], + [ + 0.016076594591140747, + -0.9998506307601929, + 0.006348729133605957, + 0.8665533065795898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29188787962420715, + 0.2866091266360923, + 0.27564725111596355 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9578837843110176, + 0.9672250905957742, + 0.9821711806513851 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5692.413503451276, + "intensity": 0.970961613109677 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6433947534045259, + 0.6273994469057566, + 0.5999789214792949 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5135.791233669717, + "intensity": 0.6273994469057566 + }, + "point_color_scale": [ + 0.850549158664045, + 0.8215700653623984, + 0.7718916197024329 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2d3b6746b692353b43c3364a863631eae520155 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.101042789008915, + "K": [ + [ + 381.12695266851364, + 0.0, + 318.4027325318235 + ], + [ + 0.0, + 390.9923008591926, + 243.14410517080506 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.433005765886689, + -1.2201883384777545, + 0.8307731505114165 + ], + "camera_target": [ + -5.476194500672847, + -1.74794145537474, + 0.8821793597095756 + ], + "camera_roll_rad": -0.009333248394959241, + "camera_pose_world_cv": [ + [ + -0.45061278343200684, + -0.04761725664138794, + -0.8914486169815063, + -4.4330058097839355 + ], + [ + 0.8925247192382812, + -0.0031716227531433105, + -0.4509873390197754, + -1.2201883792877197 + ], + [ + 0.018647432327270508, + -0.9988605976104736, + 0.04392862319946289, + 0.8307731747627258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3736337686521439, + 0.36236009358211824, + 0.35545650092680275 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1197070555472448, + 1.148871857176991, + 1.1955355397845844 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6002.608397363969, + "intensity": 1.1605377778288892 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6850404721601018, + 0.692965249237603, + 0.705644892561605 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5727.679264949647, + "intensity": 0.6961351600686035 + }, + "point_color_scale": [ + 0.9229226373654826, + 0.9607653337618474, + 1.021313647996031 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..778844cc1f0997916fa1d11f30b4ca582b87d5c1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9876872984520462, + "K": [ + [ + 428.3048328146925, + 0.0, + 315.96409942117197 + ], + [ + 0.0, + 445.81864535511266, + 225.32244910224475 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.475918804789403, + -2.582945333773109, + 1.4424041435816006 + ], + "camera_target": [ + -5.405396620386608, + -1.692505320427677, + 0.8799442298712036 + ], + "camera_roll_rad": 0.015253085564724836, + "camera_pose_world_cv": [ + [ + 0.9951313734054565, + -0.0724564641714096, + 0.06681005656719208, + -5.475918769836426 + ], + [ + -0.0951174944639206, + -0.5285332202911377, + 0.8435670137405396, + -2.5829453468322754 + ], + [ + -0.025810549035668373, + -0.8458148241043091, + -0.5328518152236938, + 1.4424041509628296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24663834662265738, + 0.26555232744881735, + 0.2448596102756243 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.849254932375713, + 0.8909327217121242, + 0.9576171846503823 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6418.413687047887, + "intensity": 0.9076038374466887 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6222500204599831, + 0.636852455923386, + 0.6602163526648307 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5954.413715134199, + "intensity": 0.6426934301087471 + }, + "point_color_scale": [ + 0.8799361202796623, + 0.8737051649675655, + 0.8630235272896851 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25eaf351fcbfa120498311464dc798a4368dbb3f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.18533668625827, + "K": [ + [ + 362.8971334937256, + 0.0, + 332.8832766640656 + ], + [ + 0.0, + 356.38598994635936, + 230.872275767502 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.157298949605439, + -2.1628397223073086, + 1.4435482984987211 + ], + "camera_target": [ + -5.478893623868129, + -1.7148375466049388, + 0.8557521702257334 + ], + "camera_roll_rad": -0.009507496364283288, + "camera_pose_world_cv": [ + [ + 0.5602569580078125, + -0.47835683822631836, + 0.6762300729751587, + -6.157299041748047 + ], + [ + -0.8281756639480591, + -0.3386805057525635, + 0.4465656280517578, + -2.162839651107788 + ], + [ + 0.015408337116241455, + -0.810228705406189, + -0.5859114527702332, + 1.443548321723938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3519439101219177, + 0.936021089553833, + 0.0, + -5.450592041015625 + ], + [ + -0.936021089553833, + 0.3519439101219177, + -0.0, + -1.7208107709884644 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30320886706816697, + 0.3062628416269764, + 0.30752795666598254 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9757325148210517, + 1.0004776279800516, + 1.040069809034452 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5989.820050388976, + "intensity": 1.0103756732436517 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7498297574766162, + 0.7419023999157816, + 0.7283126440972081 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5347.354631596239, + "intensity": 0.7419023999157816 + }, + "point_color_scale": [ + 1.0044761344471416, + 0.9950433999284135, + 0.9788729978963083 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7efbe1731d3a34789b5fd9f3c6dce2fafd32b50f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2988713690888425, + "K": [ + [ + 321.62485588638907, + 0.0, + 300.2076859373019 + ], + [ + 0.0, + 316.0746306189488, + 220.9809634737707 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.867606574663176, + -0.07399975414514304, + 1.08516929834241 + ], + "camera_target": [ + -5.414950201384396, + -1.1211860215395153, + 0.8440106594472314 + ], + "camera_roll_rad": -0.002987699623253917, + "camera_pose_world_cv": [ + [ + -0.9174079895019531, + -0.08754414319992065, + 0.3881988823413849, + -5.8676066398620605 + ], + [ + -0.39790472388267517, + 0.18746709823608398, + -0.8980689644813538, + -0.07399975508451462 + ], + [ + 0.005846142768859863, + -0.9783619046211243, + -0.20681816339492798, + 1.0851693153381348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31280385414453854, + 0.280878204064824, + 0.2986077337960889 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0487460657871188, + 1.0565835909981678, + 1.0691236313358459 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5647.917101823866, + "intensity": 1.0597186010825872 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8016073753589344, + 0.8031877678998003, + 0.8057163959651856 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5539.322054402439, + "intensity": 0.8038199249161466 + }, + "point_color_scale": [ + 0.8037043764755595, + 0.8003211831691135, + 0.7945214232152061 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90de9b4f559fd3dc92ede43eb7f166e283408770 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.101178630578225, + "K": [ + [ + 389.05676306923374, + 0.0, + 322.90537044751534 + ], + [ + 0.0, + 390.93274234209923, + 232.49302557731994 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.346234243111555, + -2.531293091043982, + 0.7362451229571719 + ], + "camera_target": [ + -5.417709185933296, + -1.0920777740622745, + 0.8127466593351346 + ], + "camera_roll_rad": -0.0018194992423326006, + "camera_pose_world_cv": [ + [ + 0.9987720251083374, + 0.001004910096526146, + -0.049531638622283936, + -5.346234321594238 + ], + [ + 0.049408383667469025, + 0.05312991142272949, + 0.9973646402359009, + -2.5312931537628174 + ], + [ + 0.0036338679492473602, + -0.9985872507095337, + 0.05301511287689209, + 0.7362450957298279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518968880176544, + 0.0, + -5.435845375061035 + ], + [ + -0.2518968880176544, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24356114546576935, + 0.24452478039057152, + 0.23922562403949832 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.8700522565333899, + 0.8985436485777089, + 0.9441298758486194 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6126.225588788824, + "intensity": 0.9099402053954365 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6983836001024735, + 0.7106861464601488, + 0.7303702206324295 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5843.835192248811, + "intensity": 0.7156071650032191 + }, + "point_color_scale": [ + 1.1869897623505758, + 1.1610934135621394, + 1.1166996727819627 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3412a25408d772bab1a3fdc91126bc8c3a419927 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2038391517938298, + "K": [ + [ + 366.6147767432245, + 0.0, + 333.86918375749485 + ], + [ + 0.0, + 349.3660633281212, + 253.34000992062317 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.096071859924977, + -0.13799205198196252, + 1.1735667038476405 + ], + "camera_target": [ + -5.476101907695982, + -1.0891218184067357, + 0.8996803300989963 + ], + "camera_roll_rad": 0.01859700717638521, + "camera_pose_world_cv": [ + [ + -0.9244123697280884, + 0.13031360507011414, + -0.3584418296813965, + -5.096071720123291 + ], + [ + 0.3796994984149933, + 0.22592496871948242, + -0.8970988988876343, + -0.13799205422401428 + ], + [ + -0.03592325747013092, + -0.9653892517089844, + -0.2583276033401489, + 1.1735666990280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3264061960146909, + 0.3238044164284404, + 0.32904780253580984 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1191916998773628, + 1.0675897854607734, + 0.9791293607466206 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4809.500506664074, + "intensity": 1.0675897854607734 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7099501008926997, + 0.7251769035513337, + 0.749539787805148 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5916.449522612328, + "intensity": 0.7312676246147872 + }, + "point_color_scale": [ + 1.1008408429402476, + 1.099200085763941, + 1.096387359175987 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1338599a12bc8c3a0590194a246c9becb8023c3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0284399144813894, + "K": [ + [ + 406.41525470112254, + 0.0, + 347.8918554411264 + ], + [ + 0.0, + 424.84480827130017, + 228.7658226118022 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.16052586838607, + -2.6325870889384198, + 1.5603607818213088 + ], + "camera_target": [ + -5.399105905046864, + -1.0350861206808686, + 0.9262119459966497 + ], + "camera_roll_rad": -0.04566923512264067, + "camera_pose_world_cv": [ + [ + 0.9121814966201782, + -0.06219957768917084, + 0.4050384759902954, + -6.160525798797607 + ], + [ + -0.4006895422935486, + -0.342490553855896, + 0.849793016910553, + -2.632587194442749 + ], + [ + 0.0858650952577591, + -0.9374601244926453, + -0.33733630180358887, + 1.5603607892990112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3063884588299548, + 0.3208953772439059, + 0.3099858459909845 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9959655987167868, + 0.9582403136834121, + 0.8935683964833413 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4937.580911971547, + "intensity": 0.9582403136834121 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5758440768457861, + 0.5641348401208132, + 0.5440618628780024 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5203.484347251211, + "intensity": 0.5641348401208132 + }, + "point_color_scale": [ + 0.8980515741713323, + 0.9054255118695669, + 0.9172238121867422 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74af037ea69ee968e84c68c207abd0eb9c6f429e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.830166721418015, + "K": [ + [ + 563.2374704034281, + 0.0, + 345.05604702035987 + ], + [ + 0.0, + 544.6026526166158, + 243.39125603184925 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.136868337538419, + -1.33416202087763, + 1.3492013177910982 + ], + "camera_target": [ + -5.453175113091389, + -1.0968034449773514, + 0.9077208715141034 + ], + "camera_roll_rad": -0.00576224016575818, + "camera_pose_world_cv": [ + [ + 0.17389297485351562, + 0.31048718094825745, + -0.9345366954803467, + -4.136868476867676 + ], + [ + 0.984703779220581, + -0.04427748918533325, + 0.16851717233657837, + -1.3341619968414307 + ], + [ + 0.010943502187728882, + -0.9495458006858826, + -0.31343746185302734, + 1.3492013216018677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3757911837887224, + 0.3600124901219385, + 0.35320855351464037 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1212110686811751, + 1.0504041571489287, + 0.9290208802365063 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4537.011324908434, + "intensity": 1.0504041571489287 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5472274199661982, + 0.5606940480292074, + 0.5822406529300224 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5975.784745204926, + "intensity": 0.5660806992544112 + }, + "point_color_scale": [ + 1.224776066050675, + 1.1831145045072062, + 1.1116946847184028 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4d2042f271c1da16bfc3fef8fe0efd16ca3f67a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8519494118861366, + "K": [ + [ + 548.5334335538248, + 0.0, + 308.32015467319854 + ], + [ + 0.0, + 528.9162625207215, + 254.57743388810468 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.340139322389988, + -0.37399591104146723, + 0.9731381189036564 + ], + "camera_target": [ + -5.435658349412745, + -1.0375570433137247, + 0.8571660011870051 + ], + "camera_roll_rad": 0.017162520371736087, + "camera_pose_world_cv": [ + [ + -0.5151267051696777, + 0.09486544132232666, + -0.8518478870391846, + -4.340139389038086 + ], + [ + 0.8564321398735046, + 0.017337679862976074, + -0.5159683227539062, + -0.37399590015411377 + ], + [ + -0.034178465604782104, + -0.995339035987854, + -0.09017705917358398, + 0.9731380939483643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518968880176544, + 0.0, + -5.435845375061035 + ], + [ + -0.2518968880176544, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.347426566656382, + 0.34571395325520055, + 0.35141409927416917 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0389986862137373, + 1.0592045178394616, + 1.0915338484406207 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5878.639193698535, + "intensity": 1.0672868504897515 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6568365145349216, + 0.6828891372204736, + 0.7245733335173569 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6251.543052462184, + "intensity": 0.6933101862946944 + }, + "point_color_scale": [ + 0.8495215369637418, + 0.8703995629956442, + 0.9038044046466883 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..520b7a8572a2ee3c56185edacf20b37cc50dc46b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0485301019189226, + "K": [ + [ + 431.4057623631852, + 0.0, + 348.37774628809836 + ], + [ + 0.0, + 415.0533066656001, + 242.1023118554473 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7512672516264045, + -0.4495933599291245, + 1.2999114731394683 + ], + "camera_target": [ + -5.47892836217491, + -1.0943642665148863, + 0.8357172993236857 + ], + "camera_roll_rad": -0.02579855721626533, + "camera_pose_world_cv": [ + [ + -0.3609781265258789, + 0.2103641927242279, + -0.9085383415222168, + -3.751267194747925 + ], + [ + 0.9312323331832886, + 0.13355779647827148, + -0.33907055854797363, + -0.44959336519241333 + ], + [ + 0.050013989210128784, + -0.9684572219848633, + -0.24410921335220337, + 1.2999114990234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518968880176544, + 0.0, + -5.435845375061035 + ], + [ + -0.2518968880176544, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2508538739164541, + 0.2514985017181027, + 0.25297666221223747 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9218739500473447, + 0.9256003649158767, + 0.9315626287055278 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5580.389414769961, + "intensity": 0.9270909308632894 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6646574275781217, + 0.6775943735661533, + 0.6982934871470039 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5878.95519886533, + "intensity": 0.6827691519613659 + }, + "point_color_scale": [ + 0.9404466191270401, + 0.9562705853184974, + 0.9815889312248289 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f849731113473b76cccae84f5956b03843a69df --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8265664951179837, + "K": [ + [ + 559.7247579685567, + 0.0, + 341.9727424889041 + ], + [ + 0.0, + 547.2701590218633, + 233.03347160249552 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.189909618995765, + -0.41564150194469274, + 1.587772085615255 + ], + "camera_target": [ + -5.400570759555851, + -1.1217988333779836, + 0.8301682169951434 + ], + "camera_roll_rad": -0.031344769152033394, + "camera_pose_world_cv": [ + [ + -0.5285815000534058, + 0.3783816993236542, + -0.7598874568939209, + -4.1899094581604 + ], + [ + 0.8470916748046875, + 0.29323017597198486, + -0.4432288408279419, + -0.41564151644706726 + ], + [ + 0.055112212896347046, + -0.8779768943786621, + -0.47551995515823364, + 1.5877721309661865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24639640034540253, + 0.261219679770104, + 0.2541560677891299 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9108039903487531, + 0.9426393383465084, + 0.9935758951429167 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6166.4482267090225, + "intensity": 0.9553734775456104 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6481213470262039, + 0.6190325586823016, + 0.5691660643784688 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4828.703937506661, + "intensity": 0.6190325586823016 + }, + "point_color_scale": [ + 1.177711137978798, + 1.1324092248031024, + 1.054748802216196 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab829ad5acd2783fcdb6882b30ddcc007f62870 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.009419687482409, + "K": [ + [ + 418.44995690975475, + 0.0, + 315.7931888638272 + ], + [ + 0.0, + 434.4412018867146, + 239.80359346361107 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.202412617688134, + -2.242493791478923, + 0.9969109694122629 + ], + "camera_target": [ + -5.437770735166587, + -1.0766211601096192, + 0.9109186609535248 + ], + "camera_roll_rad": 0.012734303412166734, + "camera_pose_world_cv": [ + [ + 0.6870713829994202, + 0.019279539585113525, + -0.7263340950012207, + -4.2024126052856445 + ], + [ + 0.7261446118354797, + -0.053211092948913574, + 0.6854798197746277, + -2.2424938678741455 + ], + [ + -0.025433272123336792, + -0.998397171497345, + -0.05055958032608032, + 0.9969109892845154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35433355907290837, + 0.3553100278594975, + 0.33414825862524916 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1546630473051125, + 1.1480677594259858, + 1.1367615516331975 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5417.933068410228, + "intensity": 1.1480677594259858 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6386439740626386, + 0.6537207876620486, + 0.6778436894211046 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5957.0452147514325, + "intensity": 0.6597515131018126 + }, + "point_color_scale": [ + 1.1186092866073318, + 1.1273800496997035, + 1.1414132706474989 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7679af67bd9b42ae8d832e898e9202dc195ec396 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.89035045462725, + "K": [ + [ + 503.8132408552743, + 0.0, + 290.1981502080577 + ], + [ + 0.0, + 503.0199427795351, + 239.73420115549112 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.3639345981461535, + -0.09506663150813688, + 0.840521538745385 + ], + "camera_target": [ + -5.4123294228821175, + -1.0302372509548756, + 0.9074250854698644 + ], + "camera_roll_rad": 0.008721146469429689, + "camera_pose_world_cv": [ + [ + -0.9985761642456055, + 0.013735678046941757, + -0.05154911428689957, + -5.363934516906738 + ], + [ + 0.05043136700987816, + -0.07205957174301147, + -0.9961245656013489, + -0.0950666293501854 + ], + [ + -0.01739705353975296, + -0.9973058104515076, + 0.07126438617706299, + 0.840521514415741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36110760168689854, + 0.34731286337685735, + 0.37676206409867585 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9726179085382057, + 0.942759612977662, + 0.8915739634453013 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5047.554781129082, + "intensity": 0.942759612977662 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6057639589952778, + 0.5991262969040094, + 0.5877474476046924 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5341.729958022244, + "intensity": 0.5991262969040094 + }, + "point_color_scale": [ + 0.7888931922039665, + 0.8067082438628995, + 0.8352123265171925 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89624bb01a391307ef4dfbc0bc3135f9d0573854 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2542622100317942, + "K": [ + [ + 314.7115430796733, + 0.0, + 311.597961657281 + ], + [ + 0.0, + 331.1578717575781, + 252.75816058192868 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.939811369851201, + -1.4487774188998224, + 1.0962505189074792 + ], + "camera_target": [ + -5.39019882297292, + -1.1096513529686005, + 0.8949487309927739 + ], + "camera_roll_rad": -0.03127631198059968, + "camera_pose_world_cv": [ + [ + 0.2190793752670288, + 0.14438915252685547, + -0.9649641513824463, + -3.9398114681243896 + ], + [ + 0.973738431930542, + 0.030437111854553223, + 0.22562569379806519, + -1.448777437210083 + ], + [ + 0.06194862723350525, + -0.9890527129173279, + -0.13392919301986694, + 1.0962505340576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3403429033607564, + 0.33503576892012255, + 0.337082273739384 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1228261635480619, + 1.1404243834756755, + 1.1685815353598579 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5806.732498213666, + "intensity": 1.1474636714467212 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7069664903886327, + 0.7286183697474657, + 0.7632613767215989 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6087.3455175306335, + "intensity": 0.7372791214909991 + }, + "point_color_scale": [ + 0.8715252452945926, + 0.8355769200379897, + 0.773951219598099 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06b75597ffb91c703f0a01ecd0d60017ff28a25a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9994222852364798, + "K": [ + [ + 449.82107227245524, + 0.0, + 338.6759449118254 + ], + [ + 0.0, + 439.6188273979131, + 233.2105733726972 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.044091912697679, + -2.512851714159128, + 0.8354229206700651 + ], + "camera_target": [ + -5.461601118462613, + -1.0497413053202242, + 0.855560505192872 + ], + "camera_roll_rad": 0.003686551660002771, + "camera_pose_world_cv": [ + [ + 0.9615615606307983, + -0.010721385478973389, + -0.27437999844551086, + -5.044091701507568 + ], + [ + 0.2744903862476349, + 0.01070249080657959, + 0.9615302681922913, + -2.5128517150878906 + ], + [ + -0.007372379302978516, + -0.9998852610588074, + 0.01323401927947998, + 0.835422933101654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518968880176544, + 0.0, + -5.435845375061035 + ], + [ + -0.2518968880176544, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2215352279272534, + 0.2356105519351218, + 0.22488050232986062 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1040747035570173, + 1.15994000678792, + 1.2493244919573647 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6445.03863158089, + "intensity": 1.1822861280802812 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.894647789913727, + 0.9206994559690489, + 0.962382121657564 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6059.576910193273, + "intensity": 0.9311201223911776 + }, + "point_color_scale": [ + 1.2093486696640003, + 1.1833185363331906, + 1.138695450623231 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..495e0e5f44f71e2692e03434858ac11312b3a694 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9073009004183094, + "K": [ + [ + 483.69404556724356, + 0.0, + 315.7082722062349 + ], + [ + 0.0, + 492.2417640988312, + 262.17965179882526 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.404819898920949, + -2.81670869240042, + 0.9509554747514741 + ], + "camera_target": [ + -5.423161689865398, + -1.1041544752148988, + 0.8769397337600291 + ], + "camera_roll_rad": 0.03534416931020887, + "camera_pose_world_cv": [ + [ + 0.9974780678749084, + -0.07016418874263763, + -0.010699374601244926, + -5.404819965362549 + ], + [ + 0.007633242756128311, + -0.04382282495498657, + 0.9990100860595703, + -2.81670880317688 + ], + [ + -0.07056361436843872, + -0.9965723752975464, + -0.04317677021026611, + 0.9509554505348206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518968880176544, + 0.0, + -5.435845375061035 + ], + [ + -0.2518968880176544, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27324773140105013, + 0.2818804156658321, + 0.28394865722703994 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9035150089404178, + 0.9169469105284355, + 0.9384379530692637 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5791.263474215428, + "intensity": 0.9223196711636426 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6438786657156389, + 0.6668476073233189, + 0.7035979138956071 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6179.5191183073675, + "intensity": 0.676035183966391 + }, + "point_color_scale": [ + 0.9168119343609468, + 0.9087298797649257, + 0.8948749290288897 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84615bd9e4065dd67bb287019d566fba3e12c408 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8343111687947686, + "K": [ + [ + 535.1777989425022, + 0.0, + 319.9225125016534 + ], + [ + 0.0, + 541.5587731785489, + 231.37145793067643 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.054329162415142, + -1.7940073639739578, + 1.475487756248898 + ], + "camera_target": [ + -5.4377226301529555, + -1.1210213690778557, + 0.8289627204967676 + ], + "camera_roll_rad": -0.0020667183992120752, + "camera_pose_world_cv": [ + [ + 0.738923966884613, + -0.3874245285987854, + 0.5512654781341553, + -6.0543293952941895 + ], + [ + -0.6737803816795349, + -0.4289672374725342, + 0.6016702651977539, + -1.794007420539856 + ], + [ + 0.0033730268478393555, + -0.8160204887390137, + -0.5780131816864014, + 1.4754877090454102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518968880176544, + 0.0, + -5.435845375061035 + ], + [ + -0.2518968880176544, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37763334976956825, + 0.34817461880728834, + 0.34841264374391057 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1292290838650714, + 1.1591270036960408, + 1.206963675425592 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6010.60153480244, + "intensity": 1.1710861716284287 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5517664033741726, + 0.5673492902454325, + 0.5922819092394483 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6043.35299161482, + "intensity": 0.5735824449939364 + }, + "point_color_scale": [ + 1.1514356864537645, + 1.1743540900307021, + 1.2110235357538028 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d89e0ef8eb1a4b6e679a197dad2be5025aa6cc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8166132937114822, + "K": [ + [ + 553.884406472039, + 0.0, + 329.8883404577903 + ], + [ + 0.0, + 554.7600803377682, + 241.5812240226403 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.169917305205525, + -0.6490550901968175, + 0.7918890619002424 + ], + "camera_target": [ + -5.424494745248913, + -1.029460503746137, + 0.818232090989518 + ], + "camera_roll_rad": -0.02374303920783998, + "camera_pose_world_cv": [ + [ + -0.4553718566894531, + 0.006415605545043945, + 0.8902784585952759, + -6.169917106628418 + ], + [ + -0.8890365362167358, + -0.05656588077545166, + -0.4543287754058838, + -0.6490550637245178 + ], + [ + 0.047444671392440796, + -0.9983783960342407, + 0.03146243095397949, + 0.7918890714645386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518968880176544, + 0.0, + -5.435845375061035 + ], + [ + -0.2518968880176544, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26983472870252, + 0.25605094491009117, + 0.26616844014858393 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9543474694819102, + 0.9502550881554881, + 0.9432395773101933 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5438.476950972252, + "intensity": 0.9502550881554881 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8726968619868801, + 0.9077872464034669, + 0.9639318614700058 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6261.325529599522, + "intensity": 0.9218234001701016 + }, + "point_color_scale": [ + 1.1333771014117933, + 1.1745383410048529, + 1.2403963243537481 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7da1f79b71434cd3efead9724b77f2b44ab78e7e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9564905882168256, + "K": [ + [ + 476.08286686037206, + 0.0, + 290.1035041488489 + ], + [ + 0.0, + 462.9785172933352, + 232.30697931419652 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.783000111974044, + -0.5234515774119525, + 1.303946128384809 + ], + "camera_target": [ + -5.484695528941041, + -1.093492077365336, + 0.8838144600302542 + ], + "camera_roll_rad": -0.04028879507324119, + "camera_pose_world_cv": [ + [ + -0.6548173427581787, + 0.2752867341041565, + -0.703869104385376, + -4.7829999923706055 + ], + [ + 0.75225430727005, + 0.32733964920043945, + -0.5718063712120056, + -0.523451566696167 + ], + [ + 0.07299348711967468, + -0.903917133808136, + -0.42143309116363525, + 1.3039461374282837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.967754065990448, + 0.2518969178199768, + 0.0, + -5.435845375061035 + ], + [ + -0.2518969178199768, + 0.967754065990448, + -0.0, + -1.0720995664596558 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3105936577890878, + 0.31130379584123147, + 0.3234556954912402 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9044253504603909, + 0.9181748319919638, + 0.9401740024424807 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5797.712661262269, + "intensity": 0.923674624604593 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.811580769703671, + 0.7838323336727624, + 0.7362635861912049 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4994.27165481225, + "intensity": 0.7838323336727624 + }, + "point_color_scale": [ + 1.0161334715365324, + 1.0168064006339184, + 1.017883087189736 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f820a2af705b6fbb43a6d1e2e3ca9a365c111b7d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2723473870314526, + "K": [ + [ + 325.10119014211324, + 0.0, + 330.1905717960695 + ], + [ + 0.0, + 324.9332288977674, + 231.5944032179003 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.563898338464958, + -1.4685607101510088, + 1.0633114350581123 + ], + "camera_target": [ + -5.787810272305167, + -1.6243124146201173, + 0.8228701223845583 + ], + "camera_roll_rad": -0.017688418859147376, + "camera_pose_world_cv": [ + [ + -0.1328716278076172, + 0.18516886234283447, + -0.9736824035644531, + -4.56389856338501 + ], + [ + 0.9905250072479248, + 0.059218764305114746, + -0.12390819191932678, + -1.4685606956481934 + ], + [ + 0.03471633791923523, + -0.9809207916259766, + -0.1912829875946045, + 1.0633114576339722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3239716783460789, + 0.2959609327695311, + 0.3268743367897223 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0476362353058073, + 1.0733261496607076, + 1.1144300126285482 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5974.157700317039, + "intensity": 1.0836021154026678 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.87777400205457, + 0.8877171120486184, + 0.9036260880390959 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5723.016102471166, + "intensity": 0.8916943560462378 + }, + "point_color_scale": [ + 1.0200907530011403, + 1.0602299246444442, + 1.1244525992737309 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..537a04faf81ad082245725558bb5bfcdb71fc93b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8117658965256864, + "K": [ + [ + 574.2110818967965, + 0.0, + 320.76344384867264 + ], + [ + 0.0, + 558.4705395074188, + 257.54566998763477 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.149396152718472, + -0.02623577341372596, + 1.0381648472534846 + ], + "camera_target": [ + -5.799308356465429, + -1.668057138930608, + 0.8283068669732069 + ], + "camera_roll_rad": -0.037054003110990025, + "camera_pose_world_cv": [ + [ + -0.930465817451477, + -0.02552451193332672, + -0.36548829078674316, + -5.149395942687988 + ], + [ + 0.35892564058303833, + 0.13668227195739746, + -0.9233039617538452, + -0.026235774159431458 + ], + [ + 0.07352268695831299, + -0.9902859926223755, + -0.11801683902740479, + 1.0381648540496826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2652958065176229, + 0.2685705643726769, + 0.28366487813712693 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0249932316502657, + 0.9672213857615115, + 0.8681839356665044 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4646.718531791689, + "intensity": 0.9672213857615115 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6908600974768104, + 0.67725365964835, + 0.6539283376567038 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5212.991313528455, + "intensity": 0.67725365964835 + }, + "point_color_scale": [ + 0.992744716875892, + 1.0206012400516533, + 1.0651716771328712 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b85417b99900314d715eb4d54f596edb28e87492 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1192222389767048, + "K": [ + [ + 372.6713776782788, + 0.0, + 330.1026646589121 + ], + [ + 0.0, + 383.1369114866194, + 225.47222875741286 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.680482711901198, + -1.5072490370817282, + 1.4939406948629252 + ], + "camera_target": [ + -5.810396282686061, + -1.6346403088114483, + 0.8121929474227705 + ], + "camera_roll_rad": 0.016233172387431466, + "camera_pose_world_cv": [ + [ + -0.09538865089416504, + 0.5143510699272156, + -0.8522582054138184, + -4.680482864379883 + ], + [ + 0.9950507283210754, + 0.025323867797851562, + -0.096087247133255, + -1.5072489976882935 + ], + [ + -0.027840107679367065, + -0.8572057485580444, + -0.5142210125923157, + 1.4939407110214233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3244525300490676, + 0.3352982156987315, + 0.3156519960285383 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.190405759339827, + 1.149263675565142, + 1.0787343890942538 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4988.590767793083, + "intensity": 1.149263675565142 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6957256340811612, + 0.6632504049163277, + 0.6075785834908988 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4800.517810810179, + "intensity": 0.6632504049163277 + }, + "point_color_scale": [ + 0.8184677036806431, + 0.8093111267375612, + 0.7936141376922778 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3cbf43840b0d3d81bcf07eeedc7a3bf07bbd9160 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7934021535641422, + "K": [ + [ + 548.3030358494244, + 0.0, + 310.31647223929025 + ], + [ + 0.0, + 572.9154212700569, + 219.74174437155636 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.575990580409671, + -3.0288744769503433, + 1.0136755080287165 + ], + "camera_target": [ + -5.764669346428518, + -1.6027923357046534, + 0.9412443446932955 + ], + "camera_roll_rad": -0.04143908006784519, + "camera_pose_world_cv": [ + [ + 0.9874120354652405, + 0.08864139020442963, + -0.13099682331085205, + -5.575990676879883 + ], + [ + 0.13483957946300507, + -0.03882402181625366, + 0.9901065826416016, + -3.028874397277832 + ], + [ + 0.08267859369516373, + -0.9953067302703857, + -0.050287723541259766, + 1.0136754512786865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27881576775590283, + 0.2709922217819481, + 0.25733568801141565 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.012816145755221, + 1.057830177844925, + 1.1298526291884523 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6336.819754085681, + "intensity": 1.075835790680807 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.9313371547018681, + 0.935873628000511, + 0.9431319852783397 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5596.7586712694065, + "intensity": 0.9376882173199682 + }, + "point_color_scale": [ + 1.0298055422005528, + 1.0313281861465031, + 1.0337644164600237 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9e883cf6b905aa23b718786c37b256b87dae873 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0982251246759467, + "K": [ + [ + 410.9798005497734, + 0.0, + 338.6134980234041 + ], + [ + 0.0, + 392.2306602708011, + 246.53827585136543 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.024837060549806, + -1.2105998699501415, + 1.301497926009953 + ], + "camera_target": [ + -5.793768531066578, + -1.660269467494269, + 0.950155152425042 + ], + "camera_roll_rad": 0.013228479449197111, + "camera_pose_world_cv": [ + [ + -0.4962587356567383, + 0.32997819781303406, + -0.8030205368995667, + -5.024837017059326 + ], + [ + 0.867825984954834, + 0.16232538223266602, + -0.46960484981536865, + -1.2105998992919922 + ], + [ + -0.0246087908744812, + -0.9299274682998657, + -0.3669188618659973, + 1.3014979362487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.302891192068683, + 0.3011812880780046, + 0.29328208455395716 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.043381178194747, + 1.0334633257123989, + 1.0164612928855163 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5362.904078581578, + "intensity": 1.0334633257123989 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6813694510296536, + 0.6702579461466388, + 0.6512096520614705 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5263.1720967194005, + "intensity": 0.6702579461466388 + }, + "point_color_scale": [ + 1.1214659455986837, + 1.1288270384319377, + 1.1406047869651437 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1419f56830f6ab8901db243837b39b26f087cd5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0159144220482366, + "K": [ + [ + 412.6078292272111, + 0.0, + 313.6863653716657 + ], + [ + 0.0, + 431.12752847180957, + 255.50218424888183 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.010172625506441, + -3.370352272812193, + 1.2546673601759535 + ], + "camera_target": [ + -5.782627905779445, + -1.6815072215300102, + 0.9407740889488967 + ], + "camera_roll_rad": -0.04977868834603972, + "camera_pose_world_cv": [ + [ + 0.9885419011116028, + 0.07443409413099289, + 0.1313181221485138, + -6.0101728439331055 + ], + [ + -0.1150222048163414, + -0.19191139936447144, + 0.9746485948562622, + -3.370352268218994 + ], + [ + 0.0977485328912735, + -0.9785854816436768, + -0.1811509132385254, + 1.2546674013137817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3301179090540717, + 0.31070877418650317, + 0.3168455554006271 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9284906249586179, + 0.9562455693610122, + 1.0006534804048435 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6073.836042381464, + "intensity": 0.96734754712197 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7241375964549821, + 0.7451443122077278, + 0.778755057412121 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6057.542284537403, + "intensity": 0.7535469985088261 + }, + "point_color_scale": [ + 0.9955562798613734, + 1.0058897471539903, + 1.0224232948221774 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64ead9bdb3f58b0c7af5967f3cf964e1e0cf9f57 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9087008092747304, + "K": [ + [ + 484.51097907070925, + 0.0, + 294.1658937886621 + ], + [ + 0.0, + 491.3683607369364, + 227.5013492107141 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.453131452744255, + -0.8709735117526127, + 1.0872737495921532 + ], + "camera_target": [ + -5.7482658067619825, + -1.6765839361755939, + 0.8726160401680836 + ], + "camera_roll_rad": -0.0463987300700054, + "camera_pose_world_cv": [ + [ + -0.9426696300506592, + -0.003877878189086914, + -0.33370548486709595, + -5.453131675720215 + ], + [ + 0.32139313220977783, + 0.25879478454589844, + -0.9108963012695312, + -0.870973527431488 + ], + [ + 0.08989351242780685, + -0.9659247398376465, + -0.24271130561828613, + 1.0872737169265747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2898953549038562, + 0.30609401352716764, + 0.32272427861893116 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.1571464561748692, + 1.107395677310283, + 1.022108627828135 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4858.201023434107, + "intensity": 1.107395677310283 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.868137053431713, + 0.8685470127010978, + 0.8692029475321135 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5509.4383349832, + "intensity": 0.8687109964088517 + }, + "point_color_scale": [ + 1.0907569673618092, + 1.115405036166528, + 1.1548419462540782 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5be9e94d668ebea6256870b55e5f81744d3200de --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9275677824277249, + "K": [ + [ + 471.05950912505676, + 0.0, + 329.30008575427695 + ], + [ + 0.0, + 479.83650590599416, + 232.40830897069029 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.846855251159044, + -0.989040429853417, + 1.0108106386897064 + ], + "camera_target": [ + -5.771473870311924, + -1.6390546132793757, + 0.908676715571299 + ], + "camera_roll_rad": -0.025544429211382214, + "camera_pose_world_cv": [ + [ + -0.5781221389770508, + 0.04416006803512573, + -0.8147544860839844, + -4.846855163574219 + ], + [ + 0.8143637776374817, + 0.0934678316116333, + -0.5727788209915161, + -0.9890404343605042 + ], + [ + 0.05085936188697815, + -0.9946426153182983, + -0.08999800682067871, + 1.0108106136322021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3466355560799029, + 0.3593864162302402, + 0.33854324960121723 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0066399351414317, + 0.9658302906948892, + 0.8958709002151024 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4896.379543816708, + "intensity": 0.9658302906948892 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5890929064203473, + 0.5880289370682129, + 0.586204989607411 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5474.151676532908, + "intensity": 0.5880289370682129 + }, + "point_color_scale": [ + 1.080727827661436, + 1.118865279615485, + 1.1798852027419633 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..331782d79a15815897c9e2bd9fe857f94db7779e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.086124192030903, + "K": [ + [ + 399.2178920891369, + 0.0, + 311.9224505259111 + ], + [ + 0.0, + 397.61454728385934, + 217.34644048135533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.168371858768143, + -0.25014394554277697, + 0.9593615580332956 + ], + "camera_target": [ + -5.731657126455852, + -1.6156571463196763, + 0.9153522910008444 + ], + "camera_roll_rad": -0.005904585292027469, + "camera_pose_world_cv": [ + [ + -0.9522978067398071, + -0.02059359848499298, + 0.30447447299957275, + -6.168371677398682 + ], + [ + -0.3049417734146118, + 0.02562546730041504, + -0.9520261287689209, + -0.25014394521713257 + ], + [ + 0.011803358793258667, + -0.9994593858718872, + -0.030682921409606934, + 0.9593615531921387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29836208965461036, + 0.2907118977710838, + 0.27895524265951166 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0043152524049994, + 1.0009819857506157, + 0.9952678143431005 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5452.428619355304, + "intensity": 1.0009819857506157 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6179767744392304, + 0.6413381871170377, + 0.6787164474015295 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6218.058457804389, + "intensity": 0.6506827521881606 + }, + "point_color_scale": [ + 0.8226811027793138, + 0.8146637614972988, + 0.800919747870987 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..546f0e47dc0ee1b9b3999afc25e6f386672e9ba2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2489674851305397, + "K": [ + [ + 332.53758665145625, + 0.0, + 349.10175440689545 + ], + [ + 0.0, + 333.00969267268283, + 244.5317029301047 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.745501649007833, + -2.9083471489503996, + 0.9466315575813969 + ], + "camera_target": [ + -5.728727523007442, + -1.6312605918419096, + 0.9392778085463009 + ], + "camera_roll_rad": 0.01768220642320903, + "camera_pose_world_cv": [ + [ + 0.999285876750946, + -0.03542958199977875, + 0.0131333963945508, + -5.745501518249512 + ], + [ + -0.013328957371413708, + -0.005289196968078613, + 0.9998971819877625, + -2.9083471298217773 + ], + [ + -0.03535647690296173, + -0.9993582367897034, + -0.005757629871368408, + 0.9466315507888794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23541584916922106, + 0.254317200199452, + 0.23894604862994853 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0061914863246133, + 1.0087381613875182, + 1.012812841488166 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5550.441353476004, + "intensity": 1.0097568314126801 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6762429011043106, + 0.6480952474496172, + 0.5998421268987141 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4879.552095920203, + "intensity": 0.6480952474496172 + }, + "point_color_scale": [ + 1.1322128561827938, + 1.1570070223456335, + 1.196677688206177 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c8b8ec52c337bac6f87756e94c8aaf88d8c534 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8939853380867065, + "K": [ + [ + 490.26215849132814, + 0.0, + 344.3380009370417 + ], + [ + 0.0, + 500.67657398524676, + 224.5140718785622 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.043917787731177, + -1.1157186215522552, + 1.1931713500171475 + ], + "camera_target": [ + -5.738706785662895, + -1.6363074499880008, + 0.8061666370705951 + ], + "camera_roll_rad": -0.024460583652404177, + "camera_pose_world_cv": [ + [ + -0.6148452758789062, + 0.2961156964302063, + -0.7309449911117554, + -5.043917655944824 + ], + [ + 0.7873818278312683, + 0.2829782962799072, + -0.5476796627044678, + -1.1157186031341553 + ], + [ + 0.044664978981018066, + -0.9122711420059204, + -0.40714406967163086, + 1.1931713819503784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24169471574434115, + 0.24579715414862788, + 0.24612940994849464 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.8862099952492097, + 0.893356181094001, + 0.9047900784456668 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5659.474871371014, + "intensity": 0.8962146554319174 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7972213591602001, + 0.76241298497672, + 0.7027414863764686 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4847.778044007721, + "intensity": 0.76241298497672 + }, + "point_color_scale": [ + 0.9586608315794701, + 0.97567086908615, + 1.0028869290968376 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbc0aed796d1f70e56ac2c815902b37cda4f64ce --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.181963517948693, + "K": [ + [ + 348.9816711136066, + 0.0, + 327.79928050717643 + ], + [ + 0.0, + 357.6865899352106, + 222.30832051036313 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.738257940433583, + -2.2387349207372083, + 1.071513994536477 + ], + "camera_target": [ + -5.758541491462015, + -1.6126960022842083, + 0.8438823239004818 + ], + "camera_roll_rad": -0.03896822771500157, + "camera_pose_world_cv": [ + [ + 0.5090047121047974, + 0.19946464896202087, + -0.8373339176177979, + -4.738257884979248 + ], + [ + 0.8573586940765381, + -0.031044363975524902, + 0.5137823820114136, + -2.2387349605560303 + ], + [ + 0.07648691534996033, + -0.9794131517410278, + -0.18681442737579346, + 1.0715140104293823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21949604972926537, + 0.2286164525363692, + 0.23527450433359579 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9857222250173618, + 0.9502563274304374, + 0.8894576458528527 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4966.82209295755, + "intensity": 0.9502563274304374 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7768512472504607, + 0.8013947750953713, + 0.8406644196472279 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6105.107474010526, + "intensity": 0.8112121862333355 + }, + "point_color_scale": [ + 0.99000697912832, + 0.9493624085978692, + 0.8796860019742394 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1984929d75a28d127a0d0a5ad1fe15364e6ac6de --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.989503800989827, + "K": [ + [ + 448.13059130189276, + 0.0, + 351.2793310668063 + ], + [ + 0.0, + 444.85013707966544, + 231.75319706657913 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.36225936582128, + -1.959119401479119, + 1.1829637410158371 + ], + "camera_target": [ + -5.777704031396282, + -1.6553486849415573, + 0.9210494453724483 + ], + "camera_roll_rad": 0.021262676435186187, + "camera_pose_world_cv": [ + [ + 0.21704387664794922, + 0.16498911380767822, + -0.9621178507804871, + -4.362259387969971 + ], + [ + 0.9752651453018188, + -0.07888901233673096, + 0.20648157596588135, + -1.959119439125061 + ], + [ + -0.041833460330963135, + -0.983135461807251, + -0.1780303716659546, + 1.1829637289047241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27661315106319745, + 0.2655186459202816, + 0.27787724037864847 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9755412148445592, + 0.9803684084221108, + 0.9880919181461933 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5598.283560765478, + "intensity": 0.9822992858531314 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8618376635016763, + 0.8921577922825448, + 0.9406699983319344 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6170.587270361952, + "intensity": 0.9042858437948922 + }, + "point_color_scale": [ + 1.0012808134108973, + 1.0399051173965586, + 1.101704003773617 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81e9d0612e6ed40a8d333c24d6874b741b8d2f17 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2977994229339231, + "K": [ + [ + 309.1676229709923, + 0.0, + 307.3201138620698 + ], + [ + 0.0, + 316.4266185245694, + 233.20670034028626 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.152401392019108, + -2.311923516896867, + 1.4578720388840551 + ], + "camera_target": [ + -5.7215552050043135, + -1.6150632438412624, + 0.8467163552476824 + ], + "camera_roll_rad": 0.04741135983372145, + "camera_pose_world_cv": [ + [ + 0.43306976556777954, + 0.2666770815849304, + -0.861007571220398, + -4.152401447296143 + ], + [ + 0.8969361186027527, + -0.22202855348587036, + 0.38237297534942627, + -2.3119235038757324 + ], + [ + -0.08919820189476013, + -0.9378628730773926, + -0.3353461027145386, + 1.4578720331192017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2893109185264747, + 0.28766623002819525, + 0.29054053121057244 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.102167727412182, + 1.043199632530147, + 0.9421114698752299 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4692.483078800071, + "intensity": 1.043199632530147 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5534235990845346, + 0.5671436326194585, + 0.5890956862753367 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5979.192291587843, + "intensity": 0.572631646033428 + }, + "point_color_scale": [ + 1.1157855908894012, + 1.1187664558491666, + 1.1235358397847912 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2485d1eb207b1fe1af50862c8081f8bbd519444a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8798058676219004, + "K": [ + [ + 494.99841816186154, + 0.0, + 288.22230792845886 + ], + [ + 0.0, + 509.9201206141894, + 218.6186844795786 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.121645059912178, + -0.6418113281423925, + 0.9887904103286901 + ], + "camera_target": [ + -5.750967495121475, + -1.662134934356378, + 0.904062700758105 + ], + "camera_roll_rad": -0.004026557031645388, + "camera_pose_world_cv": [ + [ + -0.9396524429321289, + -0.03413793444633484, + 0.3404235541820526, + -6.121644973754883 + ], + [ + -0.34203672409057617, + 0.07038354873657227, + -0.9370470643043518, + -0.6418113112449646 + ], + [ + 0.008028656244277954, + -0.9969357848167419, + -0.0778123140335083, + 0.9887903928756714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3454669952469504, + 0.34764503204412717, + 0.3256584882072267 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.900639917913767, + 0.9442670840419394, + 1.0140705498470153 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6407.275695661054, + "intensity": 0.9617179504932083 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5284962980776604, + 0.5455427114830883, + 0.5728169729317728 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6117.21971180841, + "intensity": 0.5523612768452594 + }, + "point_color_scale": [ + 0.7914031145357588, + 0.7989448981447712, + 0.8110117519191908 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1007126a97cf98b88a05e41985f8f6189fd5a2ee --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8867410973624607, + "K": [ + [ + 502.8572175284215, + 0.0, + 298.47670914248124 + ], + [ + 0.0, + 505.3645873066434, + 244.4313565921734 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.8263353312957715, + -2.756004120717823, + 0.6555018139432321 + ], + "camera_target": [ + -5.754403362713094, + -1.6773820262466306, + 0.8318684136135269 + ], + "camera_roll_rad": -0.02561082897300502, + "camera_pose_world_cv": [ + [ + 0.9959264993667603, + 0.06178608164191246, + 0.06567239761352539, + -5.826335430145264 + ], + [ + -0.07467921078205109, + 0.15704524517059326, + 0.9847636818885803, + -2.7560040950775146 + ], + [ + 0.050531163811683655, + -0.9856566786766052, + 0.16101956367492676, + 0.6555018424987793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6692461967468262, + 0.7430408000946045, + 0.0, + -5.7702226638793945 + ], + [ + -0.7430408000946045, + -0.6692461967468262, + -0.0, + -1.6520246267318726 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28400285905724904, + 0.27719190711159464, + 0.2736851727871863 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.2541623939413025, + 1.1856394078170556, + 1.0681714316040607 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4674.369715344346, + "intensity": 1.1856394078170556 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5620751128070929, + 0.551471586810836, + 0.5332941136743954 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5225.318681095295, + "intensity": 0.551471586810836 + }, + "point_color_scale": [ + 0.9879387365408874, + 0.9870612550780258, + 0.9855570011416918 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78943d477b234b2511025c8a27bbb6a81a78ffe3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9770869547210119, + "K": [ + [ + 446.5993118133828, + 0.0, + 318.3171145763089 + ], + [ + 0.0, + 451.5363325280567, + 225.95330260321802 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.015015447128826, + -0.2999048584856132, + 0.7307520312789981 + ], + "camera_target": [ + -5.856536718308878, + -1.2952576754017162, + 0.9467282438420234 + ], + "camera_roll_rad": -0.022291472773264178, + "camera_pose_world_cv": [ + [ + -0.9880475997924805, + -0.011100582778453827, + 0.15374787151813507, + -6.015015602111816 + ], + [ + -0.14785978198051453, + -0.2137245535850525, + -0.9656392931938171, + -0.29990485310554504 + ], + [ + 0.04357885196805, + -0.9768308997154236, + 0.20952868461608887, + 0.7307520508766174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33974312958371466, + 0.3194978320710427, + 0.31586374885817514 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.177345344332768, + 1.1702574565579398, + 1.1581067918010919 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5413.475843223233, + "intensity": 1.1702574565579398 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6017226883788823, + 0.6163266772716862, + 0.6396930595001725 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5969.454632471183, + "intensity": 0.6221682728288078 + }, + "point_color_scale": [ + 0.9087603299742261, + 0.9419524711192667, + 0.9950598969513321 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e2ad99a143caa9744351f0032600336f55a614a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8956819218136862, + "K": [ + [ + 477.55246112925744, + 0.0, + 330.9017739197362 + ], + [ + 0.0, + 499.5888781755639, + 252.2026798470654 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.886342944066071, + -2.316869513962181, + 1.02590527659168 + ], + "camera_target": [ + -5.857047447872233, + -1.2460312221879317, + 0.9207957763179861 + ], + "camera_roll_rad": 0.03609373616616454, + "camera_pose_world_cv": [ + [ + 0.9968299865722656, + -0.07476133108139038, + 0.02721659652888775, + -5.886343002319336 + ], + [ + -0.03431646153330803, + -0.0953872799873352, + 0.9948486089706421, + -2.3168694972991943 + ], + [ + -0.07178008556365967, + -0.9926289319992065, + -0.09765046834945679, + 1.0259052515029907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36086041873559, + 0.3700036746505503, + 0.3708495451015302 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9720252530851881, + 0.9214747755428422, + 0.834816814041678 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4716.310963313186, + "intensity": 0.9214747755428422 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8745992998024155, + 0.9092296613371966, + 0.9646382397928465 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6250.320530889446, + "intensity": 0.9230818059511091 + }, + "point_color_scale": [ + 1.0464665714532397, + 1.0526512034655657, + 1.0625466146852875 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc29608aef43ba732dd8a44474a0479dd1ef445 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3086749728254383, + "K": [ + [ + 328.4083646444687, + 0.0, + 296.8475306840767 + ], + [ + 0.0, + 312.87836644132886, + 229.4777103599832 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.3549611269970425, + -2.6847426766600995, + 1.2459888832830783 + ], + "camera_target": [ + -5.9073742737167905, + -1.2276202743898819, + 0.8609632047145933 + ], + "camera_roll_rad": -0.012988611789492295, + "camera_pose_world_cv": [ + [ + 0.9325347542762756, + 0.10928885638713837, + -0.34414365887641907, + -5.354960918426514 + ], + [ + 0.36019861698150635, + -0.21500372886657715, + 0.9077610969543457, + -2.6847426891326904 + ], + [ + 0.025216013193130493, + -0.970478892326355, + -0.23986417055130005, + 1.2459888458251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.295139664386443, + 0.2734415480057854, + 0.2881372510741914 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0972368869016136, + 1.0295799007717317, + 0.9135964959776484 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4561.240052802549, + "intensity": 1.0295799007717317 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7978671388837899, + 0.8052643840875156, + 0.8170999764134766 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5683.049545018646, + "intensity": 0.8082232821690059 + }, + "point_color_scale": [ + 0.8746336347702146, + 0.8755067880449166, + 0.8769038332844395 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a323b45719636372c128528c124c0b46248fb242 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9102611039593017, + "K": [ + [ + 492.7050483278252, + 0.0, + 313.73308602747517 + ], + [ + 0.0, + 490.39783780213753, + 230.63331876630136 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.265027937001578, + -2.0011666730631545, + 0.7510238744735389 + ], + "camera_target": [ + -5.857036475399919, + -1.2611224891276702, + 0.8988725347237907 + ], + "camera_roll_rad": -0.0005853043606945385, + "camera_pose_world_cv": [ + [ + 0.7809947729110718, + -0.09537553787231445, + -0.6172121167182922, + -5.26502799987793 + ], + [ + 0.6245365738868713, + 0.12109887599945068, + 0.7715499401092529, + -2.001166582107544 + ], + [ + 0.001156628131866455, + -0.9880479574203491, + 0.1541430950164795, + 0.7510238885879517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3643736894609664, + 0.3659182679053101, + 0.35361208666514066 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.2499301750762246, + 1.1787192679868712, + 1.0566434272622653 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4636.94575092296, + "intensity": 1.1787192679868712 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6407512859576651, + 0.6535297560875294, + 0.6739753082953124 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5888.025262119318, + "intensity": 0.6586411441394752 + }, + "point_color_scale": [ + 0.996679852932487, + 1.03527203589682, + 1.0970195286397524 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..906647d96442f97b330e0476617747523d250198 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1109280302261433, + "K": [ + [ + 370.15101133723823, + 0.0, + 348.14736081394267 + ], + [ + 0.0, + 386.69231528563034, + 224.51615020577432 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.275011504746412, + -2.327511428622296, + 0.7238737860713793 + ], + "camera_target": [ + -5.848964598944875, + -1.2874298174605991, + 0.9280044409575913 + ], + "camera_roll_rad": 0.00012971943492297994, + "camera_pose_world_cv": [ + [ + 0.875515341758728, + -0.08205096423625946, + -0.4761728048324585, + -5.2750115394592285 + ], + [ + 0.48319023847579956, + 0.14815068244934082, + 0.86288982629776, + -2.3275113105773926 + ], + [ + -0.00025568902492523193, + -0.9855553507804871, + 0.16935443878173828, + 0.7238737940788269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3117195773365444, + 0.3399669062622904, + 0.34447463168915105 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0852739047825415, + 1.0646315316575883, + 1.0292446063005256 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5223.011167832823, + "intensity": 1.0646315316575883 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.9191125299767399, + 0.8811586583496507, + 0.8160948784174977 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4884.675891267103, + "intensity": 0.8811586583496507 + }, + "point_color_scale": [ + 0.9836563742901085, + 1.014063215872665, + 1.0627141624047554 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..661ab6a0b314f85b94647aed26654614c4f377da --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2960400822407208, + "K": [ + [ + 321.45699688536257, + 0.0, + 346.4152699365561 + ], + [ + 0.0, + 317.0054012500683, + 237.88643880600563 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.894467609657116, + -0.017220755304490964, + 0.8081849756006498 + ], + "camera_target": [ + -5.900595416033017, + -1.270667279859133, + 0.943921287037764 + ], + "camera_roll_rad": -0.025748451673924755, + "camera_pose_world_cv": [ + [ + -0.9986352920532227, + -0.051999107003211975, + -0.004859892651438713, + -5.894467830657959 + ], + [ + 0.01042344979941845, + -0.10726404190063477, + -0.994175910949707, + -0.0172207560390234 + ], + [ + 0.05117496848106384, + -0.9928698539733887, + 0.10765969753265381, + 0.8081849813461304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34031277835185225, + 0.3493040807398108, + 0.3357001712704616 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9777133728796109, + 0.9806219291461278, + 0.9852756191725547 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5559.25034961299, + "intensity": 0.9817853516527345 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.9203709261721541, + 0.9299287739630816, + 0.9452213304285656 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5704.719211967264, + "intensity": 0.9337519130794526 + }, + "point_color_scale": [ + 1.0698055113216673, + 1.1014935982684437, + 1.1521945373832858 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..052ca3e7d4725e84d9e3bb44be6a3015c3f0d528 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.215490469676726, + "K": [ + [ + 358.2280129177036, + 0.0, + 329.05752221810474 + ], + [ + 0.0, + 345.0417761600028, + 256.5510229739411 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.121228118135193, + -0.056294325390917166, + 1.2232575776503252 + ], + "camera_target": [ + -5.936434863826866, + -1.2898382079034834, + 0.8146464290435569 + ], + "camera_roll_rad": -0.012743063411809141, + "camera_pose_world_cv": [ + [ + -0.9874680042266846, + -0.07130967080593109, + 0.14079159498214722, + -6.121228218078613 + ], + [ + -0.15595152974128723, + 0.3040039539337158, + -0.9398195743560791, + -0.05629432573914528 + ], + [ + 0.024217024445533752, + -0.9499982595443726, + -0.3113148808479309, + 1.2232575416564941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3542527350572509, + 0.35969751545611583, + 0.37094638267263697 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.8332239218603873, + 0.8467249282264904, + 0.8683265384122553 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5816.878418667752, + "intensity": 0.8521253307729316 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5741847676367444, + 0.5539528663330797, + 0.5192696069553688 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4978.245932015561, + "intensity": 0.5539528663330797 + }, + "point_color_scale": [ + 1.128422585140175, + 1.1714500721223993, + 1.2402940512939584 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d99b9b540b04f96ea3267765b5621201e4dcfec --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0412804703200804, + "K": [ + [ + 433.75192009185616, + 0.0, + 347.2623927898664 + ], + [ + 0.0, + 418.5470301253024, + 260.1132336609928 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.497192648927921, + -3.1044420563729505, + 1.1983312508874917 + ], + "camera_target": [ + -5.919697559048428, + -1.2562353308931913, + 0.8881323139375059 + ], + "camera_roll_rad": 0.023854336070364357, + "camera_pose_world_cv": [ + [ + 0.9754588007926941, + -0.010548017919063568, + -0.21992921829223633, + -5.497192859649658 + ], + [ + 0.21509307622909546, + -0.16785824298858643, + 0.9620596170425415, + -3.1044421195983887 + ], + [ + -0.04706477373838425, + -0.9857547283172607, + -0.16146999597549438, + 1.1983312368392944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2835889948235284, + 0.2967792971431526, + 0.273886657475485 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9826103433871085, + 0.9634344552135632, + 0.9305615040589139 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5215.661757642503, + "intensity": 0.9634344552135632 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.7795619199803869, + 0.794112281674824, + 0.8173928603859233 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5863.789770613036, + "intensity": 0.7999324263525989 + }, + "point_color_scale": [ + 0.9439079718314114, + 0.917533438901409, + 0.872319953878548 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e817c59d53a40fe66a23ce0f31db91d62858e15 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8816472120625579, + "K": [ + [ + 490.46145190061566, + 0.0, + 302.2371409915393 + ], + [ + 0.0, + 508.7040716911714, + 241.01715028126117 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.412718340902265, + -2.3642470923691308, + 1.30653013633847 + ], + "camera_target": [ + -5.932063980010118, + -1.215587570758737, + 0.9222071792874433 + ], + "camera_roll_rad": 0.003202192511922615, + "camera_pose_world_cv": [ + [ + 0.6040682196617126, + 0.15391027927398682, + -0.7819291949272156, + -4.412718296051025 + ], + [ + 0.796907901763916, + -0.12438821792602539, + 0.591156005859375, + -2.3642470836639404 + ], + [ + -0.006277859210968018, + -0.9802241325378418, + -0.19779127836227417, + 1.3065301179885864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37069516861432505, + 0.34052832150517426, + 0.3796482126115837 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9544079289944639, + 0.9905192293733004, + 1.0482973099794386 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6218.658765471104, + "intensity": 1.004963749524835 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.8251052602038678, + 0.7993423859751938, + 0.7551774587260385 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5039.570193114908, + "intensity": 0.7993423859751938 + }, + "point_color_scale": [ + 1.2072735951465179, + 1.1677286285991895, + 1.0999372573751978 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d00fb7e458cc94651eed9403a9d3803ccce30b57 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2317888100403345, + "K": [ + [ + 355.97760771230895, + 0.0, + 332.3755505548929 + ], + [ + 0.0, + 339.11284858674856, + 235.20507555560908 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.910506514787033, + -2.161809986496295, + 1.372540014759276 + ], + "camera_target": [ + -5.887729952440178, + -1.2506945974413324, + 0.8760006984807527 + ], + "camera_roll_rad": -0.030096166664160574, + "camera_pose_world_cv": [ + [ + 0.9985964298248291, + 0.048202887177467346, + 0.021945256739854813, + -5.910506725311279 + ], + [ + 0.0038250330835580826, + -0.4789031147956848, + 0.8778594732284546, + -2.1618099212646484 + ], + [ + 0.05282501503825188, + -0.876543402671814, + -0.478415310382843, + 1.37253999710083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2319101132793554, + 0.23333212601185202, + 0.2308411749961543 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.2247966147732456, + 1.1583784545209368, + 1.0445187512312641 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4680.897350909662, + "intensity": 1.1583784545209368 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6499570073733998, + 0.6254658432718704, + 0.5834809905263915 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4940.618897670305, + "intensity": 0.6254658432718704 + }, + "point_color_scale": [ + 0.8791705288546411, + 0.8685534787933415, + 0.8503528215453996 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ddd63689456a8296533756342b37ad0aa04107cb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8100451162563799, + "K": [ + [ + 537.5609063824176, + 0.0, + 308.8268485595098 + ], + [ + 0.0, + 559.7978012459514, + 236.94475282491945 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.937593959238825, + -2.1227608267886415, + 1.3251032166095267 + ], + "camera_target": [ + -5.897853403279694, + -1.2539381708861406, + 0.851496281580197 + ], + "camera_roll_rad": -0.01653012421434885, + "camera_pose_world_cv": [ + [ + 0.999131977558136, + 0.011179670691490173, + 0.04012896493077278, + -5.937593936920166 + ], + [ + -0.029876742511987686, + -0.47898566722869873, + 0.8773141503334045, + -2.122760772705078 + ], + [ + 0.029029281809926033, + -0.8777515292167664, + -0.4782359004020691, + 1.3251031637191772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2542074808646712, + 0.25990846936114687, + 0.2622958165799444 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9416009363920373, + 0.9235394562537002, + 0.8925769188736935 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5220.617085619666, + "intensity": 0.9235394562537002 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.5852320398080768, + 0.5910143235975883, + 0.6002659776608066 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5694.910444955906, + "intensity": 0.5933272371133929 + }, + "point_color_scale": [ + 1.0067182908115768, + 1.0090946036307342, + 1.012896704141386 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ec79d7a69f4e2e151ecd0fe172bd1464eb60a28 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7896614482101951, + "K": [ + [ + 595.9372632610048, + 0.0, + 326.967101806135 + ], + [ + 0.0, + 575.9357519195661, + 244.91370773722974 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.553975358012794, + -0.4539932985869882, + 1.0090026441622184 + ], + "camera_target": [ + -5.861869794773899, + -1.2394616148506685, + 0.8210430978505245 + ], + "camera_roll_rad": 0.04251535471276588, + "camera_pose_world_cv": [ + [ + -0.5040856599807739, + 0.1481720507144928, + -0.8508482575416565, + -4.553975582122803 + ], + [ + 0.8595305681228638, + -0.010080873966217041, + -0.5109850168228149, + -0.4539932906627655 + ], + [ + -0.08429104089736938, + -0.9889101982116699, + -0.12227672338485718, + 1.009002685546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3346210119929216, + 0.3369653872155693, + 0.3403782750723664 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.973372234648359, + 0.9311984516474683, + 0.8589005379316558 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 4853.00298960707, + "intensity": 0.9311984516474683 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.945102208414473, + 0.9409568345527386, + 0.9338504793611938 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5437.064459896978, + "intensity": 0.9409568345527386 + }, + "point_color_scale": [ + 1.0664407889251861, + 1.0411051450137065, + 0.9976726125940271 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89bde20e5510a05003c7d3dade50b4dac384b744 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.052437442347542, + "K": [ + [ + 433.1490189246844, + 0.0, + 297.0600106097054 + ], + [ + 0.0, + 413.1884022381515, + 238.19361259337356 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.588753586004107, + -2.7591207265874784, + 0.6327188026012542 + ], + "camera_target": [ + -5.93944157147044, + -1.2796149052795978, + 0.8153920748226218 + ], + "camera_roll_rad": 0.019065237072665747, + "camera_pose_world_cv": [ + [ + 0.9712830781936646, + -0.06458476930856705, + -0.22899331152439117, + -5.588753700256348 + ], + [ + 0.2348969578742981, + 0.10718989372253418, + 0.966092050075531, + -2.7591207027435303 + ], + [ + -0.037849053740501404, + -0.992138683795929, + 0.11928248405456543, + 0.6327188014984131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3291623476676389, + 0.3391682912770132, + 0.3099649403105927 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.8871722213641642, + 0.8814866787805293, + 0.8717400343514412 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5407.857896365, + "intensity": 0.8814866787805293 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.6965899713205641, + 0.7208892935664337, + 0.759768209159825 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 6165.179911518021, + "intensity": 0.7306090224647815 + }, + "point_color_scale": [ + 1.0465002637798262, + 1.0562552260416016, + 1.0718631656604423 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..411871595fee9ffdbb9c0e03975918eeb5a231c0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1975121206261663, + "K": [ + [ + 349.47625544684354, + 0.0, + 315.78760624080894 + ], + [ + 0.0, + 351.7451379844309, + 229.3539868905561 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.770508524703762, + -0.7127243758986131, + 0.9928117099988203 + ], + "camera_target": [ + -5.901818783031369, + -1.271978074532581, + 0.8894056735700744 + ], + "camera_roll_rad": 0.048056664824420864, + "camera_pose_world_cv": [ + [ + -0.4340803623199463, + 0.1153976321220398, + -0.8934527635574341, + -4.770508289337158 + ], + [ + 0.8957826495170593, + -0.05000495910644531, + -0.44167083501815796, + -0.7127243876457214 + ], + [ + -0.09564489126205444, + -0.9920600056648254, + -0.08166491985321045, + 0.9928117394447327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32422183690820444, + 0.3387884444926514, + 0.35349590190003427 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0041329893126028, + 0.9907939317118207, + 0.9679269758247658 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 5307.67144445846, + "intensity": 0.9907939317118207 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.623800820582502, + 0.6389138427115324, + 0.6630946781179811 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5968.6505939377685, + "intensity": 0.6449590515631446 + }, + "point_color_scale": [ + 1.173387660290168, + 1.131751055344117, + 1.0603740182937442 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1f572fcead56999cd9b10b19f0ab2a2e1c204b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2506844982977687, + "K": [ + [ + 344.4961919985312, + 0.0, + 294.1696535604391 + ], + [ + 0.0, + 332.40768273914927, + 217.8413613295893 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.857567988537735, + -2.6891736420352843, + 1.5797122401141195 + ], + "camera_target": [ + -5.854506434950953, + -1.280569396049246, + 0.8974228546430078 + ], + "camera_roll_rad": -0.03553967455858877, + "camera_pose_world_cv": [ + [ + 0.9975398778915405, + 0.07007429003715515, + 0.001956002786755562, + -5.85756778717041 + ], + [ + 0.0287912730127573, + -0.43497854471206665, + 0.8999803066253662, + -2.689173698425293 + ], + [ + 0.06391631066799164, + -0.8977099657058716, + -0.4359259605407715, + 1.5797122716903687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2944701161140665, + 0.3059486907274134, + 0.29471554285358137 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 0.9657340060514266, + 1.017616421427486, + 1.1006282860291818 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6499.305564989356, + "intensity": 1.03836938757791 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.911955356321809, + 0.8718299556434081, + 0.8030435544804351 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 4842.509389610951, + "intensity": 0.8718299556434081 + }, + "point_color_scale": [ + 0.9922321828944786, + 0.9916716471713879, + 0.9907107287889467 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b30529eb7b86a65f46fe02d57d9782995f6058f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000005/scene_b04_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 5, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.074228190003222, + "K": [ + [ + 402.24777800443815, + 0.0, + 291.6624324624222 + ], + [ + 0.0, + 403.0135132229368, + 238.15801214637798 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.033627175331527, + -1.0770146335389197, + 1.5934478821817069 + ], + "camera_target": [ + -5.872469508730701, + -1.2437838518028737, + 0.8670614369729757 + ], + "camera_roll_rad": 0.03780032495042608, + "camera_pose_world_cv": [ + [ + -0.06252610683441162, + 0.37038153409957886, + -0.9267730712890625, + -4.033627033233643 + ], + [ + 0.9955655932426453, + -0.042247653007507324, + -0.08405131101608276, + -1.077014684677124 + ], + [ + -0.07028523087501526, + -0.9279186129570007, + -0.3660973310470581, + 1.5934479236602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9364557862281799, + 0.35078567266464233, + 0.0, + -5.898026466369629 + ], + [ + -0.35078567266464233, + 0.9364557862281799, + -0.0, + -1.2535569667816162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7021594047546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3876962540003834, + 0.3773657597019572, + 0.3904469334885528 + ], + "directional_primary": { + "direction": [ + -0.1379944131894536, + 0.4005979647561985, + -0.9058028541364229 + ], + "color": [ + 1.0389919439183317, + 1.070889794101331, + 1.1219263543941302 + ], + "azimuth_rad": 1.9025371381805423, + "elevation_rad": 1.1332707693375306, + "color_temp_k": 6088.7118821797685, + "intensity": 1.0836489341745308 + }, + "directional_fill": { + "direction": [ + -0.13125372286985257, + 0.23545962844781523, + -0.962980384849048 + ], + "color": [ + 0.730048678885863, + 0.7301998444963398, + 0.7304417094731028 + ], + "azimuth_rad": 2.0793307875475158, + "elevation_rad": 1.2978483286619498, + "color_temp_k": 5504.140047275021, + "intensity": 0.7302603107405305 + }, + "point_color_scale": [ + 1.1190586207955169, + 1.1209325807437145, + 1.123930916660831 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0852f2fbe5b6b2001c2c09ee6e15b1e62f730c8f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9587447513752105, + "K": [ + [ + 463.3344242914329, + 0.0, + 314.24253353714835 + ], + [ + 0.0, + 461.70416735721125, + 235.88320793786434 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.919211398610499, + -0.15326236685828987, + 1.8144967331506594 + ], + "camera_target": [ + -0.6598746914627052, + -0.6048220765392354, + 1.1709452859404674 + ], + "camera_roll_rad": -0.010186246083616533, + "camera_pose_world_cv": [ + [ + -0.32914483547210693, + -0.4148412048816681, + 0.8482751846313477, + -1.9192113876342773 + ], + [ + -0.9441012144088745, + 0.12710845470428467, + -0.30416563153266907, + -0.15326236188411713 + ], + [ + 0.018357574939727783, + -0.9009720087051392, + -0.4334889054298401, + 1.8144967555999756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2677269445726086, + 0.2633171849252029, + 0.27541892411932173 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.199904491043407, + 1.195558905798781, + 1.1881093310937083 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5448.074671262255, + "intensity": 1.195558905798781 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.6464056629582675, + 0.667371461181895, + 0.7009167383396993 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6120.512225815699, + "intensity": 0.675757780471346 + }, + "point_color_scale": [ + 1.1598268738855542, + 1.1339484846036223, + 1.089585531548882 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3722baa5d47f19957f1b9b676f5625d4350ef86d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9545007253016455, + "K": [ + [ + 463.8900405860248, + 0.0, + 293.4974613669243 + ], + [ + 0.0, + 464.1080636116568, + 228.44802961673102 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0971920049511277, + -1.6002106376862277, + 1.7002127194935288 + ], + "camera_target": [ + -0.7094339668818376, + -0.6473639619958935, + 1.071224449388663 + ], + "camera_roll_rad": -0.047978648444264325, + "camera_pose_world_cv": [ + [ + 0.9408188462257385, + -0.10697653889656067, + 0.3215835392475128, + -1.0971920490264893 + ], + [ + -0.3289046287536621, + -0.5170605182647705, + 0.7902342081069946, + -1.6002106666564941 + ], + [ + 0.08174163848161697, + -0.8492375612258911, + -0.5216453075408936, + 1.7002127170562744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855003833770752, + 0.5186213850975037, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186213850975037, + -0.855003833770752, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23113313711837102, + 0.21605840431054968, + 0.2188293679441854 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0585808388227986, + 1.0040440287446348, + 0.9105523543249252 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4724.040714823009, + "intensity": 1.0040440287446348 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.5706052575984395, + 0.5680786826309152, + 0.5637474112580166 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5436.463153413311, + "intensity": 0.5680786826309152 + }, + "point_color_scale": [ + 1.0525234501041931, + 1.060480421405174, + 1.0732115754867437 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9263d69fde63e2b567ce211100b1a6f4a1e5f10a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2086716722461164, + "K": [ + [ + 356.2732258591646, + 0.0, + 328.4920124564289 + ], + [ + 0.0, + 347.56366109570774, + 218.47468643217587 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6383553033928517, + -0.4692927577349948, + 1.574951797864083 + ], + "camera_target": [ + -0.7431450106988085, + -0.5727474625696292, + 1.1331042024410185 + ], + "camera_roll_rad": -0.009017820438358276, + "camera_pose_world_cv": [ + [ + -0.10689496994018555, + -0.4393249750137329, + 0.8919456601142883, + -1.6383552551269531 + ], + [ + -0.9941384792327881, + 0.03261566162109375, + -0.10307744145393372, + -0.4692927598953247 + ], + [ + 0.016193091869354248, + -0.8977359533309937, + -0.44023627042770386, + 1.5749517679214478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30809280791062316, + 0.3323695992871246, + 0.3134647704984243 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0465771852945482, + 1.070808533365378, + 1.109578690278706 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5948.520574119623, + "intensity": 1.08050107259371 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.9138859969472422, + 0.9291475231946843, + 0.9535659651905918 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5826.361752037254, + "intensity": 0.9352521336936611 + }, + "point_color_scale": [ + 0.9155796812064753, + 0.8803129003492469, + 0.8198555617368554 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b6175ebb4707c409292f19e665479c11c05fbe4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.105220758468745, + "K": [ + [ + 399.8488163617336, + 0.0, + 317.97880969723366 + ], + [ + 0.0, + 389.16651587516736, + 236.36680419606284 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0066731123951345, + -1.594079656860756, + 1.8145599805156478 + ], + "camera_target": [ + -0.7427710315118071, + -0.5984779438580801, + 1.045906368212427 + ], + "camera_roll_rad": 0.02778867289878957, + "camera_pose_world_cv": [ + [ + 0.9566137790679932, + -0.20669984817504883, + 0.20534184575080872, + -1.0066730976104736 + ], + [ + -0.28793784976005554, + -0.5629985332489014, + 0.7746769189834595, + -1.594079613685608 + ], + [ + -0.044518448412418365, + -0.8001923561096191, + -0.5980888605117798, + 1.8145599365234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26187462605996276, + 0.24477911640905559, + 0.254205979427574 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.2141534812506787, + 1.1437862193279296, + 1.0231566274603596 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4621.123701344222, + "intensity": 1.1437862193279296 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.6486276879075457, + 0.6606660374918571, + 0.6799273968267554 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5861.793732912281, + "intensity": 0.6654813773255817 + }, + "point_color_scale": [ + 1.015123458353806, + 0.9677449068439272, + 0.886524532826992 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99c2d1613563c7838617415934438ccbf6ca9380 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.177460723998486, + "K": [ + [ + 377.39978313438803, + 0.0, + 344.4945210405186 + ], + [ + 0.0, + 359.43296730184454, + 246.23131990852602 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6938221986981431, + -1.5396263417818634, + 1.0052728595864073 + ], + "camera_target": [ + -0.7307480994375879, + -0.5909290523547147, + 1.1071252873570392 + ], + "camera_roll_rad": 0.010413946703342183, + "camera_pose_world_cv": [ + [ + 0.9989402294158936, + -0.02495836280286312, + -0.03867141157388687, + -0.6938222050666809 + ], + [ + 0.041104674339294434, + 0.10575318336486816, + 0.993542492389679, + -1.5396263599395752 + ], + [ + -0.020707570016384125, + -0.9940791726112366, + 0.10666704177856445, + 1.0052728652954102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25301931623289925, + 0.2583969250416383, + 0.27109871876954644 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 0.8781775822869905, + 0.8930624190379275, + 0.9168781578394267 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5831.136061964671, + "intensity": 0.8990163537383022 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8160344939364049, + 0.7913827581499507, + 0.7491226396588864 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5054.99705993661, + "intensity": 0.7913827581499507 + }, + "point_color_scale": [ + 1.1535951912412834, + 1.1763781345589128, + 1.2128308438671196 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a3abb6395881320f7eb8d6584215571c4a6d87f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.288817232582417, + "K": [ + [ + 304.7298365072137, + 0.0, + 316.3434728789993 + ], + [ + 0.0, + 319.3957260130619, + 263.7637962975491 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3859945029978675, + -1.0273223810522225, + 1.1188805688347478 + ], + "camera_target": [ + -0.7262950274905836, + -0.6108330287935545, + 1.1423951825524408 + ], + "camera_roll_rad": -0.03272088574419405, + "camera_pose_world_cv": [ + [ + 0.2420034408569336, + 0.02921578288078308, + 0.9698355197906494, + -2.3859944343566895 + ], + [ + -0.9680696725845337, + -0.06009113788604736, + 0.24337318539619446, + -1.0273224115371704 + ], + [ + 0.06538891792297363, + -0.9977654218673706, + 0.013740777969360352, + 1.1188805103302002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2529254733267451, + 0.25883074876547063, + 0.23427001995616886 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.1680057860902548, + 1.1052105029903943, + 0.9975614462477762 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4688.321617983261, + "intensity": 1.1052105029903943 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8249377078359057, + 0.85357160017233, + 0.8993858279106093 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6162.036059903536, + "intensity": 0.8650251571068999 + }, + "point_color_scale": [ + 0.8765168464967877, + 0.8782303087840124, + 0.880971848443572 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ecb6b9d5663182905163006961978e76cae6e9e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2153753621792847, + "K": [ + [ + 342.9756386861667, + 0.0, + 329.08178017712214 + ], + [ + 0.0, + 345.0841425405382, + 258.35690255029476 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6227061105611689, + -2.1502874309077296, + 1.0669969155686592 + ], + "camera_target": [ + -0.6853649815440057, + -0.6042657097853478, + 1.1826218835635136 + ], + "camera_roll_rad": -0.00228336846379934, + "camera_pose_world_cv": [ + [ + 0.8549500703811646, + 0.0369931161403656, + 0.5173895359039307, + -1.6227060556411743 + ], + [ + -0.5186903476715088, + 0.05220687389373779, + 0.8533666729927063, + -2.150287389755249 + ], + [ + 0.004557371139526367, + -0.9979508519172668, + 0.06382226943969727, + 1.0669969320297241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3094341993234239, + 0.3224613285256546, + 0.3044859637518899 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.1525439015233871, + 1.1018082046842201, + 1.0148327243885054 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4842.176191782231, + "intensity": 1.1018082046842201 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8224052321421449, + 0.8064195899917186, + 0.7790156320195591 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5216.814522775907, + "intensity": 0.8064195899917186 + }, + "point_color_scale": [ + 0.8100561378580124, + 0.8087462903558116, + 0.8065008374948959 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15e0ab2e36d7f54bdb2a4389707b1f470bb19353 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9321060329043718, + "K": [ + [ + 480.5060468856221, + 0.0, + 351.86972795439493 + ], + [ + 0.0, + 477.12732542358776, + 245.24118779558523 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2824282356231667, + -1.2297333646671644, + 1.5423407072019866 + ], + "camera_target": [ + -0.7300033275707846, + -0.6518584078135137, + 1.1581148946416813 + ], + "camera_roll_rad": -0.04071058541962217, + "camera_pose_world_cv": [ + [ + 0.7447953820228577, + -0.2395516037940979, + 0.622812032699585, + -1.28242826461792 + ], + [ + -0.6632543206214905, + -0.36828678846359253, + 0.6515047550201416, + -1.2297333478927612 + ], + [ + 0.07330441474914551, + -0.8983205556869507, + -0.4331819415092468, + 1.5423407554626465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24411994135286047, + 0.23817468349598603, + 0.2586754606856134 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.1588095617123022, + 1.1737092921928611, + 1.1975488609617553 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5752.608624142802, + "intensity": 1.1796691843850846 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7954841576464815, + 0.761814659208816, + 0.7040955190299608 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4868.622237693183, + "intensity": 0.761814659208816 + }, + "point_color_scale": [ + 0.9816523841058067, + 0.9381742530852482, + 0.8636403141928621 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9a682b8e7a1b9e6497f654d5a9342ef687df3a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1869902415636397, + "K": [ + [ + 351.0509422855749, + 0.0, + 310.63580571134844 + ], + [ + 0.0, + 355.7508020173499, + 231.42509873320185 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2561208199206357, + -1.5065748465367723, + 1.5630246116456203 + ], + "camera_target": [ + -0.6727975450317389, + -0.5591278012426553, + 1.1098363798605024 + ], + "camera_roll_rad": -0.03057658171204692, + "camera_pose_world_cv": [ + [ + 0.8620414733886719, + -0.145359069108963, + 0.48554641008377075, + -1.2561208009719849 + ], + [ + -0.5036675930023193, + -0.3526651859283447, + 0.7886357307434082, + -1.5065748691558838 + ], + [ + 0.056599974632263184, + -0.9243906736373901, + -0.3772246241569519, + 1.563024640083313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855003833770752, + 0.5186213850975037, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186213850975037, + -0.855003833770752, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3386933100275256, + 0.340170756148457, + 0.3278919004781545 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 0.8770697207853069, + 0.9239678466183743, + 0.9990048479512824 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 6494.94596017696, + "intensity": 0.9427270969516013 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.648295279893604, + 0.6546818270845063, + 0.6649003025899499 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5694.34549712365, + "intensity": 0.6572364459608672 + }, + "point_color_scale": [ + 0.9706015670064344, + 0.9283460292502667, + 0.8559079645254077 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c66118a4f267a4be3d7afa250995879b6931a32d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9789858381259693, + "K": [ + [ + 429.1683356306494, + 0.0, + 341.3278842914952 + ], + [ + 0.0, + 450.5037399675515, + 222.10900927792426 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.007745814703025, + -0.49731135346197325, + 1.2055917132070557 + ], + "camera_target": [ + -0.6871423350758534, + -0.5782475225064487, + 1.0827926369290637 + ], + "camera_roll_rad": 0.04644820290408165, + "camera_pose_world_cv": [ + [ + -0.06946539878845215, + -0.08617040514945984, + 0.9938557147979736, + -2.0077457427978516 + ], + [ + -0.9932990074157715, + 0.09821808338165283, + -0.06091073155403137, + -0.4973113536834717 + ], + [ + -0.09236586093902588, + -0.9914271831512451, + -0.09241580963134766, + 1.2055916786193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855003833770752, + 0.5186213850975037, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186213850975037, + -0.855003833770752, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30066002322012547, + 0.2906847500903114, + 0.29152796108262014 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.090465368127799, + 1.0304169923554922, + 0.9274769196029666 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4667.488554664257, + "intensity": 1.0304169923554922 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7928865088797478, + 0.7821574267479885, + 0.7637647145221156 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5304.038679886295, + "intensity": 0.7821574267479885 + }, + "point_color_scale": [ + 0.8936401558184685, + 0.9231289041427125, + 0.9703109014615033 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..458562a17bb7956210072718429d919c7a07c256 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9746373423795187, + "K": [ + [ + 453.13655736702714, + 0.0, + 295.9525107387481 + ], + [ + 0.0, + 452.8738674922442, + 226.8610744267849 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.21112093591725056, + -1.2594871758996646, + 1.0984344690932646 + ], + "camera_target": [ + -0.6797849051177282, + -0.5777404177240748, + 1.112666545242771 + ], + "camera_roll_rad": 0.029254752352518246, + "camera_pose_world_cv": [ + [ + 0.8220828771591187, + -0.05791538953781128, + -0.5664147138595581, + -0.21112093329429626 + ], + [ + 0.5663579702377319, + -0.018976569175720215, + 0.8239409923553467, + -1.2594871520996094 + ], + [ + -0.05846750736236572, + -0.9981411695480347, + 0.017200589179992676, + 1.0984344482421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855003833770752, + 0.5186213850975037, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186213850975037, + -0.855003833770752, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24774641662324237, + 0.25955735466398266, + 0.27219604907944467 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0332526706471448, + 0.9913916147194078, + 0.9196298045575733 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4896.792270780695, + "intensity": 0.9913916147194078 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8450532832935798, + 0.808409611225648, + 0.7455918876806223 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4852.455707759066, + "intensity": 0.808409611225648 + }, + "point_color_scale": [ + 1.0497165485364164, + 1.0713503656829801, + 1.105964473117482 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9be8d6d67030d196f4b8c5ef3ca1dabbcf4ab44 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1452116915436519, + "K": [ + [ + 369.9603906237345, + 0.0, + 330.409658011122 + ], + [ + 0.0, + 372.2943830396914, + 252.29023978421762 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.0903483400079298, + -1.4305500334960595, + 1.1556236657917842 + ], + "camera_target": [ + -0.7076208174752034, + -0.5777608633329623, + 1.1136764123029992 + ], + "camera_roll_rad": 0.011302987467986012, + "camera_pose_world_cv": [ + [ + 0.8103821873664856, + 0.005028128623962402, + -0.5858800411224365, + -0.09034834057092667 + ], + [ + 0.5854661464691162, + -0.04549729824066162, + 0.8094192147254944, + -1.4305499792099 + ], + [ + -0.02258610725402832, + -0.9989518523216248, + -0.039813995361328125, + 1.1556236743927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.368816607865525, + 0.3764442762283696, + 0.37287569274591037 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 0.948676945185742, + 0.948032307630727, + 0.9469272146792724 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5490.286082178146, + "intensity": 0.948032307630727 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8518732513516819, + 0.8187525043082154, + 0.7619740808051301 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4922.104327372828, + "intensity": 0.8187525043082154 + }, + "point_color_scale": [ + 0.9819586817064067, + 1.007961992223319, + 1.0495672890503787 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5cd02b3541c993f165c02ad517e3f0277bd8210 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2230744876185382, + "K": [ + [ + 353.35222745573236, + 0.0, + 346.21732982280423 + ], + [ + 0.0, + 342.2657597136596, + 257.9185130102374 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0833340892408136, + -1.1531132312857002, + 1.5647286449674125 + ], + "camera_target": [ + -0.699308753612905, + -0.6312658373944304, + 1.1341781566168883 + ], + "camera_roll_rad": 0.018923123176279866, + "camera_pose_world_cv": [ + [ + 0.3426574468612671, + -0.2746727764606476, + 0.8984101414680481, + -2.08333420753479 + ], + [ + -0.9387577772140503, + -0.06312799453735352, + 0.33874601125717163, + -1.1531132459640503 + ], + [ + -0.03632938861846924, + -0.9594632983207703, + -0.27948248386383057, + 1.5647286176681519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3179343983181017, + 0.31513787556811196, + 0.29498581488089215 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.1534827551014657, + 1.1713419668215637, + 1.19991670557372 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5803.087469876629, + "intensity": 1.1784856515096027 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.5306963414246443, + 0.547279587915218, + 0.573812782300136 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6098.767311409392, + "intensity": 0.5539128865114475 + }, + "point_color_scale": [ + 1.1989088881511278, + 1.1483124416099482, + 1.0615756761107826 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb03cbfe5a623b495e33bfc886f6b2cbf1c177c5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.201691340052576, + "K": [ + [ + 338.61504064490606, + 0.0, + 346.7509303984197 + ], + [ + 0.0, + 350.1712153419543, + 253.47637275176535 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.369279145607297, + -2.150911301743214, + 1.3025396847959785 + ], + "camera_target": [ + -0.6758577236463202, + -0.5925366789439219, + 1.0902964212850614 + ], + "camera_roll_rad": -0.045365359552202125, + "camera_pose_world_cv": [ + [ + 0.9144254922866821, + 0.03278842568397522, + 0.4034239649772644, + -1.369279146194458 + ], + [ + -0.3946411609649658, + -0.14918673038482666, + 0.9066430330276489, + -2.150911331176758 + ], + [ + 0.08991287648677826, + -0.9882652759552002, + -0.12348049879074097, + 1.3025397062301636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2933034415215579, + 0.30648522143292717, + 0.28902656800820425 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 0.9032032589022342, + 0.9234991782246632, + 0.9559726491405498 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5935.71354813103, + "intensity": 0.9316175459536349 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.901309123636282, + 0.8683409843900816, + 0.8118241742537379 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4957.616965835519, + "intensity": 0.8683409843900816 + }, + "point_color_scale": [ + 0.8746229799400145, + 0.8550841261460571, + 0.8215889482135588 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..443468e027ea636c3cfcdd479b348fe1a8d73d5f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2830567790227199, + "K": [ + [ + 334.13405067530624, + 0.0, + 298.6713448531257 + ], + [ + 0.0, + 321.3186162447237, + 240.96751887562357 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0156603064938363, + -2.4199878240863453, + 1.3722799321057888 + ], + "camera_target": [ + -0.7194934962996926, + -0.6384872003576983, + 1.1482593822590865 + ], + "camera_roll_rad": 0.002789629831771688, + "camera_pose_world_cv": [ + [ + 0.9863331913948059, + -0.025691509246826172, + 0.16274765133857727, + -1.015660285949707 + ], + [ + -0.1646699458360672, + -0.12051862478256226, + 0.9789581894874573, + -2.419987916946411 + ], + [ + -0.005536772310733795, + -0.9923786520957947, + -0.12310218811035156, + 1.3722798824310303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855004072189331, + 0.5186214447021484, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186214447021484, + -0.855004072189331, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2971983918088072, + 0.2867772894601251, + 0.2898064324373277 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0948284323181896, + 1.0271181624550605, + 0.9110434141182676 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4558.248987476555, + "intensity": 1.0271181624550605 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.6043151729639841, + 0.6241681733957017, + 0.6559329740864503 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6128.150799904879, + "intensity": 0.6321093735683889 + }, + "point_color_scale": [ + 0.8793997021597907, + 0.8777528048980305, + 0.8749295524492988 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b71c053efe29b874e9357e5fedcfc71a234faa53 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.103597551073324, + "K": [ + [ + 384.1593170752799, + 0.0, + 343.3333029675928 + ], + [ + 0.0, + 389.87439020873455, + 229.4729329553567 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0661155435680127, + -1.9148173497007206, + 1.293187544185769 + ], + "camera_target": [ + -0.6605649722593737, + -0.6197699255347213, + 1.0545033309561127 + ], + "camera_roll_rad": 0.004165044941766505, + "camera_pose_world_cv": [ + [ + 0.6768235564231873, + -0.096778005361557, + 0.7297561168670654, + -2.066115617752075 + ], + [ + -0.7360988855361938, + -0.07784247398376465, + 0.672383189201355, + -1.9148173332214355 + ], + [ + -0.008265763521194458, + -0.9922574758529663, + -0.12392371892929077, + 1.2931874990463257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.855003833770752, + 0.5186213850975037, + 0.0, + -0.7046793699264526 + ], + [ + -0.5186213850975037, + -0.855003833770752, + -0.0, + -0.6019294857978821 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23046414919439806, + 0.2446582442733186, + 0.2398259178705543 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0797798921317954, + 1.0640255322299301, + 1.0370180581124466 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5288.480372420492, + "intensity": 1.0640255322299301 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7585994688570529, + 0.7243537304036493, + 0.6656467501978145 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4824.60507275085, + "intensity": 0.7243537304036493 + }, + "point_color_scale": [ + 1.1797096340985287, + 1.1304972629070942, + 1.0461331980074924 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03bdce379bad245b08e5c2e3c97d8faf65ca4ea9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.21421672587496, + "K": [ + [ + 335.55676338150835, + 0.0, + 331.5914018594237 + ], + [ + 0.0, + 345.51098024498737, + 248.337948970612 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7811714807609382, + -0.008420926344577584, + 1.4697530236161618 + ], + "camera_target": [ + -0.5606637498944935, + -0.8092299374246619, + 1.0563243012403407 + ], + "camera_roll_rad": 0.031193211828021178, + "camera_pose_world_cv": [ + [ + -0.5617222785949707, + -0.1931878924369812, + 0.8044542074203491, + -1.781171441078186 + ], + [ + -0.8251482844352722, + 0.2013239860534668, + -0.5278246998786926, + -0.00842092651873827 + ], + [ + -0.05998653173446655, + -0.9602848887443542, + -0.2724968194961548, + 1.4697530269622803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22565136497972985, + 0.22694757269045593, + 0.25062886276714347 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0219916731360683, + 0.9612612726900039, + 0.8571520147824655 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4597.459583697104, + "intensity": 0.9612612726900039 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8654629166333158, + 0.8282687967220468, + 0.7645074483027285 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4858.487761142478, + "intensity": 0.8282687967220468 + }, + "point_color_scale": [ + 1.072222084985594, + 1.092261202790477, + 1.1243237912782895 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7173f13870989a19ab17f19d18eee07d1f2e691 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1919303473927618, + "K": [ + [ + 348.5953929148489, + 0.0, + 337.5550562390492 + ], + [ + 0.0, + 353.86237250391434, + 221.36677582123463 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9287905008973922, + -0.7640188151340709, + 1.4444169157864404 + ], + "camera_target": [ + -0.5356349808057586, + -0.8183413192493783, + 1.1301798235655138 + ], + "camera_roll_rad": 0.034825394465153245, + "camera_pose_world_cv": [ + [ + -0.054158568382263184, + -0.21645981073379517, + 0.9747883081436157, + -1.9287904500961304 + ], + [ + -0.9962217211723328, + 0.07808780670166016, + -0.038009315729141235, + -0.7640188336372375 + ], + [ + -0.06789150834083557, + -0.9731637239456177, + -0.21987104415893555, + 1.444416880607605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30965005237518695, + 0.3299576344756585, + 0.3068087887482228 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0732188173822457, + 1.0485624265333588, + 1.0062943279352676 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5164.07898464509, + "intensity": 1.0485624265333588 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.5576441710360079, + 0.5712037995140654, + 0.5928992050789575 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5970.307951995342, + "intensity": 0.5766276509052884 + }, + "point_color_scale": [ + 0.9659710719729231, + 0.9325385730206054, + 0.8752257176737751 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9baf04a9660ef867a3560e6ed66f1ce85b00c19a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8412359485055683, + "K": [ + [ + 543.2050578286207, + 0.0, + 310.5480294353793 + ], + [ + 0.0, + 536.5358970053593, + 263.9192076257124 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.330873221258695, + -1.1192029871476743, + 1.29516794925638 + ], + "camera_target": [ + -0.5642186344331959, + -0.8136602152315605, + 1.176546137724739 + ], + "camera_roll_rad": -0.040548741106691565, + "camera_pose_world_cv": [ + [ + 0.379710853099823, + -0.10173553228378296, + 0.9194942116737366, + -1.3308732509613037 + ], + [ + -0.9216236472129822, + -0.12775075435638428, + 0.3664554953575134, + -1.119202971458435 + ], + [ + 0.08018457889556885, + -0.9865747094154358, + -0.14227020740509033, + 1.2951679229736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2362845147201731, + 0.22458903073822717, + 0.2349628444947928 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.029176473467331, + 0.9785854266943131, + 0.8918579179405683 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4761.455137283274, + "intensity": 0.9785854266943131 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7775066868365472, + 0.7574155536363512, + 0.7229736110074437 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5121.058496625446, + "intensity": 0.7574155536363512 + }, + "point_color_scale": [ + 1.061450969740398, + 1.0811306599183204, + 1.1126181642029966 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc2100419b956d58f3562866ff62f5a24343d6ab --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9146405270240877, + "K": [ + [ + 469.7572500800747, + 0.0, + 288.10999211924405 + ], + [ + 0.0, + 487.6902347581519, + 221.55937372670388 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8157194325773196, + -1.0833027210581931, + 1.313001235066153 + ], + "camera_target": [ + -0.5292630115372451, + -0.763548032597192, + 1.0392899446546169 + ], + "camera_roll_rad": -0.04129413473009124, + "camera_pose_world_cv": [ + [ + 0.2565821409225464, + -0.1756766140460968, + 0.9504227638244629, + -1.815719485282898 + ], + [ + -0.9631400108337402, + -0.1286696195602417, + 0.23623204231262207, + -1.0833027362823486 + ], + [ + 0.08079016208648682, + -0.9760030508041382, + -0.20221543312072754, + 1.313001275062561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.260862911030967, + 0.23442156796092126, + 0.2388198129997548 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0161212036436684, + 1.0021856486434049, + 0.9782961257858103 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5301.354811440273, + "intensity": 1.0021856486434049 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.6128769471626451, + 0.624527794266022, + 0.6431691496314251 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5870.345417858944, + "intensity": 0.6291881331073728 + }, + "point_color_scale": [ + 0.8220045659943033, + 0.8542378114188901, + 0.9058110040982292 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d081e9ae433c7da682a64a4eaf622c991c761ae1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8802331763931522, + "K": [ + [ + 513.3381944760727, + 0.0, + 307.5834378397635 + ], + [ + 0.0, + 509.6374964398838, + 234.8688701713354 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9778762375000791, + -1.3613629056986314, + 1.490606963879941 + ], + "camera_target": [ + -0.5483462517859574, + -0.7573246229482034, + 1.1153243534630952 + ], + "camera_roll_rad": -0.03158050860529867, + "camera_pose_world_cv": [ + [ + 0.40211284160614014, + -0.19151148200035095, + 0.8953371644020081, + -1.9778761863708496 + ], + [ + -0.9135323762893677, + -0.14944428205490112, + 0.37831875681877136, + -1.3613629341125488 + ], + [ + 0.06135070323944092, + -0.9700462818145752, + -0.23504537343978882, + 1.4906070232391357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2525162436952607, + 0.2509328257747856, + 0.23833254574232937 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 0.97485531674418, + 0.9980590229383933, + 1.0351849528491346 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5960.692408762598, + "intensity": 1.0073405054160787 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8051615030617542, + 0.8344796247218034, + 0.8813886193778822 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6192.930359753336, + "intensity": 0.846206873385823 + }, + "point_color_scale": [ + 1.1633093649545656, + 1.1283201541921812, + 1.068338650028094 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..379b4e76eab88b1a9e2f01a62fae0bf450e8356c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0240862210997443, + "K": [ + [ + 443.6440784651113, + 0.0, + 343.7028192680916 + ], + [ + 0.0, + 427.01271640482423, + 247.60943275242155 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1394998689631164, + -1.452171849023732, + 0.9875732434821978 + ], + "camera_target": [ + -0.5584198106810667, + -0.7786808309037473, + 1.0980904024100249 + ], + "camera_roll_rad": 0.03469132074550314, + "camera_pose_world_cv": [ + [ + 0.7609027028083801, + 0.027859121561050415, + 0.6482676267623901, + -1.1394999027252197 + ], + [ + -0.6452083587646484, + 0.13841557502746582, + 0.7513635754585266, + -1.452171802520752 + ], + [ + -0.06879806518554688, + -0.9899823069572449, + 0.12329566478729248, + 0.9875732660293579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30799852977179487, + 0.31380257455324845, + 0.2911840259765102 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.1626160565198351, + 1.1285420265003374, + 1.07012940360977 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5068.671927149317, + "intensity": 1.1285420265003374 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8964074810139993, + 0.9287703616980914, + 0.9805509707926386 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6187.31756467726, + "intensity": 0.9417155139717281 + }, + "point_color_scale": [ + 0.7909464944315786, + 0.8147575545941214, + 0.85285525085419 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20a58643ac3f0d52662874fcf88a966f30ef1bf9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9208750767973479, + "K": [ + [ + 491.5118512106851, + 0.0, + 324.3262292842568 + ], + [ + 0.0, + 483.8769888553458, + 226.2506475009874 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.015221269710014, + -2.0796606552383032, + 0.8818222708844621 + ], + "camera_target": [ + -0.4856339352807788, + -0.7930157475869032, + 1.1235465243549891 + ], + "camera_roll_rad": -0.03556487268666653, + "camera_pose_world_cv": [ + [ + 0.9177621603012085, + 0.1307055503129959, + 0.3750048875808716, + -1.0152212381362915 + ], + [ + -0.39090877771377563, + 0.13083219528198242, + 0.9110835790634155, + -2.079660654067993 + ], + [ + 0.07002095878124237, + -0.9827507734298706, + 0.1711667776107788, + 0.8818222880363464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33128598157418404, + 0.34150164457436427, + 0.35546913863544527 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 0.8756008127835193, + 0.9047716427210106, + 0.951444970620997 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 6136.611905698846, + "intensity": 0.9164399746960072 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.6509393729975905, + 0.6581981508995901, + 0.6698121955427894 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5719.596419690638, + "intensity": 0.6611016620603899 + }, + "point_color_scale": [ + 0.9562276803564317, + 0.9705864261968248, + 0.9935604195414536 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5019b6f92a670e4eeaacd89165a8f7e30f1c27 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1248184804568195, + "K": [ + [ + 380.5436001501271, + 0.0, + 339.8055664956978 + ], + [ + 0.0, + 380.76450769564417, + 227.9703156125404 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3530846670154966, + -0.2804991223679022, + 1.6854382866040978 + ], + "camera_target": [ + -0.5760324620361302, + -0.7812911414865059, + 1.0849208530691234 + ], + "camera_roll_rad": -0.005640069788287495, + "camera_pose_world_cv": [ + [ + -0.5365209579467773, + -0.46397608518600464, + 0.7048912048339844, + -1.353084683418274 + ], + [ + -0.8438341021537781, + 0.2856022119522095, + -0.45428580045700073, + -0.280499130487442 + ], + [ + 0.009459316730499268, + -0.838545024394989, + -0.5447502136230469, + 1.6854382753372192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30326522605074263, + 0.3220966187297765, + 0.32511281796823926 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.130851129159483, + 1.153094598290341, + 1.1886841488997144 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5882.85064613097, + "intensity": 1.1619919859426844 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8772456726787163, + 0.8439564542387548, + 0.7868892226273921 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4936.510899301107, + "intensity": 0.8439564542387548 + }, + "point_color_scale": [ + 1.0925292819029437, + 1.0753478622953205, + 1.045894000110824 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ae7cb11a0d99a2fd129f1d255cda786424dafd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1818582037118972, + "K": [ + [ + 342.9556703853873, + 0.0, + 304.7000457216352 + ], + [ + 0.0, + 357.72730140425875, + 218.38083467837322 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6715113203479386, + -0.8775396990936604, + 1.3947266584644438 + ], + "camera_target": [ + -0.5216755893321192, + -0.7990820986208877, + 1.084750914958144 + ], + "camera_roll_rad": 0.04116740682163579, + "camera_pose_world_cv": [ + [ + 0.04653400182723999, + -0.2638455033302307, + 0.963441789150238, + -1.6715112924575806 + ], + [ + -0.9957545399665833, + 0.06442975997924805, + 0.06573927402496338, + -0.8775396943092346 + ], + [ + -0.07941931486129761, + -0.9624106884002686, + -0.2597271800041199, + 1.3947266340255737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29050358759878314, + 0.27429674493386114, + 0.2875817317672503 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0237000029176513, + 1.0714240222518951, + 1.1477824531866851 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 6375.257640473037, + "intensity": 1.0905136299855926 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7748462434241965, + 0.7978487591824008, + 0.8346527843955277 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6070.039587195999, + "intensity": 0.8070497654856825 + }, + "point_color_scale": [ + 0.9337479750677851, + 0.9436440995109366, + 0.9594778986199795 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b69f739de6c579382d97e56c56eca0ec3eca9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0963968256192713, + "K": [ + [ + 412.326496047477, + 0.0, + 310.49134564538366 + ], + [ + 0.0, + 393.0372498954129, + 241.42235548249153 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9266407881691223, + -2.05556808644319, + 1.5294333032401561 + ], + "camera_target": [ + -0.5370617689649847, + -0.7621304469851901, + 1.0796613085020075 + ], + "camera_roll_rad": 0.031132648545930106, + "camera_pose_world_cv": [ + [ + 0.9499856233596802, + -0.15051206946372986, + 0.2736300230026245, + -0.9266408085823059 + ], + [ + -0.3066622316837311, + -0.2839532494544983, + 0.9084760546684265, + -2.055567979812622 + ], + [ + -0.05903850495815277, + -0.9469512104988098, + -0.31590789556503296, + 1.529433250427246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2831973635645501, + 0.29460104966828865, + 0.2908062301265839 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0632700101330235, + 1.0193119331278455, + 0.9439552296903978 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4883.9250692195765, + "intensity": 1.0193119331278455 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7380306968403838, + 0.7614364803184511, + 0.7988857338833589 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6107.312405496139, + "intensity": 0.7707987937096781 + }, + "point_color_scale": [ + 0.9555104167376954, + 0.9928199119470033, + 1.052515104281896 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f48949ce7756cb2afb4c8f366dc69eac8a0cb2d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8500362241080589, + "K": [ + [ + 550.0534599231255, + 0.0, + 294.89886244083016 + ], + [ + 0.0, + 530.2637254994735, + 256.30902085536286 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1878094622938882, + -2.0456955342785133, + 1.5915650969976107 + ], + "camera_target": [ + -0.5356515767225148, + -0.7573723093102828, + 1.1481468593253654 + ], + "camera_roll_rad": 0.0320163756346223, + "camera_pose_world_cv": [ + [ + 0.8818891048431396, + -0.18939824402332306, + 0.43174058198928833, + -1.1878094673156738 + ], + [ + -0.46747177839279175, + -0.23246997594833374, + 0.8528938293457031, + -2.0456955432891846 + ], + [ + -0.06116987764835358, + -0.953984260559082, + -0.2935510277748108, + 1.5915651321411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2504238758947194, + 0.2579310362597558, + 0.2435094456930423 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0985446588337728, + 1.0825312863610208, + 1.0550797906934462 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5288.678196391486, + "intensity": 1.0825312863610208 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7740143422736334, + 0.7449317030113158, + 0.6950757499901999 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4942.276018732345, + "intensity": 0.7449317030113158 + }, + "point_color_scale": [ + 1.197220400442723, + 1.1990499914729198, + 1.201977337121235 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..221c809096895a3af958a7bb24ce803052106fd8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8267953477790195, + "K": [ + [ + 548.0988932373543, + 0.0, + 348.46791503222784 + ], + [ + 0.0, + 547.0999443841507, + 252.1928269885337 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1749622830963449, + -1.9563124821356084, + 1.3671684396183887 + ], + "camera_target": [ + -0.5229502484848765, + -0.7626470341096189, + 1.1750209090175296 + ], + "camera_roll_rad": -0.025384824094611454, + "camera_pose_world_cv": [ + [ + 0.8798826336860657, + -0.02243281900882721, + 0.47466129064559937, + -1.1749622821807861 + ], + [ + -0.4725268483161926, + -0.1469312310218811, + 0.8689820170402527, + -1.9563125371932983 + ], + [ + 0.05024890601634979, + -0.9888923764228821, + -0.13988232612609863, + 1.3671684265136719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30073548548605605, + 0.28220610876226593, + 0.28822030020498063 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0094499142326052, + 1.0154240221630675, + 1.0249825948518074 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5617.390994716004, + "intensity": 1.0178136653352525 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7255662436378767, + 0.6968423772749512, + 0.6476014635099364 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 4911.142373908923, + "intensity": 0.6968423772749512 + }, + "point_color_scale": [ + 0.9137308201555874, + 0.9504305489785819, + 1.0091501150953732 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b524ba866ad895f829d53f6b98cda0e5d691b8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8262356594040561, + "K": [ + [ + 551.3531882095259, + 0.0, + 327.9532384900312 + ], + [ + 0.0, + 547.5163830755145, + 236.84261022129556 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2401876360481427, + -1.4351396144628823, + 1.5739168651214999 + ], + "camera_target": [ + -0.49146917469428125, + -0.753060778547144, + 1.1123180140388687 + ], + "camera_roll_rad": -0.03461341146435136, + "camera_pose_world_cv": [ + [ + 0.3779006004333496, + -0.19681134819984436, + 0.9046858549118042, + -2.240187644958496 + ], + [ + -0.9234063625335693, + -0.15101242065429688, + 0.3528682291507721, + -1.4351396560668945 + ], + [ + 0.06717029213905334, + -0.968741774559021, + -0.23880457878112793, + 1.5739169120788574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21744779324923225, + 0.2093273775812826, + 0.2312764932221512 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.1895986629631747, + 1.187964247158322, + 1.1851623914928604 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5480.345538792071, + "intensity": 1.187964247158322 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.6459508916037551, + 0.6633532266312719, + 0.691196962675299 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6019.229222633232, + "intensity": 0.6703141606422787 + }, + "point_color_scale": [ + 1.0837878061174997, + 1.100891774813272, + 1.1282581247265075 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f2b859ca5efa461f72e0995891a59aa221134b2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.070088679815284, + "K": [ + [ + 409.37793548538144, + 0.0, + 332.30101356994203 + ], + [ + 0.0, + 404.9175807310232, + 216.92528945202247 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0014350716489844, + -1.5027570112317947, + 0.9006928225735001 + ], + "camera_target": [ + -0.5360141362915904, + -0.7702897955192413, + 1.1526608262799671 + ], + "camera_roll_rad": 0.03959510563697444, + "camera_pose_world_cv": [ + [ + 0.8532081842422485, + 0.08230018615722656, + 0.5150363445281982, + -1.0014350414276123 + ], + [ + -0.5160080790519714, + 0.2770264148712158, + 0.8105506300926208, + -1.502756953239441 + ], + [ + -0.07597014307975769, + -0.9573313593864441, + 0.2788287401199341, + 0.9006928205490112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3153557413605136, + 0.3301521079728156, + 0.31810638005938796 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.2447047432752079, + 1.1672430645501328, + 1.0344516153071472 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 4551.9580334497805, + "intensity": 1.1672430645501328 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.6508215171752324, + 0.6771757549489786, + 0.7193425353869725 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6266.426321493086, + "intensity": 0.6877174500584771 + }, + "point_color_scale": [ + 0.9492015700608616, + 0.9278315659642566, + 0.8911972732272195 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c39c98f534cebad0e17ef8c339cf46a3f1f1e4c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0768878117063834, + "K": [ + [ + 385.8449224070363, + 0.0, + 351.62809775890105 + ], + [ + 0.0, + 401.7971252608683, + 231.13263521427515 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4235547256382053, + -0.5666863759742429, + 1.8165829631090964 + ], + "camera_target": [ + -0.50742794445529, + -0.7595918517409507, + 1.1196539484631431 + ], + "camera_roll_rad": -0.012953959332474875, + "camera_pose_world_cv": [ + [ + -0.1908421516418457, + -0.5894548892974854, + 0.7849345803260803, + -1.42355477809906 + ], + [ + -0.9814008474349976, + 0.09764623641967773, + -0.1652807593345642, + -0.5666863918304443 + ], + [ + 0.020779669284820557, + -0.8018779158592224, + -0.5971264839172363, + 1.8165829181671143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26625223690764205, + 0.27022589812778103, + 0.2689132835527236 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0940018470503503, + 1.062419915032258, + 1.0082794601440994 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5075.336972681256, + "intensity": 1.062419915032258 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.7657316031526289, + 0.7949935026103577, + 0.841812541742724 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 6225.473223926621, + "intensity": 0.8066982623934493 + }, + "point_color_scale": [ + 1.0593276066442026, + 1.0217214890089483, + 0.9572538587770841 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71c9642f6268f80d1068952861f2d859f781c93b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000016/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 16, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2440784556731461, + "K": [ + [ + 333.49610672178704, + 0.0, + 346.0959392287484 + ], + [ + 0.0, + 334.7317438245672, + 221.6596449319047 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3563452545228891, + -0.41479690488154514, + 1.8357045571427988 + ], + "camera_target": [ + -0.5774515608142278, + -0.7411489107405929, + 1.046680948529618 + ], + "camera_roll_rad": 0.0012237501741728732, + "camera_pose_world_cv": [ + [ + -0.38798391819000244, + -0.6287143230438232, + 0.6739339828491211, + -1.356345295906067 + ], + [ + -0.9216645956039429, + 0.26608145236968994, + -0.2823745012283325, + -0.4147969186306 + ], + [ + -0.0017883479595184326, + -0.730697751045227, + -0.6826987862586975, + 1.8357045650482178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9868167638778687, + -0.16184213757514954, + 0.0, + -0.5286253690719604 + ], + [ + 0.16184213757514954, + -0.9868167638778687, + 0.0, + -0.7824645042419434 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24843496394041092, + 0.2658934619818729, + 0.2605287470794442 + ], + "directional_primary": { + "direction": [ + 0.04162231334797356, + -0.5938248190408438, + -0.8035170597583304 + ], + "color": [ + 1.0192473927279702, + 0.9933267542340656, + 0.9488913739588009 + ], + "azimuth_rad": -1.500818867971137, + "elevation_rad": 0.9331801074547585, + "color_temp_k": 5127.217495100358, + "intensity": 0.9933267542340656 + }, + "directional_fill": { + "direction": [ + 0.11073825480883984, + -0.03615252515572679, + -0.9931918404048418 + ], + "color": [ + 0.8804699899242209, + 0.897316522027378, + 0.9242709733924295 + ], + "azimuth_rad": -0.3155593146598301, + "elevation_rad": 1.4540410457285533, + "color_temp_k": 5872.688157024957, + "intensity": 0.9040551348686409 + }, + "point_color_scale": [ + 1.13630351656727, + 1.1129659322619463, + 1.0729586448813913 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b5273794b384a37a6e264004dc7a004ef7931 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2349986011233889, + "K": [ + [ + 341.04292658596296, + 0.0, + 293.2801911515809 + ], + [ + 0.0, + 337.96128813637335, + 262.5008127521025 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2873307717605615, + -1.1782311625178405, + 0.9155308547799146 + ], + "camera_target": [ + -3.221360053833076, + -1.4137816409630104, + 0.9641030920432307 + ], + "camera_roll_rad": 0.031092891188416877, + "camera_pose_world_cv": [ + [ + -0.24709343910217285, + -0.033540308475494385, + -0.9684109687805176, + -2.2873308658599854 + ], + [ + 0.9670018553733826, + -0.07254981994628906, + -0.24422118067741394, + -1.178231120109558 + ], + [ + -0.06206679344177246, + -0.9968006610870361, + 0.05036008358001709, + 0.9155308604240417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3172834836564327, + 0.3032679958557672, + 0.2998134375449877 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1375786423809027, + 1.1500524945067043, + 1.1700106579079868 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5715.989578629418, + "intensity": 1.1550420353570248 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8385167099155777, + 0.8444552703604494, + 0.8539569670722443 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5640.2537835053035, + "intensity": 0.8468306945383981 + }, + "point_color_scale": [ + 1.163899059673889, + 1.1416308454170903, + 1.1034567638340067 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..551fb1062c6b74ba95878a6e2818390c19530f12 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.010550288866156, + "K": [ + [ + 428.63369474509926, + 0.0, + 314.2078285876374 + ], + [ + 0.0, + 433.861562896196, + 259.14512954128503 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2795391465260932, + -0.7325247605141807, + 1.0666433723224982 + ], + "camera_target": [ + -3.181767904685063, + -1.3962849574841105, + 0.9825733676279547 + ], + "camera_roll_rad": 0.039044016751301924, + "camera_pose_world_cv": [ + [ + -0.5860881805419922, + 0.10633242130279541, + -0.803239643573761, + -2.279539108276367 + ], + [ + 0.8065043091773987, + -0.018617570400238037, + -0.5909349322319031, + -0.7325247526168823 + ], + [ + -0.07778984308242798, + -0.9941563010215759, + -0.07484608888626099, + 1.0666433572769165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24706306560298807, + 0.25317704974556815, + 0.2602475147270133 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.104341291672001, + 1.141390305288625, + 1.2006687270752239 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6140.870023213405, + "intensity": 1.1562099107352748 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.5460548078564775, + 0.5547601481475843, + 0.5686886926133553 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5811.883944892628, + "intensity": 0.5582422842640271 + }, + "point_color_scale": [ + 0.8137102600536612, + 0.8321596544995842, + 0.861678685613061 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a63ec572ed6e2bb764a593d0585c955346671f88 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.01196383907192, + "K": [ + [ + 434.15585599310737, + 0.0, + 329.8932659668852 + ], + [ + 0.0, + 433.13852549158645, + 218.29266295070485 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.2160824347392705, + -1.1096564202142951, + 1.5369762423325097 + ], + "camera_target": [ + -3.1791440029875835, + -1.3793712129995084, + 0.8782207142280677 + ], + "camera_roll_rad": 0.04261623496675812, + "camera_pose_world_cv": [ + [ + -0.29396796226501465, + -0.4836192727088928, + 0.8244365453720093, + -4.216082572937012 + ], + [ + -0.9530604481697083, + 0.2137545347213745, + -0.2144414484500885, + -1.1096564531326294 + ], + [ + -0.0725189745426178, + -0.8487765789031982, + -0.5237551331520081, + 1.5369762182235718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2647490089219463, + 0.25256279945635063, + 0.26107676110150785 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1618877936789758, + 1.1418575288257764, + 1.1075199319345779 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5249.402501155949, + "intensity": 1.1418575288257764 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8541018517046811, + 0.8542851395203811, + 0.8545784000255008 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5504.290653757868, + "intensity": 0.8543584546466609 + }, + "point_color_scale": [ + 1.1856463085141304, + 1.1858156822467023, + 1.1860866802188175 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9106cfd673faed40c3d31712d059d80cdadeb3d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0432431131494757, + "K": [ + [ + 433.92884077586643, + 0.0, + 345.39452264238844 + ], + [ + 0.0, + 417.5968493278671, + 261.0786129088111 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.677333264005273, + -2.5524985740196557, + 0.6723297310074767 + ], + "camera_target": [ + -3.161790551518058, + -1.36746929632562, + 1.0116775031703178 + ], + "camera_roll_rad": 0.0342583571361806, + "camera_pose_world_cv": [ + [ + 0.9217666983604431, + 0.038302451372146606, + 0.3858485221862793, + -3.677333354949951 + ], + [ + -0.3820488154888153, + 0.2596592903137207, + 0.8869136571884155, + -2.5524985790252686 + ], + [ + -0.06621821224689484, + -0.9649404287338257, + 0.2539787292480469, + 0.6723297238349915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25229242203700275, + 0.2489090188540125, + 0.24322153647844205 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.9388408787061094, + 0.8837193241082284, + 0.7892252305118608 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 4608.9356558267455, + "intensity": 0.8837193241082284 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8288921094196159, + 0.8416031952337971, + 0.8619409325364872 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5800.254435530016, + "intensity": 0.8466876295594696 + }, + "point_color_scale": [ + 0.8749324806270946, + 0.8469626197839181, + 0.7990142869099012 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67abc9d306ef7605520ed3ea49e71fe8d6c8e685 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.046994806264638, + "K": [ + [ + 409.67295770231647, + 0.0, + 325.93539703094956 + ], + [ + 0.0, + 415.789528474444, + 247.11605958522222 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2342245076677583, + -1.5106709678532737, + 1.070801326711622 + ], + "camera_target": [ + -3.1944355327106844, + -1.3810779324945068, + 0.9107391754349873 + ], + "camera_roll_rad": 0.036088996893610864, + "camera_pose_world_cv": [ + [ + 0.1450505256652832, + 0.15145760774612427, + -0.977763295173645, + -2.234224557876587 + ], + [ + 0.9868627190589905, + -0.09321027994155884, + 0.13196203112602234, + -1.5106710195541382 + ], + [ + -0.0711510181427002, + -0.98405921459198, + -0.16298800706863403, + 1.0708013772964478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29757948353241664, + 0.2974394835029083, + 0.3084792150686876 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.9761605955304387, + 0.9483749865968347, + 0.900742514139228 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5081.455356699746, + "intensity": 0.9483749865968347 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7265078982516684, + 0.7216225409605386, + 0.7132476427471731 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5403.286254955652, + "intensity": 0.7216225409605386 + }, + "point_color_scale": [ + 1.0406323706487586, + 1.0835054048850523, + 1.1521022596631223 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..996ecb8cfb3df0a4a56a8eb9f32a22a224f5d09b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2904312143682524, + "K": [ + [ + 312.6365897616177, + 0.0, + 347.85061991138724 + ], + [ + 0.0, + 318.85960689157406, + 241.45211342125336 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3111670656504617, + -2.235573052917902, + 1.507826085096788 + ], + "camera_target": [ + -3.166123498655877, + -1.3802451451847986, + 0.8996004119997819 + ], + "camera_roll_rad": -0.01744822690484918, + "camera_pose_world_cv": [ + [ + 0.6957474946975708, + 0.34212344884872437, + -0.6315749883651733, + -2.311167001724243 + ], + [ + 0.7176098227500916, + -0.29292023181915283, + 0.6318495869636536, + -2.2355730533599854 + ], + [ + 0.031169414520263672, + -0.8928322196006775, + -0.44930964708328247, + 1.5078260898590088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38853672735888034, + 0.3545583638476653, + 0.3607512771051056 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1393622196282993, + 1.173463633738227, + 1.2280258963141113 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6074.53110060052, + "intensity": 1.187104199382198 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7653860935477812, + 0.7667748733342307, + 0.7689969209925497 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5536.197700837798, + "intensity": 0.7673303852488105 + }, + "point_color_scale": [ + 0.9183613960105496, + 0.9407706195077516, + 0.976625377103275 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32f8aef0c11ed0596d3a12c3fbeba40c707c5ec7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1894840937277862, + "K": [ + [ + 365.2530187641188, + 0.0, + 306.0135679184054 + ], + [ + 0.0, + 354.7957658820206, + 259.0338371790336 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.6285913146341, + -1.0515822388129186, + 1.1030701132616598 + ], + "camera_target": [ + -3.22748221641023, + -1.3745436890031566, + 1.0042191919937984 + ], + "camera_roll_rad": -0.03950869264494143, + "camera_pose_world_cv": [ + [ + -0.21863794326782227, + -0.08435618877410889, + 0.9721531867980957, + -4.628591537475586 + ], + [ + -0.972623348236084, + -0.06156051158905029, + -0.22408536076545715, + -1.0515822172164917 + ], + [ + 0.07874932885169983, + -0.9945323467254639, + -0.06858724355697632, + 1.1030701398849487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28374902527794227, + 0.2986170761485722, + 0.2941144663454834 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8796911681689487, + 0.914847025113354, + 0.9710963962244029 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6256.92760046589, + "intensity": 0.9289093678911162 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7738155917636934, + 0.7703798664019833, + 0.7644900514961944 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5436.288845253955, + "intensity": 0.7703798664019833 + }, + "point_color_scale": [ + 0.9632773835806844, + 0.9572723266498229, + 0.9469779433397746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..739594e072f71964a1dffc6f14f26c5d82926f5b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0928394165149509, + "K": [ + [ + 387.38834337950743, + 0.0, + 317.11696830137663 + ], + [ + 0.0, + 394.61361252583737, + 235.24712676421393 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9176844441134158, + -3.103897109662591, + 1.002418065412308 + ], + "camera_target": [ + -3.166200603981209, + -1.3554108308237076, + 0.9850869110387882 + ], + "camera_roll_rad": 0.005284047687618552, + "camera_pose_world_cv": [ + [ + 0.918649435043335, + -0.013304710388183594, + 0.39484959840774536, + -3.917684555053711 + ], + [ + -0.3949323296546936, + -0.0041928887367248535, + 0.918700635433197, + -3.1038970947265625 + ], + [ + -0.010567501187324524, + -0.9999026656150818, + -0.009106218814849854, + 1.002418041229248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2877653097926647, + 0.28640673337362693, + 0.29584877980423874 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1145721995185978, + 1.1612729639260067, + 1.235994186977861 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6291.56972749809, + "intensity": 1.1799532696889703 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.645196167499247, + 0.6401508924989576, + 0.6315018496413186 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5387.408800032083, + "intensity": 0.6401508924989576 + }, + "point_color_scale": [ + 1.134682960608305, + 1.1640008279932879, + 1.2109094158092601 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d12302e9eb2a535e00fa65e0a69ba4f78c75c85f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0225099628498104, + "K": [ + [ + 440.2085755400681, + 0.0, + 300.95267373742973 + ], + [ + 0.0, + 427.80175463370915, + 246.07542814109763 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.957919582931398, + -2.054814368147004, + 1.6263214101860546 + ], + "camera_target": [ + -3.2023108720032862, + -1.3557893877874003, + 0.9026680890283275 + ], + "camera_roll_rad": 0.03763214092763077, + "camera_pose_world_cv": [ + [ + 0.6454207897186279, + -0.4720354676246643, + 0.600511908531189, + -3.9579195976257324 + ], + [ + -0.7613462805747986, + -0.33425194025039673, + 0.5555424690246582, + -2.054814338684082 + ], + [ + -0.0615135133266449, + -0.8157562017440796, + -0.5751155614852905, + 1.6263214349746704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2541167311123257, + 0.24532204523766202, + 0.23257348920307147 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8418552511415412, + 0.8530080895376493, + 0.8708526309714222 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5760.13384672691, + "intensity": 0.8574692248960925 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8779589438945578, + 0.8397249521577876, + 0.7741809663233244 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 4849.549062999349, + "intensity": 0.8397249521577876 + }, + "point_color_scale": [ + 0.9978886145480474, + 1.0349738923838658, + 1.0943103369211753 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0019029f5777dcce6385a0b72816d92a8a6e3264 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8987269698463844, + "K": [ + [ + 482.53350048588754, + 0.0, + 351.0650117576134 + ], + [ + 0.0, + 497.6462721507204, + 230.92235223973552 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3733172024074731, + -1.6463136875219382, + 0.831019825109559 + ], + "camera_target": [ + -3.239007662242543, + -1.340455240734592, + 0.983280281380958 + ], + "camera_roll_rad": 0.018016747978699038, + "camera_pose_world_cv": [ + [ + 0.15881991386413574, + -0.08499521017074585, + -0.9836423397064209, + -1.3733172416687012 + ], + [ + 0.9866544604301453, + -0.02257251739501953, + 0.1612568199634552, + -1.6463136672973633 + ], + [ + -0.035909503698349, + -0.9961258172988892, + 0.0802760124206543, + 0.8310198187828064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29643086745014624, + 0.2772368829379763, + 0.2899349010281418 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0929324779416507, + 1.1340083284736893, + 1.199729689324951 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6214.09022749446, + "intensity": 1.1504386686865047 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7652351181469746, + 0.7638177336664235, + 0.7613879316997643 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5473.4906001396885, + "intensity": 0.7638177336664235 + }, + "point_color_scale": [ + 1.0060335084147514, + 0.9594216617282101, + 0.8795156388369962 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99f86be1c17c241339434f287ea2516d0b221589 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8294531087347048, + "K": [ + [ + 521.5193219185641, + 0.0, + 329.8803323893593 + ], + [ + 0.0, + 545.1296542017178, + 232.51743372447496 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5354610148192562, + -2.1910845601361513, + 0.9773076364438554 + ], + "camera_target": [ + -3.2433928813117823, + -1.3695803035998435, + 0.8860303887920131 + ], + "camera_roll_rad": -0.03307204578690706, + "camera_pose_world_cv": [ + [ + 0.9424678087234497, + 0.027474090456962585, + 0.33316606283187866, + -3.535460948944092 + ], + [ + -0.327769935131073, + -0.12003201246261597, + 0.9371015429496765, + -2.191084623336792 + ], + [ + 0.06573660671710968, + -0.9923898577690125, + -0.1041211485862732, + 0.9773076176643372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7077364921569824, + -0.7064765691757202, + 0.0, + -3.2013049125671387 + ], + [ + 0.7064765691757202, + -0.7077364921569824, + 0.0, + -1.3806039094924927 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35980075943853573, + 0.35877377587736287, + 0.3696940018128513 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0612794844144195, + 1.1039305748472374, + 1.1721723195397462 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6260.953299598637, + "intensity": 1.1209910110203647 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8495477285308872, + 0.8850873897742022, + 0.9419508477635062 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 6290.382133601941, + "intensity": 0.8993032542715282 + }, + "point_color_scale": [ + 0.9025062973334119, + 0.9267000771933707, + 0.965410124969305 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8b9a0ed9eca61197a1e148eab88f16b5fa8000a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2271649271048597, + "K": [ + [ + 350.7819002822849, + 0.0, + 312.11466157775504 + ], + [ + 0.0, + 340.78094813501764, + 226.3474696334488 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.115461131753861, + -1.7691200813343542, + 1.026433557219331 + ], + "camera_target": [ + -4.8640168236610375, + -1.5294653576460093, + 0.8721423732114514 + ], + "camera_roll_rad": 0.03366025841065133, + "camera_pose_world_cv": [ + [ + 0.1797163486480713, + -0.1304515302181244, + 0.9750304818153381, + -6.115461349487305 + ], + [ + -0.9814490079879761, + 0.0435103178024292, + 0.1867208182811737, + -1.7691200971603394 + ], + [ + -0.06678181886672974, + -0.9904994964599609, + -0.12021195888519287, + 1.0264335870742798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24550895898880404, + 0.2550227349439447, + 0.24232115127050075 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8133817488362162, + 0.8543533665548803, + 0.919907954904743 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6441.073637811006, + "intensity": 0.8707420136423459 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8827466895947051, + 0.8882121907862814, + 0.8969569926928034 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5622.76529798811, + "intensity": 0.8903983912629119 + }, + "point_color_scale": [ + 0.7794996867381884, + 0.8072279290161609, + 0.8515931166609171 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1f2db1ee4ab294349b62ec62798bcb6a53792b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2298833103884745, + "K": [ + [ + 352.44250874812593, + 0.0, + 313.4781675980639 + ], + [ + 0.0, + 339.798948514534, + 248.52883790414288 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.330718981867502, + -0.46666864400994856, + 1.3288749749619495 + ], + "camera_target": [ + -4.889769125713621, + -1.4802362782493503, + 0.9197305221856786 + ], + "camera_roll_rad": 0.028536192358065288, + "camera_pose_world_cv": [ + [ + -0.9233877658843994, + -0.08595219254493713, + 0.3741225004196167, + -5.330718994140625 + ], + [ + -0.3801233768463135, + 0.3405557870864868, + -0.8599582314491272, + -0.46666863560676575 + ], + [ + -0.05349425971508026, + -0.9362874627113342, + -0.3471372723579407, + 1.328874945640564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29415291974027163, + 0.2799232056835433, + 0.29737441231454476 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.9374142558645407, + 0.9557233124627529, + 0.9850178030198921 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5880.231864738184, + "intensity": 0.9630469351020375 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7187995779397388, + 0.7075866521620944, + 0.6883644936861326 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5273.618321548477, + "intensity": 0.7075866521620944 + }, + "point_color_scale": [ + 0.9831457914506467, + 0.9412953978109966, + 0.869551865857311 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4115789fc3f9db64ac43e7e491f19837f7aa09f0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0570980873989095, + "K": [ + [ + 424.93611497834604, + 0.0, + 348.10405669446124 + ], + [ + 0.0, + 410.98029828896676, + 251.06903960673134 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5534473134706346, + -0.6934902768205572, + 1.5327105231482758 + ], + "camera_target": [ + -4.886920333095166, + -1.4846679350358662, + 0.8826095948152306 + ], + "camera_roll_rad": 0.022756902700850012, + "camera_pose_world_cv": [ + [ + -0.49460768699645996, + 0.35541218519210815, + -0.7931240200996399, + -3.5534472465515137 + ], + [ + 0.8681030869483948, + 0.15796983242034912, + -0.4705771207809448, + -0.6934902667999268 + ], + [ + -0.04195922613143921, + -0.9212642908096313, + -0.38666731119155884, + 1.5327105522155762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30287760880617387, + 0.2913728834384743, + 0.3063520611582438 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0406079969114899, + 1.089706713658742, + 1.168264660454345 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6385.18294345666, + "intensity": 1.1093462003576426 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7652895099721525, + 0.7654039406564003, + 0.7655870297511969 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5502.989894236416, + "intensity": 0.7654497129300994 + }, + "point_color_scale": [ + 1.1121190727751173, + 1.0748448104946458, + 1.0109460751566945 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23dddbfe9daa91fb54d49d1b9e549407f4e22885 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.130186855396189, + "K": [ + [ + 360.68988083761536, + 0.0, + 294.1101473046902 + ], + [ + 0.0, + 378.5084139670028, + 236.89712397122275 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.6841911309999995, + -2.196312428895138, + 0.9570488854492423 + ], + "camera_target": [ + -4.906501032006887, + -1.5304893350209496, + 0.8963859163532722 + ], + "camera_roll_rad": -0.005386642485189906, + "camera_pose_world_cv": [ + [ + 0.6508047580718994, + -0.03792312741279602, + 0.7582974433898926, + -5.6841912269592285 + ], + [ + -0.7591689825057983, + -0.04665017127990723, + 0.6492197513580322, + -2.196312427520752 + ], + [ + 0.010754317045211792, + -0.9981911182403564, + -0.05915021896362305, + 0.9570488929748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2343608206951275, + 0.2187810576743422, + 0.2371908307261714 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8924752742244355, + 0.9096910527287384, + 0.9372362983356226 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5875.653582076729, + "intensity": 0.9165773641304594 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.75059483133224, + 0.740553153343637, + 0.7233388482203175 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5306.290011666774, + "intensity": 0.740553153343637 + }, + "point_color_scale": [ + 0.9532601420490807, + 0.9382641269087239, + 0.9125566723823978 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c083a97217d63fabbbe1b60c95052c8b82884ba7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.079554604456521, + "K": [ + [ + 394.09346250947726, + 0.0, + 319.7213491862337 + ], + [ + 0.0, + 400.5828835162592, + 231.7051134475625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.042763551970616, + -2.3205088713819633, + 1.0700768640873326 + ], + "camera_target": [ + -4.8512716014085555, + -1.5003194988829567, + 0.9572416491073641 + ], + "camera_roll_rad": 0.05086350944078659, + "camera_pose_world_cv": [ + [ + 0.7154297232627869, + -0.004223734140396118, + -0.6986719369888306, + -4.042763710021973 + ], + [ + 0.6913361549377441, + -0.1403721570968628, + 0.7087666392326355, + -2.3205089569091797 + ], + [ + -0.10106775164604187, + -0.9900898337364197, + -0.09750640392303467, + 1.070076823234558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3071560002749167, + 0.3071154717372909, + 0.2945339101728256 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0805506288127762, + 1.0902143031493112, + 1.1056761820877674 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5676.653925537114, + "intensity": 1.0940797728839253 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.6154806014887337, + 0.6377848381297704, + 0.6734716167554291 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 6189.779227834427, + "intensity": 0.6467065327861851 + }, + "point_color_scale": [ + 0.9141841004590943, + 0.9046054159839905, + 0.8881848140266698 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e7a63d8106780db842cb8091927d5a8a1379fdf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9214866612632763, + "K": [ + [ + 507.37592054143636, + 0.0, + 311.9624505350992 + ], + [ + 0.0, + 483.50550582862786, + 257.1718957138233 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.123232853473091, + -1.6284167055312488, + 1.303306903708171 + ], + "camera_target": [ + -4.91966197565309, + -1.4603483903658714, + 0.9375095078038655 + ], + "camera_roll_rad": -0.005139056431034537, + "camera_pose_world_cv": [ + [ + 0.1412261724472046, + -0.2840253412723541, + 0.9483590126037598, + -6.123232841491699 + ], + [ + -0.9899284839630127, + -0.05003929138183594, + 0.13243019580841064, + -1.628416657447815 + ], + [ + 0.009841710329055786, + -0.9575101137161255, + -0.28823161125183105, + 1.3033069372177124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3163451873735302, + 0.3131981235582112, + 0.30535700359430223 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1265343511894028, + 1.1252875847739294, + 1.1231502709188323 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5484.172091620425, + "intensity": 1.1252875847739294 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7067144643984623, + 0.7056340884828263, + 0.7037820154845932 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5478.1275566134755, + "intensity": 0.7056340884828263 + }, + "point_color_scale": [ + 0.7980837058614119, + 0.8171385747156444, + 0.8476263648824167 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf7eb1e26e6d12051c92ddb34b2c2b9313d626c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2985210710107036, + "K": [ + [ + 329.46866905622556, + 0.0, + 307.388626170338 + ], + [ + 0.0, + 316.1896010119062, + 263.4464646796365 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.352952598628047, + -3.1455219628879805, + 1.1190897908017092 + ], + "camera_target": [ + -4.909033120859061, + -1.530459677102218, + 0.9677426804543265 + ], + "camera_roll_rad": 0.04627769924608478, + "camera_pose_world_cv": [ + [ + 0.9441324472427368, + -0.058778464794158936, + -0.3242822587490082, + -4.352952480316162 + ], + [ + 0.316446453332901, + -0.11318248510360718, + 0.941834032535553, + -3.145521879196167 + ], + [ + -0.09206262975931168, + -0.9918341040611267, + -0.08825904130935669, + 1.1190898418426514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30199956464004657, + 0.29738827924547584, + 0.28762765017776604 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0191123608795427, + 1.0424243555790842, + 1.0797235470983508 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5943.299519146276, + "intensity": 1.051749153458901 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8744765227413084, + 0.9090927529957213, + 0.9644787214027821 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 6250.130204957457, + "intensity": 0.9229392450974865 + }, + "point_color_scale": [ + 1.0152959584976775, + 0.9928814020938654, + 0.954456448258759 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07ffe9a23cb1ba6c67700e7f342d99eab6e71ec4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9484948149191814, + "K": [ + [ + 448.55508882138054, + 0.0, + 318.1409875284247 + ], + [ + 0.0, + 467.5438408912713, + 259.18487661543213 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1962303171036943, + -1.335634048723054, + 0.9760571693126271 + ], + "camera_target": [ + -4.840991503589217, + -1.5331434003643734, + 0.915723937988449 + ], + "camera_roll_rad": -0.02673658464706594, + "camera_pose_world_cv": [ + [ + -0.12098836898803711, + 0.02971261739730835, + -0.9922090768814087, + -3.196230411529541 + ], + [ + 0.9912158846855164, + 0.057399749755859375, + -0.11914840340614319, + -1.3356339931488037 + ], + [ + 0.053412288427352905, + -0.9979090690612793, + -0.036396324634552, + 0.9760571718215942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.653333306312561, + -0.7570704817771912, + 0.0, + -4.879215240478516 + ], + [ + 0.7570704817771912, + -0.653333306312561, + 0.0, + -1.493861198425293 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2687718600996384, + 0.27656635933605883, + 0.2800965970364676 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.854328280997668, + 0.8873161634589584, + 0.9400967753970229 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6232.64781594471, + "intensity": 0.9005113164434745 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.6671575147658155, + 0.6484840346337998, + 0.6164723544074869 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5088.634434097391, + "intensity": 0.6484840346337998 + }, + "point_color_scale": [ + 0.9900744581935176, + 1.0309335244669438, + 1.0963080305044255 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e988197f696aa426ddef580bf9c73c268188db04 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1888116089785945, + "K": [ + [ + 345.01573982574166, + 0.0, + 289.6590939303072 + ], + [ + 0.0, + 355.0529510764665, + 242.2107834236768 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.67323910759127, + -1.487990630850633, + 1.5470119204885764 + ], + "camera_target": [ + -4.940191033146057, + -0.6866006096074824, + 0.8695693481412025 + ], + "camera_roll_rad": 0.01771377379918776, + "camera_pose_world_cv": [ + [ + 0.9551547169685364, + 0.16400042176246643, + -0.2465427815914154, + -4.673239231109619 + ], + [ + 0.29481518268585205, + -0.6044045686721802, + 0.7401211261749268, + -1.4879906177520752 + ], + [ + -0.027631454169750214, + -0.7796146869659424, + -0.6256496906280518, + 1.5470119714736938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33702561199836945, + 0.3359214673702941, + 0.32142725103698033 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0101396445228925, + 1.0519547230660724, + 1.1188588487351605 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6282.555096416901, + "intensity": 1.0686807544833445 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.634878032845264, + 0.6440386474287716, + 0.6586956307623836 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5782.864710928489, + "intensity": 0.6477028932621746 + }, + "point_color_scale": [ + 0.9866756005753502, + 1.0279323572707508, + 1.0939431679833915 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09f45ce02f33b8218c296c02872d35cf6213b403 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.17321086552125, + "K": [ + [ + 357.51712187007945, + 0.0, + 346.3397897792854 + ], + [ + 0.0, + 361.09208266341983, + 222.75049023465405 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.345255015089348, + -2.0251038804232557, + 1.4427940542453546 + ], + "camera_target": [ + -4.969394321974528, + -0.7054106906489789, + 1.0002614699888475 + ], + "camera_roll_rad": 0.03392099889794856, + "camera_pose_world_cv": [ + [ + 0.6795679926872253, + -0.2097313106060028, + 0.7029937505722046, + -6.345254898071289 + ], + [ + -0.7306345701217651, + -0.10723632574081421, + 0.6742948293685913, + -2.025103807449341 + ], + [ + -0.06603428721427917, + -0.9718606472015381, + -0.2261112928390503, + 1.4427940845489502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35061501063758843, + 0.38570993406888576, + 0.36021444752604803 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1277271723256594, + 1.0894368562792025, + 1.0237963144852764 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 4997.901588516483, + "intensity": 1.0894368562792025 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.9907179660048978, + 0.9495730157426029, + 0.8790388152929544 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 4881.000729799171, + "intensity": 0.9495730157426029 + }, + "point_color_scale": [ + 1.1174571041258994, + 1.1413258689496157, + 1.1795158926675622 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..607005d3ba23a6056a2152123e7219fab0e3f299 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0343261881715213, + "K": [ + [ + 406.4621435692247, + 0.0, + 327.53251254888477 + ], + [ + 0.0, + 421.940180178629, + 232.95040786095373 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8284185168631417, + -0.9555165697123267, + 1.518433530603337 + ], + "camera_target": [ + -5.009136685519128, + -0.6910000059157827, + 0.9793689035941009 + ], + "camera_roll_rad": -0.033004617125313, + "camera_pose_world_cv": [ + [ + 0.19194138050079346, + 0.41066527366638184, + -0.8913543820381165, + -3.828418493270874 + ], + [ + 0.9795551300048828, + -0.02440512180328369, + 0.1996903419494629, + -0.9555165767669678 + ], + [ + 0.060252249240875244, + -0.9114595651626587, + -0.4069535732269287, + 1.5184335708618164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31064232375108614, + 0.2823692822093222, + 0.3095981930747071 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0587042444091204, + 1.0655040518005827, + 1.0763837436269221 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5627.310518246101, + "intensity": 1.0682239747571676 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7070574218085207, + 0.7173797923429381, + 0.7338955851980061 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5786.132931014888, + "intensity": 0.7215087405567052 + }, + "point_color_scale": [ + 0.9471556838948137, + 0.9228220786773886, + 0.8811073268760884 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c55adbff15698a2235c98cb97551db8942bf4dc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3032321400958602, + "K": [ + [ + 316.67978506883696, + 0.0, + 343.68488578657673 + ], + [ + 0.0, + 314.6478186702007, + 257.9304144165096 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.104051927924521, + -1.2894749723858472, + 1.5446207103901521 + ], + "camera_target": [ + -4.980968443541165, + -0.6488328798089111, + 1.003282851850099 + ], + "camera_roll_rad": -0.020849199799296773, + "camera_pose_world_cv": [ + [ + 0.5090391635894775, + -0.31451186537742615, + 0.801224946975708, + -6.1040520668029785 + ], + [ + -0.8598840236663818, + -0.2273990511894226, + 0.4570438861846924, + -1.2894749641418457 + ], + [ + 0.03845211863517761, + -0.9216138124465942, + -0.3861987590789795, + 1.5446207523345947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.282931378828933, + 0.29444908185901647, + 0.3020044712824931 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0844580284960137, + 1.1415264233646065, + 1.232835855154356 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6480.258677122789, + "intensity": 1.164353781312044 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.6840645527294709, + 0.6679259967246386, + 0.6402599007163546 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5154.825832203562, + "intensity": 0.6679259967246386 + }, + "point_color_scale": [ + 1.21189627842318, + 1.182794934359984, + 1.1329069159659337 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cb8a08c4fe2af6ea2595e30c6604dcfa5eca8f8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.269093509134067, + "K": [ + [ + 326.70577725920197, + 0.0, + 325.31150593672237 + ], + [ + 0.0, + 326.04186563836953, + 244.20959534998735 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.3445828030676985, + -0.11546619804014602, + 1.5905013659291476 + ], + "camera_target": [ + -4.973776833818645, + -0.7258844485769159, + 0.9776528306837015 + ], + "camera_roll_rad": 0.018608947811431742, + "camera_pose_world_cv": [ + [ + -0.6805330514907837, + 0.4368587136268616, + -0.588242769241333, + -4.344583034515381 + ], + [ + 0.7320826649665833, + 0.37197983264923096, + -0.5706892013549805, + -0.11546619981527328 + ], + [ + -0.03049612045288086, + -0.8190150260925293, + -0.5729610323905945, + 1.590501308441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38310310042685275, + 0.3732175823535801, + 0.3538612687142164 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1093643893806773, + 1.163482251748682, + 1.2500708315374893 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6413.281917044402, + "intensity": 1.1851293966958838 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.683456016160872, + 0.70673316215398, + 0.7439765957429526 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 6150.159636140492, + "intensity": 0.7160440205512231 + }, + "point_color_scale": [ + 0.9597016893468397, + 0.9199316045184808, + 0.851754316241294 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6354b51d5d9fa353d6670b359063c74f9359492e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8595434751615488, + "K": [ + [ + 510.58779103264766, + 0.0, + 313.04800772344305 + ], + [ + 0.0, + 523.6232877473808, + 252.44115392058404 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.520512667718469, + -1.5085575419843344, + 1.160894434210062 + ], + "camera_target": [ + -4.980979153807176, + -0.6536567543593056, + 0.948026020300079 + ], + "camera_roll_rad": 0.03786367808057299, + "camera_pose_world_cv": [ + [ + 0.834925651550293, + -0.17363491654396057, + 0.5222547054290771, + -5.520512580871582 + ], + [ + -0.545360803604126, + -0.1333739161491394, + 0.8275222778320312, + -1.5085575580596924 + ], + [ + -0.07403156161308289, + -0.9757368564605713, + -0.20605099201202393, + 1.1608943939208984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.295629437487302, + 0.30089574908048916, + 0.3047352363994906 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8900847589256792, + 0.8973376218862689, + 0.9089422026232123 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5661.131984666501, + "intensity": 0.9002387670705048 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.6772580002510984, + 0.6482024336380896, + 0.5983928908729315 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 4859.645225777206, + "intensity": 0.6482024336380896 + }, + "point_color_scale": [ + 1.1305901311224684, + 1.0935607968060599, + 1.0300819379779314 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23f760c133fdde29d34f132ac68a36f7e85c0522 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0703014586037125, + "K": [ + [ + 411.4032110392861, + 0.0, + 304.1204255085676 + ], + [ + 0.0, + 404.8193839911106, + 218.02788661161276 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.52678959579643, + -1.9099635430934783, + 0.7571309624563136 + ], + "camera_target": [ + -4.956551739358601, + -0.7374559057899466, + 0.9709699488079391 + ], + "camera_roll_rad": 0.00984361358203046, + "camera_pose_world_cv": [ + [ + 0.9005058407783508, + 0.053068459033966064, + 0.43159353733062744, + -5.526789665222168 + ], + [ + -0.4344097971916199, + 0.1541287899017334, + 0.8874303102493286, + -1.9099634885787964 + ], + [ + -0.019426420331001282, + -0.9866245985031128, + 0.16184735298156738, + 0.7571309804916382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23375143407213894, + 0.23110157026311096, + 0.23854185961645533 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.2359201903637174, + 1.1627968418017072, + 1.0374425299811187 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 4601.63217888262, + "intensity": 1.1627968418017072 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.752834114342193, + 0.7231491415662192, + 0.6722606168074071 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 4913.577344863742, + "intensity": 0.7231491415662192 + }, + "point_color_scale": [ + 1.0764152805371814, + 1.0835508856304306, + 1.0949678537796292 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a587be60fe20bc8bf704867ab0d47f8c3360a402 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1476328733693189, + "K": [ + [ + 356.9007042324688, + 0.0, + 289.4080867866037 + ], + [ + 0.0, + 371.3065638370308, + 216.280379653774 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2864321531810976, + -1.4130335780738696, + 1.1716524230021534 + ], + "camera_target": [ + -5.019101856889624, + -0.7311437166548012, + 0.9094083738188417 + ], + "camera_roll_rad": 0.048872476107488225, + "camera_pose_world_cv": [ + [ + 0.37712645530700684, + 0.09341636300086975, + -0.9214385747909546, + -3.2864322662353516 + ], + [ + 0.9211065769195557, + -0.14163869619369507, + 0.36263105273246765, + -1.4130336046218872 + ], + [ + -0.09663566946983337, + -0.9855008125305176, + -0.13946211338043213, + 1.1716524362564087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.234466483924502, + 0.24977403515547938, + 0.2532712722801368 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8236517409110945, + 0.8493873238464366, + 0.8905642565429839 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6098.72362563028, + "intensity": 0.8596815570205735 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.6810828322733709, + 0.688210568499658, + 0.6996149464617176 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5706.283653341325, + "intensity": 0.6910616629901729 + }, + "point_color_scale": [ + 0.9937490645593596, + 1.0077815696626617, + 1.0302335778279452 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d987adf420c6c221c00090c42911fadbe0d1265b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.076076221997715, + "K": [ + [ + 405.2829599203834, + 0.0, + 318.6225820509541 + ], + [ + 0.0, + 402.1677340685424, + 257.05742378139104 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.505237542712476, + -1.5447449213777453, + 0.7185062300299114 + ], + "camera_target": [ + -5.0139522415278694, + -0.6548842902262109, + 0.9699176680096596 + ], + "camera_roll_rad": -0.03829484376238276, + "camera_pose_world_cv": [ + [ + 0.8639954924583435, + 0.18269135057926178, + 0.4691861569881439, + -5.505237579345703 + ], + [ + -0.4979907274246216, + 0.1725977659225464, + 0.8498324751853943, + -1.5447449684143066 + ], + [ + 0.07427659630775452, + -0.9679017663002014, + 0.24010229110717773, + 0.7185062170028687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2595367481721631, + 0.2775026138464787, + 0.2696114452766102 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.056594293118901, + 1.0594937030156335, + 1.0641327588504057 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5554.67214291966, + "intensity": 1.0606534669743266 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8392395607228271, + 0.8548630649641725, + 0.8798606717503252 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5862.867914383622, + "intensity": 0.8611124666607106 + }, + "point_color_scale": [ + 1.1722773511892761, + 1.1777868547519168, + 1.1866020604521417 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d092eb91e1a4793b312c2c49cd53b3828125fa0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8381412047607728, + "K": [ + [ + 548.580280639088, + 0.0, + 333.7169127516931 + ], + [ + 0.0, + 538.7710129122022, + 260.1253423849867 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.921710749676381, + -1.9647793229734198, + 1.022908715394785 + ], + "camera_target": [ + -4.992552491832722, + -0.6764916226731439, + 0.9315769494659678 + ], + "camera_roll_rad": -0.009458737390318626, + "camera_pose_world_cv": [ + [ + 0.8115489482879639, + -0.018231213092803955, + 0.5839999914169312, + -5.921710968017578 + ], + [ + -0.5839791893959045, + -0.05761522054672241, + 0.8097215890884399, + -1.9647793769836426 + ], + [ + 0.018885165452957153, + -0.9981725215911865, + -0.05740422010421753, + 1.0229086875915527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34828985105041926, + 0.3493960423452729, + 0.36805146199129346 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.282089465175402, + 1.1997463490344629, + 1.0585867213642814 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 4519.517557580786, + "intensity": 1.1997463490344629 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.5857908864477495, + 0.6093007262158955, + 0.6469164698449291 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 6259.96969822304, + "intensity": 0.6187046621231539 + }, + "point_color_scale": [ + 0.8806122666279191, + 0.8617981443849934, + 0.8295453633971204 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35b132607cda0ff0ca96ed73d76adbaae2f0296a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2426570595875703, + "K": [ + [ + 324.66265006804707, + 0.0, + 307.0906666833681 + ], + [ + 0.0, + 335.234603234931, + 239.6813165315917 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.181577048744661, + -1.7476266367612534, + 0.6703038402579555 + ], + "camera_target": [ + -5.03135672229285, + -0.6867971905908041, + 0.8735178476587803 + ], + "camera_roll_rad": -0.051258653772781305, + "camera_pose_world_cv": [ + [ + 0.6647169589996338, + 0.1635574996471405, + 0.7289720773696899, + -6.181577205657959 + ], + [ + -0.7401703596115112, + 0.011629223823547363, + 0.6723190546035767, + -1.7476266622543335 + ], + [ + 0.10148552060127258, + -0.986465334892273, + 0.12879061698913574, + 0.6703038215637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2691484695850601, + 0.2667623831837949, + 0.2636716893576329 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0988618979222915, + 1.1435115314543476, + 1.2149509451056375 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6268.912237960175, + "intensity": 1.16137138486717 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7395838469160246, + 0.7431182311858389, + 0.7487732460175416 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5594.942442810394, + "intensity": 0.7445319848937645 + }, + "point_color_scale": [ + 1.1450627034193068, + 1.1247103764390383, + 1.0898206730442919 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34fad091367d9e119b0bc195e76cb5bb4cf0ca69 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8699463354453333, + "K": [ + [ + 497.67755959778117, + 0.0, + 308.03468770022556 + ], + [ + 0.0, + 516.5133365047647, + 233.39175804040235 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.894610792963533, + -1.5803368430181803, + 1.4958351050432201 + ], + "camera_target": [ + -4.9505621514355465, + -0.7470722397353977, + 0.923748901857801 + ], + "camera_roll_rad": -0.005274044532290162, + "camera_pose_world_cv": [ + [ + 0.9972983598709106, + 0.04838400334119797, + -0.05527140200138092, + -4.89461088180542 + ], + [ + 0.07293980568647385, + -0.5631295442581177, + 0.8231433629989624, + -1.5803368091583252 + ], + [ + 0.008702004328370094, + -0.8249510526657104, + -0.5651372671127319, + 1.4958350658416748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3076217011232388, + 0.2971602602459444, + 0.28517610580063607 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1928440484485097, + 1.1777574310081818, + 1.1518946582533343 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5317.005522006424, + "intensity": 1.1777574310081818 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7447008032685258, + 0.7681204535025439, + 0.8055918938769725 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 6102.443787886508, + "intensity": 0.777488313596151 + }, + "point_color_scale": [ + 0.8974241103860412, + 0.8960220904874384, + 0.8936186278041194 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3311a498fd9a026a5260641bbaf281d6c2df642 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2777965975051246, + "K": [ + [ + 311.695289680766, + 0.0, + 323.2427681253051 + ], + [ + 0.0, + 323.0875101278546, + 249.92298369902028 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.245375143517894, + -0.10298291038367569, + 1.04921099681947 + ], + "camera_target": [ + -5.018087579999909, + -0.6889155326719529, + 0.8751698841000958 + ], + "camera_roll_rad": 0.023623829336686858, + "camera_pose_world_cv": [ + [ + -0.5968923568725586, + 0.1691378653049469, + -0.7842910289764404, + -4.245375156402588 + ], + [ + 0.8009737730026245, + 0.06898093223571777, + -0.5947126150131226, + -0.10298290848731995 + ], + [ + -0.04648736119270325, + -0.9831756353378296, + -0.17664891481399536, + 1.049211025238037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.23489880561828613, + 0.9720199108123779, + 0.0, + -4.986715316772461 + ], + [ + -0.9720199108123779, + -0.23489880561828613, + -0.0, + -0.6970952153205872 + ], + [ + -0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2802675427502331, + 0.3027428519622894, + 0.3074340764000812 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.9902324477925136, + 0.9676199552871673, + 0.9288556824208591 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5166.154459243903, + "intensity": 0.9676199552871673 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7895472143483785, + 0.7621232503015443, + 0.7151107405069714 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 4985.948086743497, + "intensity": 0.7621232503015443 + }, + "point_color_scale": [ + 0.9819383684784054, + 0.9394397754207153, + 0.8665850444646751 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f62192b119649f60e419f6d0e4d41ed7cda10ff --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.129053744458168, + "K": [ + [ + 392.62571889557086, + 0.0, + 343.48938447366197 + ], + [ + 0.0, + 378.98301815058693, + 240.5625252765987 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9087575840502813, + -0.08287132419963228, + 0.8011247867373243 + ], + "camera_target": [ + -3.155610472348941, + -0.6717965970299857, + 0.9188422595013439 + ], + "camera_roll_rad": -0.04018115897927002, + "camera_pose_world_cv": [ + [ + -0.4195331335067749, + -0.11094743013381958, + -0.9009343385696411, + -1.9087575674057007 + ], + [ + 0.904209315776825, + 0.036376237869262695, + -0.4255377948284149, + -0.08287132531404495 + ], + [ + 0.07998493313789368, + -0.9931603670120239, + 0.08505868911743164, + 0.8011248111724854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3472320070330333, + 0.3303945941906713, + 0.3308505569520498 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.2265528091936333, + 1.1854952335283293, + 1.115110818102094 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5005.23901013676, + "intensity": 1.1854952335283293 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8155958667991648, + 0.8291466641793862, + 0.8508279399877404 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5824.738400969945, + "intensity": 0.8345669831314748 + }, + "point_color_scale": [ + 1.0786833698138205, + 1.0309880693228684, + 0.9492246970526645 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb9063392342d49433d4e732de87dceadc2ba2c1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0333650770107041, + "K": [ + [ + 418.1217796621087, + 0.0, + 304.37038061380645 + ], + [ + 0.0, + 422.41239166987026, + 246.87575365167086 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.039290794254731, + -2.1041146654384395, + 0.9366002363439624 + ], + "camera_target": [ + -3.1472533594081016, + -0.7056198072441697, + 0.8912178244779708 + ], + "camera_roll_rad": -0.0368866644377369, + "camera_pose_world_cv": [ + [ + 0.8418821096420288, + 0.047473907470703125, + 0.5375692844390869, + -4.039290904998779 + ], + [ + -0.5346082448959351, + -0.06263184547424316, + 0.8427760601043701, + -2.1041147708892822 + ], + [ + 0.0736788809299469, + -0.996907114982605, + -0.027348637580871582, + 0.9366002082824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3086448160894622, + 0.3273187760820614, + 0.3302640768229828 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.2077552126680096, + 1.1530337416115914, + 1.0592255055148747 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 4822.0187123810065, + "intensity": 1.1530337416115914 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7631528345930125, + 0.7722218406995864, + 0.7867322504701046 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5733.782628491532, + "intensity": 0.775849443142216 + }, + "point_color_scale": [ + 0.9262532520813456, + 0.8946551602048266, + 0.8404870027022228 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3df937fb2f458d3a3d4be0be8d34eb4d77d06c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8206630192030013, + "K": [ + [ + 540.2086915585384, + 0.0, + 297.6658152852097 + ], + [ + 0.0, + 551.6919310484698, + 223.868879599492 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8440120442159875, + -1.1842128226660609, + 1.4166884335516685 + ], + "camera_target": [ + -3.15961773170851, + -0.7489925266459214, + 0.8901827264851391 + ], + "camera_roll_rad": -0.020950602245663745, + "camera_pose_world_cv": [ + [ + 0.5553845763206482, + -0.4365789592266083, + 0.7077759504318237, + -3.8440120220184326 + ], + [ + -0.8308510780334473, + -0.32727086544036865, + 0.4500892162322998, + -1.1842128038406372 + ], + [ + 0.03513500094413757, + -0.8380290269851685, + -0.5444931983947754, + 1.4166884422302246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2642464514210323, + 0.27312655797483654, + 0.259950725796635 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0882573611593378, + 1.0437138476048147, + 0.9673535386542036 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 4890.3157370364825, + "intensity": 1.0437138476048147 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8214550695164123, + 0.8131025127162058, + 0.7987838439158516 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5353.250681018866, + "intensity": 0.8131025127162058 + }, + "point_color_scale": [ + 1.0602380641629037, + 1.0673679320295066, + 1.078775720616071 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0852cad31d5646994480b7dc46045465645c08b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.915645682463711, + "K": [ + [ + 468.8088678419933, + 0.0, + 315.76005284818996 + ], + [ + 0.0, + 487.07218902181546, + 223.89050364301968 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.786841176076419, + -1.3850941701147805, + 0.9966769234818537 + ], + "camera_target": [ + -3.205549280315919, + -0.6883384559633572, + 0.8922874465015602 + ], + "camera_roll_rad": 0.02799359919450034, + "camera_pose_world_cv": [ + [ + 0.39949744939804077, + -0.07765841484069824, + 0.9134392142295837, + -4.78684139251709 + ], + [ + -0.9150311946868896, + 0.026931285858154297, + 0.4024834632873535, + -1.385094165802002 + ], + [ + -0.055856168270111084, + -0.9966163635253906, + -0.06030076742172241, + 0.9966769218444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24223724522449824, + 0.22684320792903942, + 0.22665502573246 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.2001501668331667, + 1.190838204069689, + 1.1748748393322987 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5388.290416763899, + "intensity": 1.190838204069689 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.6908652791080319, + 0.6624967842491316, + 0.6138650787767311 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 4888.277465030525, + "intensity": 0.6624967842491316 + }, + "point_color_scale": [ + 1.0601499718501057, + 1.0773914817599242, + 1.1049778976156335 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c863c8b3dfe73b90cb8d4994135f8ae25137d1a2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9379520000997057, + "K": [ + [ + 460.8302148070931, + 0.0, + 350.45629315798294 + ], + [ + 0.0, + 473.6732932013539, + 239.09963811325386 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.7184956453181623, + -1.7435680157701605, + 1.4965937403101373 + ], + "camera_target": [ + -3.159972007009528, + -0.7010593634871273, + 0.9005971779103686 + ], + "camera_roll_rad": 0.0037596972993988037, + "camera_pose_world_cv": [ + [ + 0.9221754670143127, + 0.17472173273563385, + -0.34505751729011536, + -2.7184956073760986 + ], + [ + 0.38671451807022095, + -0.4318731427192688, + 0.8148236274719238, + -1.7435680627822876 + ], + [ + -0.006653696298599243, + -0.8848490715026855, + -0.4658302068710327, + 1.496593713760376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21657112725822236, + 0.23262063252663392, + 0.22505214932937495 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8860088861884361, + 0.8754786506471532, + 0.8574268182906681 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5328.17178215272, + "intensity": 0.8754786506471532 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8182251480919929, + 0.8019294564187356, + 0.7739939849788661 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5209.7056437209985, + "intensity": 0.8019294564187356 + }, + "point_color_scale": [ + 1.1254292320041286, + 1.16751025579242, + 1.2348398938536864 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93bf4935aa9afc0d62d6e0f893a01899278ed0c2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9398056518327014, + "K": [ + [ + 477.57126971720635, + 0.0, + 288.6039965554109 + ], + [ + 0.0, + 472.58639047985366, + 253.3161637169918 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.953794091345708, + -1.647499626969266, + 0.9445528539329612 + ], + "camera_target": [ + -3.1332431158130536, + -0.658651554489093, + 0.919344000215077 + ], + "camera_roll_rad": 0.016329403711310267, + "camera_pose_world_cv": [ + [ + 0.9835511445999146, + -0.027653254568576813, + -0.17850041389465332, + -2.953794002532959 + ], + [ + 0.17765572667121887, + -0.030489802360534668, + 0.9836202263832092, + -1.647499680519104 + ], + [ + -0.03264274448156357, + -0.9991524815559387, + -0.025075554847717285, + 0.9445528388023376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26044433892819474, + 0.2519969650092432, + 0.2598859985527943 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.0552458147839483, + 1.094614490600094, + 1.1576043719059275 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 6209.114274471259, + "intensity": 1.1103619609265525 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7059482153844416, + 0.7129981160395199, + 0.7242779570876451 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5696.974647287571, + "intensity": 0.7158180763015513 + }, + "point_color_scale": [ + 1.2000355778809406, + 1.1989914251592553, + 1.1972014490649372 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d246f24c2ccdeb6b59c46a331fa5e2e2c7488f7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2543553037693702, + "K": [ + [ + 339.37673887509294, + 0.0, + 312.4692939863488 + ], + [ + 0.0, + 331.12543347862623, + 230.65430086806924 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2351293242991748, + -0.43378189121638305, + 1.0309994102963749 + ], + "camera_target": [ + -3.1624446295007593, + -0.7545060151322186, + 0.886202164986374 + ], + "camera_roll_rad": 0.050596582181019395, + "camera_pose_world_cv": [ + [ + -0.31125521659851074, + 0.17028403282165527, + -0.9349457621574402, + -2.2351293563842773 + ], + [ + 0.9450569152832031, + -0.04799699783325195, + -0.32336315512657166, + -0.4337818920612335 + ], + [ + -0.09993821382522583, + -0.9842253923416138, + -0.14598876237869263, + 1.0309994220733643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3234263989507361, + 0.3301851754481634, + 0.3078201854600062 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.1465509701348668, + 1.111130920628678, + 1.0504108357609254 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5044.607482487325, + "intensity": 1.111130920628678 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.7504373232414783, + 0.7165408134440154, + 0.6584325109340792 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 4824.203387770733, + "intensity": 0.7165408134440154 + }, + "point_color_scale": [ + 1.1251186100896347, + 1.1527000226149773, + 1.1968302826555255 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a16588098fee8d3ebfd3f6843b078a31532519a4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8559905033585683, + "K": [ + [ + 509.8223127604954, + 0.0, + 351.62957804838567 + ], + [ + 0.0, + 526.0886996553448, + 247.90496357251675 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0678531051852658, + -2.2449276329381593, + 1.1805177329924743 + ], + "camera_target": [ + -3.1844740093312316, + -0.6872539039469648, + 0.9274472827563611 + ], + "camera_roll_rad": 0.03507802703381957, + "camera_pose_world_cv": [ + [ + 0.9955930113792419, + -0.057992059737443924, + -0.07369870692491531, + -3.0678532123565674 + ], + [ + 0.0632965937256813, + -0.1643228530883789, + 0.9843737483024597, + -2.2449276447296143 + ], + [ + -0.06919624656438828, + -0.9847005009651184, + -0.15992802381515503, + 1.1805176734924316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27426094075078067, + 0.28322890565923614, + 0.27840846358466137 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.8996371866255659, + 0.9121322828410485, + 0.9321244367858209 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5772.482458052422, + "intensity": 0.9171303213272417 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.9277210200367325, + 0.9112201477682763, + 0.8829329381652085 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5241.3064809096195, + "intensity": 0.9112201477682763 + }, + "point_color_scale": [ + 0.9432820247393452, + 0.9815361991328269, + 1.0427428781623977 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5ecbd425b3a4d6c27d60203e8f812c553c44da7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.258330813977196, + "K": [ + [ + 337.8990039551742, + 0.0, + 304.38966326457836 + ], + [ + 0.0, + 329.74405249454105, + 237.9557424822796 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.250365017394358, + -1.792879913871142, + 0.850643701999835 + ], + "camera_target": [ + -3.152269600538475, + -0.7053731492412719, + 1.016603437637505 + ], + "camera_roll_rad": -0.009383042903685627, + "camera_pose_world_cv": [ + [ + 0.7709957361221313, + -0.06001681089401245, + -0.6340059041976929, + -2.2503650188446045 + ], + [ + 0.6365675330162048, + 0.10176301002502441, + 0.7644776105880737, + -1.7928799390792847 + ], + [ + 0.018636852502822876, + -0.9929965734481812, + 0.11666357517242432, + 0.8506436944007874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24936165193850313, + 0.2383455621208064, + 0.22887431698644803 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.9605591399481566, + 0.9588187598721954, + 0.9558352511705478 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5474.06958066085, + "intensity": 0.9588187598721954 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.8962134468303017, + 0.886072523238135, + 0.8686880827944206 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5336.5028445961425, + "intensity": 0.886072523238135 + }, + "point_color_scale": [ + 0.8289127687331634, + 0.8610972769607592, + 0.9125924901249124 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c5771a64159c5ed17703edbd39415ac00e5059 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.860412288294276, + "K": [ + [ + 532.2830217480357, + 0.0, + 337.8843445964817 + ], + [ + 0.0, + 523.0233230232834, + 254.57064232184882 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.035015554723183, + -0.5193176724585777, + 1.2289938932790472 + ], + "camera_target": [ + -3.140193913398853, + -0.7269886070393355, + 0.9462700325724464 + ], + "camera_roll_rad": -0.016167513207564925, + "camera_pose_world_cv": [ + [ + -0.2166905403137207, + -0.29370203614234924, + 0.9310126900672913, + -4.03501558303833 + ], + [ + -0.9757513999938965, + 0.034974098205566406, + -0.21607020497322083, + -0.5193176865577698 + ], + [ + 0.0308990478515625, + -0.9552571773529053, + -0.2941585183143616, + 1.2289938926696777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37428981346147605, + 0.33944920217370955, + 0.34570401727784733 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 0.9587263854256692, + 0.9573977645980933, + 0.9551201288936776 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 5480.17511818114, + "intensity": 0.9573977645980933 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.5705599621171034, + 0.5860318456200496, + 0.6107868592247638 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 6022.504064482625, + "intensity": 0.5922205990212281 + }, + "point_color_scale": [ + 1.254886545045775, + 1.1980549210784144, + 1.100629279991511 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c969a6a2dce2f008ec05e2868b8e4732e87f30a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000017/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 17, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.253116844755088, + "K": [ + [ + 335.1707062825454, + 0.0, + 315.59641614739604 + ], + [ + 0.0, + 331.55731272542675, + 223.5526386213523 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4364645465486012, + -0.03888672980936747, + 1.0955041374797898 + ], + "camera_target": [ + -3.2102932117895127, + -0.6993768251096179, + 0.9563530986241766 + ], + "camera_roll_rad": 0.0029667115865041893, + "camera_pose_world_cv": [ + [ + -0.34853386878967285, + 0.07077854871749878, + -0.9346201419830322, + -1.436464548110962 + ], + [ + 0.937277615070343, + 0.020023345947265625, + -0.3480084538459778, + -0.03888672962784767 + ], + [ + -0.005917400121688843, + -0.9972911477088928, + -0.07331788539886475, + 1.0955041646957397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9985570907592773, + -0.05369953438639641, + 0.0, + -3.1658966541290283 + ], + [ + 0.05369953438639641, + -0.9985570907592773, + 0.0, + -0.7079059481620789 + ], + [ + 0.0, + 0.0, + 1.0, + 0.766697883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3472226372348608, + 0.34614866002843536, + 0.3800933583566504 + ], + "directional_primary": { + "direction": [ + 0.24721477819138735, + -0.3112880429598492, + -0.9175971914484102 + ], + "color": [ + 1.018240980706724, + 0.9676154427626057, + 0.8808288062869746 + ], + "azimuth_rad": -0.8996220544277223, + "elevation_rad": 1.1619930534119058, + "color_temp_k": 4752.5729347958595, + "intensity": 0.9676154427626057 + }, + "directional_fill": { + "direction": [ + -0.19063329542272395, + 0.058189005267951566, + -0.9799351939501911 + ], + "color": [ + 0.6435076776803317, + 0.6334020916593576, + 0.6160782299091164 + ], + "azimuth_rad": 2.8453350086128957, + "elevation_rad": 1.3701360874575752, + "color_temp_k": 5272.079195054217, + "intensity": 0.6334020916593576 + }, + "point_color_scale": [ + 1.2024578371919612, + 1.1682192984784296, + 1.109524660683804 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..205be42c9529116a90c0d059629361b406e3fd4c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8349307780366397, + "K": [ + [ + 524.9349361449705, + 0.0, + 306.98135655446407 + ], + [ + 0.0, + 541.1061476041369, + 260.3350022932836 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.014084734208131, + -11.201645676005834, + 1.2681806588456166 + ], + "camera_target": [ + -11.84756727300005, + -11.592529984032112, + 1.1143237762125613 + ], + "camera_roll_rad": -0.018587285777637137, + "camera_pose_world_cv": [ + [ + -0.21133577823638916, + 0.07219323515892029, + -0.9747437834739685, + -10.014084815979004 + ], + [ + 0.9767113924026489, + 0.05339229106903076, + -0.20780792832374573, + -11.201645851135254 + ], + [ + 0.03704148530960083, + -0.9959605932235718, + -0.08179569244384766, + 1.2681806087493896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.10003352165222168, + -0.9949840903282166, + 0.0, + -11.821450233459473 + ], + [ + 0.9949840903282166, + -0.10003352165222168, + 0.0, + -11.607206344604492 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28068989621952123, + 0.2808456769140789, + 0.2845315453477037 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.228103176902664, + 1.1507405856257313, + 1.018119000579561 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4539.592511822467, + "intensity": 1.1507405856257313 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8471173227273611, + 0.8303804787718347, + 0.801688746276647 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5212.062389584511, + "intensity": 0.8303804787718347 + }, + "point_color_scale": [ + 0.8083964601241879, + 0.8307676930086663, + 0.866561665623832 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..998e35e89e5a47e4b111e64e421d12afe08ce193 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0247295711902948, + "K": [ + [ + 434.90651318322006, + 0.0, + 290.7386599090413 + ], + [ + 0.0, + 426.69130590795663, + 224.87195040253616 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.468281397884487, + -12.388994894550823, + 1.6183897456048921 + ], + "camera_target": [ + -11.822169918130225, + -11.587976805692353, + 1.1353133488946825 + ], + "camera_roll_rad": 0.037959535016028945, + "camera_pose_world_cv": [ + [ + 0.9268777966499329, + 0.12525711953639984, + -0.35384777188301086, + -11.468281745910645 + ], + [ + 0.36944156885147095, + -0.47120070457458496, + 0.8009262681007385, + -12.388995170593262 + ], + [ + -0.06641161441802979, + -0.8730868697166443, + -0.4830206036567688, + 1.6183897256851196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.10003352165222168, + -0.9949840903282166, + 0.0, + -11.821450233459473 + ], + [ + 0.9949840903282166, + -0.10003352165222168, + 0.0, + -11.607206344604492 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2457031057882725, + 0.24653028513398778, + 0.23641589376806418 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9240814839607561, + 0.8681885339163009, + 0.7723720481258065 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4580.302625837529, + "intensity": 0.8681885339163009 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.7478495805391245, + 0.7609552366387385, + 0.7819242863981208 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5842.0960291667525, + "intensity": 0.7661974990785841 + }, + "point_color_scale": [ + 1.1594701627849804, + 1.1111579771071878, + 1.028337087373829 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc3e18e8b7c3a7f853c41d2d7d6ad7f12a2d6bf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.81224793915373, + "K": [ + [ + 567.6096389340801, + 0.0, + 325.9000835124029 + ], + [ + 0.0, + 558.0996857962698, + 225.986920159453 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.150991817605124, + -12.950627030387128, + 1.771169030800628 + ], + "camera_target": [ + -11.777877401131217, + -11.630808022693428, + 1.1232787935979356 + ], + "camera_roll_rad": 0.021195041168894327, + "camera_pose_world_cv": [ + [ + 0.9564977884292603, + -0.15686877071857452, + 0.24597583711147308, + -12.150991439819336 + ], + [ + -0.2892122268676758, + -0.3991168141365051, + 0.8700931668281555, + -12.950627326965332 + ], + [ + -0.03831736743450165, + -0.9033814072608948, + -0.42712271213531494, + 1.7711690664291382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.10003352165222168, + -0.9949840903282166, + 0.0, + -11.821450233459473 + ], + [ + 0.9949840903282166, + -0.10003352165222168, + 0.0, + -11.607206344604492 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3623898143782814, + 0.382601068565227, + 0.35644457747432395 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.2155118781430452, + 1.1413004964152826, + 1.0140809848819756 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4571.092495411363, + "intensity": 1.1413004964152826 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8171209015919066, + 0.7985295335372634, + 0.7666586168721607 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5167.399938193024, + "intensity": 0.7985295335372634 + }, + "point_color_scale": [ + 1.0707762834340873, + 1.0659056905994249, + 1.0575561028828606 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b1626bdef302f5f8f1f2b2fa4cb75ef9ff0847 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2540997171019101, + "K": [ + [ + 345.7170565679277, + 0.0, + 302.69851201288793 + ], + [ + 0.0, + 331.2145019959044, + 257.8394660928145 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.33346658722508, + -9.91194877375597, + 0.965995814159768 + ], + "camera_target": [ + -11.855014899683997, + -11.599477344814593, + 1.1466992554328936 + ], + "camera_roll_rad": 0.04074834652905544, + "camera_pose_world_cv": [ + [ + -0.9546862840652466, + 0.04782409965991974, + -0.2937462329864502, + -11.333466529846191 + ], + [ + 0.2863836884498596, + -0.12095266580581665, + -0.9504497647285461, + -9.911949157714844 + ], + [ + -0.08098378777503967, + -0.9915055632591248, + 0.10177576541900635, + 0.9659957885742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.10003352165222168, + -0.9949840903282166, + 0.0, + -11.821450233459473 + ], + [ + 0.9949840903282166, + -0.10003352165222168, + 0.0, + -11.607206344604492 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3144359830390264, + 0.33005420687037823, + 0.3152469495234659 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.113619045405319, + 1.0950901837905656, + 1.063326421022417 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5258.286553029199, + "intensity": 1.0950901837905656 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8234946452658093, + 0.7982594261247461, + 0.7549990504543518 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5048.3885078103895, + "intensity": 0.7982594261247461 + }, + "point_color_scale": [ + 1.0623325002058213, + 1.0215578634429068, + 0.9516584861350538 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74cca4a718d16cff6b0d91af22a785e407d09cfc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7939016451901999, + "K": [ + [ + 577.5588561799168, + 0.0, + 304.8040079552909 + ], + [ + 0.0, + 572.514160708222, + 263.8786359393588 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.364774720406619, + -10.740695876056988, + 1.785009504882023 + ], + "camera_target": [ + -11.809207524674974, + -11.588712173985149, + 1.059684302660636 + ], + "camera_roll_rad": 0.010733610629514015, + "camera_pose_world_cv": [ + [ + -0.879509687423706, + 0.29926013946533203, + -0.3700082004070282, + -11.364774703979492 + ], + [ + 0.4755733013153076, + 0.5247713327407837, + -0.7060064077377319, + -10.74069595336914 + ], + [ + -0.01710990071296692, + -0.796905517578125, + -0.6038616299629211, + 1.785009503364563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.10003352165222168, + -0.9949840903282166, + 0.0, + -11.821450233459473 + ], + [ + 0.9949840903282166, + -0.10003352165222168, + 0.0, + -11.607206344604492 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3284111141584882, + 0.3271154127419875, + 0.36281203766057785 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.1070850963318437, + 1.0639730866822101, + 0.9900667844256957 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4921.14527158, + "intensity": 1.0639730866822101 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8853899366531106, + 0.8688060485386935, + 0.8403765260568353 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5227.312341175228, + "intensity": 0.8688060485386935 + }, + "point_color_scale": [ + 1.1024548014639677, + 1.1109283030507258, + 1.1244859055895382 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c239d81ea0a214a3dbcec020ca7e159168db9448 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1646490580509512, + "K": [ + [ + 354.38555156895217, + 0.0, + 310.2547650052152 + ], + [ + 0.0, + 364.46699200362787, + 217.627959206894 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.963355404061497, + -10.183753478142192, + 0.8616193735087945 + ], + "camera_target": [ + -11.846634545240958, + -11.5694284942506, + 1.0856628882304815 + ], + "camera_roll_rad": -0.005883665235089819, + "camera_pose_world_cv": [ + [ + -0.9965596199035645, + 0.0016247183084487915, + 0.08286740630865097, + -11.96335506439209 + ], + [ + -0.08206513524055481, + -0.15947896242141724, + -0.9837844967842102, + -10.18375301361084 + ], + [ + 0.01161724328994751, + -0.9872000813484192, + 0.15906381607055664, + 0.8616193532943726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.10003352165222168, + -0.9949840903282166, + 0.0, + -11.821450233459473 + ], + [ + 0.9949840903282166, + -0.10003352165222168, + 0.0, + -11.607206344604492 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29910112003741557, + 0.2936768366288938, + 0.29509620990804236 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.2152023858157939, + 1.1424545813898574, + 1.0177440595168235 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4590.332022059345, + "intensity": 1.1424545813898574 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8283100608128054, + 0.8141607773189168, + 0.789904862757965 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5251.7288636687945, + "intensity": 0.8141607773189168 + }, + "point_color_scale": [ + 0.9370034547426758, + 0.8984116450593151, + 0.832254257030697 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b20508b42f220c5208f02212411e77c1d54cdb42 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.914525766685616, + "K": [ + [ + 464.74008441941163, + 0.0, + 311.1077639963633 + ], + [ + 0.0, + 487.760878405536, + 218.18318786676727 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.42714140008859, + -12.68506647207968, + 1.7518893449973105 + ], + "camera_target": [ + -11.825343674990837, + -13.711365499804376, + 1.1428966844194621 + ], + "camera_roll_rad": -0.027694906544012018, + "camera_pose_world_cv": [ + [ + -0.605597972869873, + 0.23389983177185059, + -0.760619580745697, + -10.427141189575195 + ], + [ + 0.7940546274185181, + 0.24036014080047607, + -0.5583049654960632, + -12.685066223144531 + ], + [ + 0.052235186100006104, + -0.9420817494392395, + -0.33129072189331055, + 1.7518893480300903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27580308288372585, + 0.2562922533473703, + 0.2623222688844787 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.026144672127943, + 0.9960131732504679, + 0.9443591751747962 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5067.827017227927, + "intensity": 0.9960131732504679 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.7359472621125379, + 0.716838645218697, + 0.6840810162578269 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5119.1887209745755, + "intensity": 0.716838645218697 + }, + "point_color_scale": [ + 1.030496059497513, + 1.0634409412764498, + 1.116152752122749 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..efc4c715d0d943fdfc5aa3cc1400dcf936d6e266 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1515328960712565, + "K": [ + [ + 362.40148814419, + 0.0, + 344.13551845313145 + ], + [ + 0.0, + 369.72314748237574, + 233.73079488873822 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.876521281743415, + -13.408382699686598, + 1.4808042888530941 + ], + "camera_target": [ + -11.865797146580073, + -13.657422583459113, + 1.1795198390948762 + ], + "camera_roll_rad": 0.01992400597181633, + "camera_pose_world_cv": [ + [ + -0.232987642288208, + 0.2841790020465851, + -0.9300318956375122, + -10.876521110534668 + ], + [ + 0.971729040145874, + 0.030458927154541016, + -0.23412641882896423, + -13.408382415771484 + ], + [ + -0.0382060706615448, + -0.9582873582839966, + -0.2832413911819458, + 1.4808043241500854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2759476216506713, + 0.28647354192030733, + 0.25867315215644837 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.0356020729625217, + 1.0087305226052197, + 0.9626650077069873 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5119.443169195309, + "intensity": 1.0087305226052197 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8097627504280726, + 0.8343957404018782, + 0.8738085243599675 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 6083.548025043307, + "intensity": 0.8442489363914005 + }, + "point_color_scale": [ + 0.8605397066743745, + 0.8803974914425755, + 0.9121699470716972 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c78abbd527ef751daf8c1cd51deebc742b78905f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.292560865320324, + "K": [ + [ + 327.1950788508177, + 0.0, + 293.052757231816 + ], + [ + 0.0, + 318.15395368284885, + 234.9049035232215 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.77948117611803, + -14.113985119776137, + 1.3506174448475132 + ], + "camera_target": [ + -11.850215856262352, + -13.634260289019775, + 1.1805699728043595 + ], + "camera_roll_rad": 0.02406634359139083, + "camera_pose_world_cv": [ + [ + 0.4146958589553833, + 0.11107218265533447, + -0.9031558036804199, + -10.779480934143066 + ], + [ + 0.9087134599685669, + -0.10248637199401855, + 0.40464383363723755, + -14.113985061645508 + ], + [ + -0.04761657118797302, + -0.9885138869285583, + -0.1434333324432373, + 1.3506174087524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3407849182388163, + 0.3445687410804385, + 0.33516384835653384 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9172825663063288, + 0.9398208823107055, + 0.9758821879177082 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5975.07284813594, + "intensity": 0.9488362087124561 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.806107296425874, + 0.8195976766611538, + 0.8411822850376017 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5827.041967226201, + "intensity": 0.8249938287552658 + }, + "point_color_scale": [ + 0.9809734318124335, + 1.0169940982785666, + 1.0746271646243792 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc332655c296384688370d39129c5ab9f76f5b9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.198451058438484, + "K": [ + [ + 360.3112354418498, + 0.0, + 312.15736648256865 + ], + [ + 0.0, + 351.39068899998836, + 226.3805065516732 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.282533520188322, + -14.308322328547039, + 1.8224922644856156 + ], + "camera_target": [ + -11.813952616946304, + -13.642357226296488, + 1.1148227350520123 + ], + "camera_roll_rad": -0.025081047204106, + "camera_pose_world_cv": [ + [ + 0.38034945726394653, + 0.37735483050346375, + -0.8443563580513, + -10.282533645629883 + ], + [ + 0.9236898422241211, + -0.10942250490188599, + 0.3671836256980896, + -14.308321952819824 + ], + [ + 0.04616689682006836, + -0.9195814728736877, + -0.3901776075363159, + 1.822492241859436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30286341264916644, + 0.30144468813576536, + 0.3150596299713559 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9587982158675504, + 0.9116618127598298, + 0.8308565502894517 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4761.373924158709, + "intensity": 0.9116618127598298 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8833765163124156, + 0.8437582490191526, + 0.7758412193735589 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 4829.221079966274, + "intensity": 0.8437582490191526 + }, + "point_color_scale": [ + 1.1351497187916004, + 1.1729085366128493, + 1.2333226451268477 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..011fba248b839788edfb83cdac7dfcdec254dbac --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1306154415782437, + "K": [ + [ + 364.3978888628721, + 0.0, + 303.6866868632021 + ], + [ + 0.0, + 378.3291214033435, + 254.98585342296693 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.063108038014965, + -13.654052737607774, + 1.7344545921570846 + ], + "camera_target": [ + -11.808388074344382, + -13.655169055948907, + 1.1569080191287513 + ], + "camera_roll_rad": 0.009927119477546348, + "camera_pose_world_cv": [ + [ + 0.005597472190856934, + 0.3141150176525116, + -0.9493683576583862, + -10.063108444213867 + ], + [ + 0.9998066425323486, + -0.019652068614959717, + -0.0006074309349060059, + -13.654052734375 + ], + [ + -0.018847793340682983, + -0.9491814970970154, + -0.31416428089141846, + 1.73445463180542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2952687725421486, + 0.3025737187398401, + 0.2987073355710865 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9704628810980273, + 0.9721235784475156, + 0.9747806942066972 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5534.143052606531, + "intensity": 0.972787857387311 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8791583666832481, + 0.8600740121755464, + 0.8273579758766292 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5183.011424639275, + "intensity": 0.8600740121755464 + }, + "point_color_scale": [ + 0.9190912295834517, + 0.9212813254693634, + 0.9247854788868222 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ed48777d76000b56db09b84471e4ab03b9ed82e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1936979938319325, + "K": [ + [ + 360.2813809341164, + 0.0, + 314.4044884551685 + ], + [ + 0.0, + 353.19000141405957, + 218.8399599660131 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.420548377859294, + -12.529283645614745, + 1.548025504454158 + ], + "camera_target": [ + -11.859324322732968, + -13.700781585351033, + 1.0896273802321041 + ], + "camera_roll_rad": 0.018527143931700907, + "camera_pose_world_cv": [ + [ + -0.9313564300537109, + 0.15528827905654907, + -0.32933372259140015, + -11.420548439025879 + ], + [ + 0.36244338750839233, + 0.3089883327484131, + -0.8792957067489624, + -12.52928352355957 + ], + [ + -0.03478400409221649, + -0.9383025169372559, + -0.34406155347824097, + 1.5480254888534546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27732178596072726, + 0.2882469192432013, + 0.28533163575479953 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.1230930002530966, + 1.1643485326042189, + 1.2303573843660147 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 6198.74253806891, + "intensity": 1.1808507455446677 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.607385476708732, + 0.6324901874208742, + 0.6726577245603018 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 6281.430587441238, + "intensity": 0.6425320717057311 + }, + "point_color_scale": [ + 1.0948447774069003, + 1.1289395372016953, + 1.1834911528733674 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1acc908648f614190e4cfb41e5d0a7b2ac591a49 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8392889939152194, + "K": [ + [ + 528.341222269101, + 0.0, + 291.16796753601204 + ], + [ + 0.0, + 537.9402367988315, + 224.46730442710265 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.012261168454703, + -14.140583112633426, + 1.802413155428934 + ], + "camera_target": [ + -11.867966398213124, + -13.69075263689189, + 1.1211966283473827 + ], + "camera_roll_rad": 0.011569550730847492, + "camera_pose_world_cv": [ + [ + 0.4769800901412964, + 0.49895572662353516, + -0.7235559821128845, + -11.012261390686035 + ], + [ + 0.8787106275558472, + -0.28843188285827637, + 0.3803613781929016, + -14.140583038330078 + ], + [ + -0.0189131498336792, + -0.8172211050987244, + -0.5760139226913452, + 1.8024131059646606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.232532730476621, + 0.23934854852346196, + 0.23100507923989075 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.8491052553706585, + 0.8788326080900961, + 0.9263963724411964 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 6167.487746268203, + "intensity": 0.8907235491778711 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8719824946161616, + 0.908235349674647, + 0.9662399177682235 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 6285.768318141879, + "intensity": 0.9227364916980412 + }, + "point_color_scale": [ + 1.08062885969811, + 1.0960554059388397, + 1.1207378799240069 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17e7e25e2aef069a60824b49eded6c11877e3287 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2420532368378294, + "K": [ + [ + 346.47331544036007, + 0.0, + 324.04641082328374 + ], + [ + 0.0, + 335.4485250031319, + 239.88982297581143 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.35136430555831, + -12.824618348140248, + 1.6343717987815105 + ], + "camera_target": [ + -11.801282526594287, + -13.664082236456492, + 1.0626040304150073 + ], + "camera_roll_rad": -0.024892474753039528, + "camera_pose_world_cv": [ + [ + -0.8923975229263306, + 0.19897566735744476, + -0.4050125777721405, + -11.351364135742188 + ], + [ + 0.44922828674316406, + 0.4765974283218384, + -0.7556777000427246, + -12.824618339538574 + ], + [ + 0.042666494846343994, + -0.856308102607727, + -0.5146999359130859, + 1.6343717575073242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.006421148777008057, + 0.9999793767929077, + 0.0, + -11.830681800842285 + ], + [ + -0.9999793767929077, + 0.006421148777008057, + -0.0, + -13.665140151977539 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.287855641171418, + 0.2823783815472637, + 0.27438508738409506 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9972755544812393, + 1.028619488948937, + 1.0787697840972532 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 6102.098100075895, + "intensity": 1.041157062736016 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.8198801602184506, + 0.8542449496643958, + 0.9092286127779082 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 6291.82375792435, + "intensity": 0.8679908654427739 + }, + "point_color_scale": [ + 0.919384919393643, + 0.9298869213128111, + 0.9466901243834801 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31930305170f79a853f423af42ffc41feb99c308 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8267924937726991, + "K": [ + [ + 545.5870105803552, + 0.0, + 288.70252949499655 + ], + [ + 0.0, + 547.1020665727715, + 219.35947797720934 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.342136580160712, + -10.696963469113271, + 1.3375640158488862 + ], + "camera_target": [ + -11.990843657644879, + -11.791301181663371, + 1.1730444904014545 + ], + "camera_roll_rad": 0.002788172369898645, + "camera_pose_world_cv": [ + [ + -0.9523715972900391, + -0.03799964487552643, + 0.3025634288787842, + -12.34213638305664 + ], + [ + -0.30489039421081543, + 0.13661980628967285, + -0.9425376057624817, + -10.6969633102417 + ], + [ + -0.005520030856132507, + -0.9898945689201355, + -0.14169830083847046, + 1.3375639915466309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6539640426635742, + 0.7565256357192993, + 0.0, + -12.013479232788086 + ], + [ + -0.7565256357192993, + 0.6539640426635742, + -0.0, + -11.791089057922363 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2673391896132221, + 0.26551525343927623, + 0.26230366367030444 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.0576307307859294, + 1.0641726486356848, + 1.074639717195294 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5622.646845816323, + "intensity": 1.0667894157755873 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.6266405452075727, + 0.5978621972522248, + 0.5485278864716282 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 4812.351143132187, + "intensity": 0.5978621972522248 + }, + "point_color_scale": [ + 1.1327353359699597, + 1.1559514512561957, + 1.1930972357141736 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b04cb361f4accaf9a405f2c91d2e973692cffc6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1926220157002545, + "K": [ + [ + 344.9002480988713, + 0.0, + 340.77720837866644 + ], + [ + 0.0, + 353.5990696348885, + 222.36993921114188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.418722327694272, + -12.395476842144875, + 1.5833633875828235 + ], + "camera_target": [ + -12.054977838463492, + -11.782624033932313, + 1.1638555465715634 + ], + "camera_roll_rad": -0.02676834663932864, + "camera_pose_world_cv": [ + [ + 0.6762108206748962, + 0.3456322252750397, + -0.6505976915359497, + -11.418722152709961 + ], + [ + 0.7351207733154297, + -0.2586217522621155, + 0.626667857170105, + -12.395477294921875 + ], + [ + 0.048337727785110474, + -0.9020273685455322, + -0.42896413803100586, + 1.58336341381073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6539640426635742, + 0.7565256357192993, + 0.0, + -12.013479232788086 + ], + [ + -0.7565256357192993, + 0.6539640426635742, + -0.0, + -11.791089057922363 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34739515265914, + 0.3713268702822887, + 0.355726251666065 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.8328051724911859, + 0.8728065500106382, + 0.9368087540417622 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 6400.11381487879, + "intensity": 0.8888071010184192 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.5884152633323001, + 0.5910920769060454, + 0.5953749786240377 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5590.40802844041, + "intensity": 0.5921628023355434 + }, + "point_color_scale": [ + 1.0293433451992056, + 1.0210749574254758, + 1.0069005783847964 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3de954553367951b555c14e384aade5e7b20825 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1036267457809974, + "K": [ + [ + 398.16081540251565, + 0.0, + 315.833681084102 + ], + [ + 0.0, + 389.8616420312618, + 257.0758124333717 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.129147229073153, + -10.31213771192476, + 1.7556445614784677 + ], + "camera_target": [ + -12.022965786259965, + -11.812326833704361, + 1.1749583660756522 + ], + "camera_roll_rad": -0.036675471460622944, + "camera_pose_world_cv": [ + [ + -0.9929585456848145, + -0.09846438467502594, + 0.06586358696222305, + -12.12914752960205 + ], + [ + -0.096743643283844, + 0.3531538248062134, + -0.9305498003959656, + -10.312137603759766 + ], + [ + 0.06836604326963425, + -0.9303693175315857, + -0.36019301414489746, + 1.7556445598602295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6539640426635742, + 0.7565256357192993, + 0.0, + -12.013479232788086 + ], + [ + -0.7565256357192993, + 0.6539640426635742, + -0.0, + -11.791089057922363 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34859784036363, + 0.33692561503393925, + 0.34386021630866825 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9749235740913688, + 0.9316761292670492, + 0.8575376524253587 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4836.871879680484, + "intensity": 0.9316761292670492 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.7603552477877531, + 0.783191022660735, + 0.8197282624575061 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 6076.424201855585, + "intensity": 0.7923253326099278 + }, + "point_color_scale": [ + 0.8650538291914096, + 0.8600417829032565, + 0.8514497035521368 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ea45273e6eb0df54525d51f8f1e012fce81e14 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9974848411856386, + "K": [ + [ + 432.32236186510073, + 0.0, + 338.4154150557237 + ], + [ + 0.0, + 440.6332033985504, + 216.7575810173683 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.452034341648686, + -10.443348128286486, + 1.7600400897230433 + ], + "camera_target": [ + -12.01696958144963, + -11.838293611557084, + 1.0962892397496655 + ], + "camera_roll_rad": 0.000613391513097486, + "camera_pose_world_cv": [ + [ + -0.9547970294952393, + -0.1219673678278923, + 0.271084189414978, + -12.452033996582031 + ], + [ + -0.2972564697265625, + 0.39518415927886963, + -0.8691766858100891, + -10.443347930908203 + ], + [ + -0.0011169761419296265, + -0.9104688763618469, + -0.41357624530792236, + 1.760040044784546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6539640426635742, + 0.7565256357192993, + 0.0, + -12.013479232788086 + ], + [ + -0.7565256357192993, + 0.6539640426635742, + -0.0, + -11.791089057922363 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35961708467757925, + 0.33400395461741544, + 0.3243722407233926 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.8666871855411982, + 0.8852901907891915, + 0.9150549991859808 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5916.766014865998, + "intensity": 0.8927313928883888 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.7080296324986146, + 0.7307046050727082, + 0.766984561191258 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 6113.023825226325, + "intensity": 0.7397745941023457 + }, + "point_color_scale": [ + 1.2142382727761232, + 1.167794603985099, + 1.0881768860576295 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1015059fd49c167d88645f9531f145e3f1f1fb9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1929838858123127, + "K": [ + [ + 340.7903575755533, + 0.0, + 341.9968430449194 + ], + [ + 0.0, + 353.46142055327704, + 227.66533408875068 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.084638886084983, + -11.938123333386738, + 1.188973124848173 + ], + "camera_target": [ + -11.999323036583128, + -11.797335383012244, + 1.1822391362748241 + ], + "camera_roll_rad": -0.04150156190182806, + "camera_pose_world_cv": [ + [ + 0.15100830793380737, + 0.019779324531555176, + -0.9883346557617188, + -11.084638595581055 + ], + [ + 0.985049843788147, + 0.08083987236022949, + 0.152124285697937, + -11.93812370300293 + ], + [ + 0.08290567994117737, + -0.9965308904647827, + -0.00727611780166626, + 1.188973069190979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6539640426635742, + 0.7565256357192993, + 0.0, + -12.013479232788086 + ], + [ + -0.7565256357192993, + 0.6539640426635742, + -0.0, + -11.791089057922363 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34779484808396466, + 0.35005791262577507, + 0.3763913073061704 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 1.1435553157205136, + 1.1620058165383587, + 1.1915266178469113 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 5815.558772753266, + "intensity": 1.1693860168654968 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.6113598129539102, + 0.6273480977466689, + 0.6529293534150828 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 6004.566501158079, + "intensity": 0.6337434116637723 + }, + "point_color_scale": [ + 1.1463373789113938, + 1.112121820912203, + 1.0534665786278756 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d30c91add7b7cfdc2dbe31ddf3916c17a921dbf0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.842501057046006, + "K": [ + [ + 553.9177906595296, + 0.0, + 329.6650820255285 + ], + [ + 0.0, + 535.6266451308243, + 248.6937066787816 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.159347743020511, + -13.159127679106259, + 1.605343612212738 + ], + "camera_target": [ + -12.053733446847598, + -11.806272820341691, + 1.181615286668852 + ], + "camera_roll_rad": -0.015759112413732214, + "camera_pose_world_cv": [ + [ + 0.8293757438659668, + 0.16562843322753906, + -0.5335758328437805, + -11.159347534179688 + ], + [ + 0.5578587055206299, + -0.19338876008987427, + 0.807090163230896, + -13.159127235412598 + ], + [ + 0.03048950433731079, + -0.9670408964157104, + -0.2527891993522644, + 1.6053435802459717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6539640426635742, + 0.7565256357192993, + 0.0, + -12.013479232788086 + ], + [ + -0.7565256357192993, + 0.6539640426635742, + -0.0, + -11.791089057922363 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3531641402921101, + 0.37370064819519727, + 0.36811058359841187 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9947957757918003, + 0.9489577020550102, + 0.8703781470776556 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4809.9485642055215, + "intensity": 0.9489577020550102 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.9701686685424692, + 0.943302124230005, + 0.8972451911229238 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 5093.123172275651, + "intensity": 0.943302124230005 + }, + "point_color_scale": [ + 0.8996010377932627, + 0.8877702730081273, + 0.8674889619478952 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e8180504867ad0e6d20bfe34b07f6520ae42fa4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000020/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 20, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8870827449311767, + "K": [ + [ + 525.7714244496691, + 0.0, + 342.2442377088986 + ], + [ + 0.0, + 505.14188944551495, + 261.1441992739291 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.955379922148447, + -12.118434146322958, + 1.2093446832514605 + ], + "camera_target": [ + -12.062402856441743, + -11.832657479929763, + 1.1745955279958484 + ], + "camera_roll_rad": -0.048314480464706544, + "camera_pose_world_cv": [ + [ + 0.2459501028060913, + 0.05339297652244568, + -0.9678107500076294, + -10.955379486083984 + ], + [ + 0.9644733667373657, + 0.08585822582244873, + 0.24983865022659302, + -12.118433952331543 + ], + [ + 0.09643420577049255, + -0.9948756098747253, + -0.030379295349121094, + 1.2093446254730225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6539640426635742, + 0.7565256357192993, + 0.0, + -12.013479232788086 + ], + [ + -0.7565256357192993, + 0.6539640426635742, + -0.0, + -11.791089057922363 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9372063875198364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30028682441393506, + 0.30177882796860095, + 0.2832606569904657 + ], + "directional_primary": { + "direction": [ + 0.23539593621519703, + 0.7374123599810488, + -0.6330969614210376 + ], + "color": [ + 0.9724302499422383, + 0.921514469923182, + 0.8342302756048 + ], + "azimuth_rad": 1.2618021200391993, + "elevation_rad": 0.6855475658265069, + "color_temp_k": 4710.681644481231, + "intensity": 0.921514469923182 + }, + "directional_fill": { + "direction": [ + 0.3278753261410881, + 0.3401889092286744, + -0.8813451506337798 + ], + "color": [ + 0.7620576490762403, + 0.7286256992514468, + 0.6713137852660865 + ], + "azimuth_rad": 0.8038278117656366, + "elevation_rad": 1.0787017283187943, + "color_temp_k": 4844.520398193479, + "intensity": 0.7286256992514468 + }, + "point_color_scale": [ + 1.0826358980673525, + 1.0824990167332869, + 1.0822643630177458 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e090850b4a2e39a886371df6751ea5358d4710a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1947889076160116, + "K": [ + [ + 360.4390734151242, + 0.0, + 303.2057687012592 + ], + [ + 0.0, + 352.77591566849696, + 239.42248868229188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5432584906133864, + -3.0393174895747173, + 1.6904903621276155 + ], + "camera_target": [ + -0.36069409607835157, + -1.8794832360612768, + 1.2169215297435632 + ], + "camera_roll_rad": -0.029918841256225705, + "camera_pose_world_cv": [ + [ + 0.7106952667236328, + -0.154026597738266, + 0.6864314079284668, + -1.543258547782898 + ], + [ + -0.7011463642120361, + -0.23482996225357056, + 0.6732375621795654, + -3.0393176078796387 + ], + [ + 0.05749824643135071, + -0.9597556591033936, + -0.27488768100738525, + 1.6904903650283813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23353641334840256, + 0.22602112471377658, + 0.23515600381399418 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.167784495576172, + 1.1530777121155051, + 1.1278660833257907 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5317.79466867372, + "intensity": 1.1530777121155051 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.5710834949843766, + 0.5632630488076541, + 0.5498565696475584 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5301.654555710763, + "intensity": 0.5632630488076541 + }, + "point_color_scale": [ + 1.0074189921490528, + 1.021847353553102, + 1.0449327317995811 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea7f2d01bb23c1bef8bb2378a7b0a4b7fd0e8b86 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.029457241568725, + "K": [ + [ + 426.5952144564187, + 0.0, + 290.91943648241886 + ], + [ + 0.0, + 424.34064017218907, + 257.84001197870657 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7486679177247327, + -3.503750175940926, + 1.7104091887784438 + ], + "camera_target": [ + -0.38524018978283525, + -1.9667727005707456, + 1.2216653380951645 + ], + "camera_roll_rad": 0.010309368566875976, + "camera_pose_world_cv": [ + [ + 0.9715550541877747, + -0.08807606250047684, + 0.21982571482658386, + -0.7486678957939148 + ], + [ + -0.23599326610565186, + -0.2828865051269531, + 0.9296679496765137, + -3.5037500858306885 + ], + [ + -0.019695736467838287, + -0.9551010131835938, + -0.29562515020370483, + 1.710409164428711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32732021058306954, + 0.33127861738058545, + 0.33066099068913357 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 0.9281704700884222, + 0.9685684854181832, + 1.0332053099458007 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 6320.491099751024, + "intensity": 0.9847276915500875 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.7778873540600291, + 0.7558803517951243, + 0.7181540621981447 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5084.080012273281, + "intensity": 0.7558803517951243 + }, + "point_color_scale": [ + 1.0945716617243213, + 1.0964935887918852, + 1.099568672099987 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95c71e5ca4dfc3c4d326ea76b16b49e216ab4845 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.294128713258899, + "K": [ + [ + 325.591247067766, + 0.0, + 300.5580026504365 + ], + [ + 0.0, + 317.6357241043124, + 221.4421341121966 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3373259442975156, + -1.604298311392713, + 1.535093625625056 + ], + "camera_target": [ + -0.3526739514721819, + -1.910575909497925, + 1.2202318089576454 + ], + "camera_roll_rad": -0.016713054746776874, + "camera_pose_world_cv": [ + [ + -0.28752970695495605, + -0.2886214554309845, + 0.9132494330406189, + -1.337325930595398 + ], + [ + -0.9572383165359497, + 0.054776906967163086, + -0.28406766057014465, + -1.6042983531951904 + ], + [ + 0.03196316957473755, + -0.9558751583099365, + -0.29202938079833984, + 1.5350936651229858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23253180375498483, + 0.25301320755900025, + 0.24820287427926618 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 0.9347179788920787, + 0.9550130348687061, + 0.9874851244313102 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5921.439134864536, + "intensity": 0.9631310572593572 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.8496113363447508, + 0.8213350872567513, + 0.7728615173916096 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5008.183174187743, + "intensity": 0.8213350872567513 + }, + "point_color_scale": [ + 0.9565717197576241, + 0.9147138788477924, + 0.8429575801452242 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77a54482c74d3cb0a9f47a61de8e426cf8cd1a18 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8153794094802778, + "K": [ + [ + 568.1013427327448, + 0.0, + 312.18108545904573 + ], + [ + 0.0, + 555.7006100363596, + 237.62645131603188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.49154991170679047, + -1.07940838986047, + 1.2965596090523004 + ], + "camera_target": [ + -0.4031823325699186, + -1.8938770465949109, + 1.0892493028342776 + ], + "camera_roll_rad": -0.031934522079030615, + "camera_pose_world_cv": [ + [ + -0.9904497861862183, + -0.08986029028892517, + 0.10456810146570206, + -0.49154990911483765 + ], + [ + -0.1232103705406189, + 0.2365039587020874, + -0.9637869000434875, + -1.0794084072113037 + ], + [ + 0.061875395476818085, + -0.9674662947654724, + -0.2453169822692871, + 1.2965595722198486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3507720996054289, + 0.329536625169986, + 0.32903288729477176 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.1849099464496988, + 1.1410405481465653, + 1.0658358653411937 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 4950.759492234745, + "intensity": 1.1410405481465653 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.803314717273137, + 0.7727156808718327, + 0.7202601898981684 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 4934.29504244821, + "intensity": 0.7727156808718327 + }, + "point_color_scale": [ + 1.139786349701492, + 1.1668853155368715, + 1.2102436608734783 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bbaf8b75ee49f40cfc2850b49b640c6feb98479 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3030509704122097, + "K": [ + [ + 327.7248738112956, + 0.0, + 299.65845643485005 + ], + [ + 0.0, + 314.7069335267067, + 242.48923712954925 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1092836110673496, + -0.3179019414937152, + 1.6031259840963354 + ], + "camera_target": [ + -0.35160404524064315, + -1.9738010600128693, + 1.1154424914004062 + ], + "camera_roll_rad": -0.025216803283931003, + "camera_pose_world_cv": [ + [ + -0.902747392654419, + -0.15334047377109528, + 0.40191298723220825, + -1.1092835664749146 + ], + [ + -0.4274061918258667, + 0.21396267414093018, + -0.878375768661499, + -0.31790193915367126 + ], + [ + 0.048696160316467285, + -0.9647314548492432, + -0.2586928606033325, + 1.6031259298324585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996414184570312, + 0.026774009689688683, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774009689688683, + -0.9996414184570312, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3449122176337281, + 0.35008902960373517, + 0.3454812593205871 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 0.8453998202946748, + 0.8746738919752481, + 0.9215124066641655 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 6160.528337873191, + "intensity": 0.8863835206474774 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.8020127765412731, + 0.807885920185273, + 0.8172829500156732 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5644.973800349822, + "intensity": 0.8102351776428731 + }, + "point_color_scale": [ + 0.9323529651373001, + 0.897599036085053, + 0.8380208719954866 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73d713d678b9b0ecec35bd340037ade52749bc38 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0278611290514887, + "K": [ + [ + 416.2441409174369, + 0.0, + 351.0599566671931 + ], + [ + 0.0, + 425.1320488093056, + 249.42491035243233 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6650957495014165, + -2.138663759260296, + 1.666645733511177 + ], + "camera_target": [ + -0.4441550111341081, + -1.9187256154021146, + 1.1510340598645266 + ], + "camera_roll_rad": -0.0199227599356289, + "camera_pose_world_cv": [ + [ + 0.19219017028808594, + -0.3703483045101166, + 0.9087932109832764, + -1.6650958061218262 + ], + [ + -0.9806680679321289, + -0.10719001293182373, + 0.16370853781700134, + -2.1386637687683105 + ], + [ + 0.03678444027900696, + -0.9226876497268677, + -0.3837895393371582, + 1.6666457653045654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996414184570312, + 0.026774009689688683, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774009689688683, + -0.9996414184570312, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3294179456529756, + 0.3571982085304452, + 0.3454870072139953 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.1216161857747784, + 1.1322777706689768, + 1.1493363064996942 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5687.614379380779, + "intensity": 1.1365424046266561 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.9085097502760434, + 0.8978827412844324, + 0.8796650115845279 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5330.919554207381, + "intensity": 0.8978827412844324 + }, + "point_color_scale": [ + 0.9988911694931158, + 1.0266930166494377, + 1.0711759720995526 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..310e5ba8ba188135104fbb6e430ce59b1d99c02b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1714243487514024, + "K": [ + [ + 352.9574400240222, + 0.0, + 340.6341547120446 + ], + [ + 0.0, + 361.7926969570356, + 228.08541094763785 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9875216672737562, + -1.0706952373699037, + 1.238398930625987 + ], + "camera_target": [ + -0.40737590496922765, + -1.8953983045293366, + 1.092179959600105 + ], + "camera_roll_rad": -0.010969303450422782, + "camera_pose_world_cv": [ + [ + -0.815892219543457, + -0.10049311816692352, + 0.5694045424461365, + -0.9875216484069824 + ], + [ + -0.5777967572212219, + 0.10472846031188965, + -0.8094338178634644, + -1.0706952810287476 + ], + [ + 0.021709740161895752, + -0.9894106388092041, + -0.14351141452789307, + 1.2383989095687866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996414184570312, + 0.026774009689688683, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774009689688683, + -0.9996414184570312, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37523655219723595, + 0.3539846158273503, + 0.3674384898762214 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.0079183100686258, + 0.9779080121716166, + 0.9264617872053156 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5061.596248266953, + "intensity": 0.9779080121716166 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.5620472605368659, + 0.5815945723119222, + 0.6128702711520121 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 6163.280086859921, + "intensity": 0.5894134970219447 + }, + "point_color_scale": [ + 1.17590514160836, + 1.192571046244602, + 1.219236493662589 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9dfe3c4b91a1911c360cf035d5b082a0db62d16b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7938501827378354, + "K": [ + [ + 592.794567268212, + 0.0, + 301.79289800404285 + ], + [ + 0.0, + 572.5554803529853, + 236.31844169288013 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0550791465583171, + -3.6976388914495453, + 1.4199742124722352 + ], + "camera_target": [ + -0.36112622614554624, + -1.896686902461418, + 1.1680405499329385 + ], + "camera_roll_rad": 0.04008323974721846, + "camera_pose_world_cv": [ + [ + 0.9263997077941895, + -0.12111508101224899, + 0.35653156042099, + -1.0550791025161743 + ], + [ + -0.36807355284690857, + -0.09159815311431885, + 0.9252737760543823, + -3.697638988494873 + ], + [ + -0.07940700650215149, + -0.9884032011032104, + -0.12943577766418457, + 1.4199742078781128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33764556620327174, + 0.3247863070372984, + 0.33783468443394365 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.1718106927068748, + 1.188515277906941, + 1.2152426142270472 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5779.528540230416, + "intensity": 1.1951971119869675 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.7444989373409031, + 0.7707850389022891, + 0.8128428014005067 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 6172.881583827622, + "intensity": 0.7812994795268435 + }, + "point_color_scale": [ + 1.0691152291160348, + 1.0212580511808196, + 0.9392171747204504 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13a1fa941239150eb2278d2006126b776e7a64a1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8406242244280461, + "K": [ + [ + 543.3808251608901, + 0.0, + 323.8933184057119 + ], + [ + 0.0, + 536.976474915483, + 227.0460314039981 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.26968758640727464, + -3.5065395630424496, + 1.1785113605342525 + ], + "camera_target": [ + -0.35079143513201183, + -1.9644843884974703, + 1.108800923121012 + ], + "camera_roll_rad": 0.042466953169560756, + "camera_pose_world_cv": [ + [ + 0.995220959186554, + -0.08235464245080948, + -0.05246874690055847, + -0.26968759298324585 + ], + [ + 0.04851240664720535, + -0.049328744411468506, + 0.9976037740707397, + -3.5065395832061768 + ], + [ + -0.08474552631378174, + -0.9953815937042236, + -0.04509782791137695, + 1.178511381149292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2479746996345676, + 0.22970552489765397, + 0.23618246021046133 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 0.9850033499939278, + 0.9920959161988799, + 1.0034440221268033 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5642.57375348013, + "intensity": 0.9949329426808607 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.7867070779556953, + 0.7739436348986598, + 0.7520634468008848 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5264.4080362019295, + "intensity": 0.7739436348986598 + }, + "point_color_scale": [ + 1.174704803665888, + 1.17113391232528, + 1.165012384312809 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cde490704475f6a91120d82332ac3d539849fd91 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1332339508305753, + "K": [ + [ + 363.9786668922058, + 0.0, + 294.24967072250615 + ], + [ + 0.0, + 377.2363323654586, + 224.8185461351103 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.708362583702952, + -1.3300868625660716, + 1.7790427087955707 + ], + "camera_target": [ + -0.3979639363753977, + -1.961362158039056, + 1.1138351456288966 + ], + "camera_roll_rad": -0.038882670521215426, + "camera_pose_world_cv": [ + [ + -0.40358638763427734, + -0.40727680921554565, + 0.8192945718765259, + -1.7083625793457031 + ], + [ + -0.9122098088264465, + 0.10997092723846436, + -0.3946893811225891, + -1.3300868272781372 + ], + [ + 0.07064926624298096, + -0.9066597819328308, + -0.4159046411514282, + 1.7790427207946777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2345725502508106, + 0.22775138547439772, + 0.22051835658034585 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 0.8812251177363027, + 0.8636489737909896, + 0.8335184413133098 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5209.271036882981, + "intensity": 0.8636489737909896 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.8844387846528098, + 0.8508646661249302, + 0.7933090343628506 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 4936.3025240331535, + "intensity": 0.8508646661249302 + }, + "point_color_scale": [ + 0.9321795956515435, + 0.9084476933953487, + 0.8677644323847291 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9aaa730b66fb60d75e50c223d5e4c44ccfe972 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9907863108605294, + "K": [ + [ + 464.2194189232065, + 0.0, + 313.92112984662594 + ], + [ + 0.0, + 444.16830042109785, + 235.19718195636602 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2607220742402245, + -2.6997531980836493, + 1.8236746972409412 + ], + "camera_target": [ + -0.4454224079121225, + -1.9405661183086702, + 1.2127302142162817 + ], + "camera_roll_rad": -0.046724323838557145, + "camera_pose_world_cv": [ + [ + 0.7113375067710876, + -0.28677743673324585, + 0.6416834592819214, + -1.260722041130066 + ], + [ + -0.6980723142623901, + -0.39454400539398193, + 0.5975199937820435, + -2.6997532844543457 + ], + [ + 0.08181709051132202, + -0.8729798793792725, + -0.4808453321456909, + 1.8236746788024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996414184570312, + 0.026774009689688683, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774009689688683, + -0.9996414184570312, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27044837502791924, + 0.2845481754994624, + 0.2657204386882251 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.1172621336966262, + 1.0807599207085548, + 1.018184698443289 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5017.505992263289, + "intensity": 1.0807599207085548 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.8513235166403024, + 0.8584199418134592, + 0.86977422209051 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5664.79198928656, + "intensity": 0.8612585118827218 + }, + "point_color_scale": [ + 1.009721128578673, + 1.0295088347317243, + 1.0611691645766066 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..562113eec5eb95ad472ba322aa7c0fff2ffcc99a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2361338923647776, + "K": [ + [ + 324.5584565211746, + 0.0, + 299.920993334043 + ], + [ + 0.0, + 337.5552308381495, + 250.2434982622567 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2366462237089553, + -1.1138919918880368, + 1.8474561002329255 + ], + "camera_target": [ + -0.41034256035412114, + -1.8933362995107206, + 1.1636325774624436 + ], + "camera_roll_rad": 0.022905458891526384, + "camera_pose_world_cv": [ + [ + -0.7026411294937134, + -0.3433598279953003, + 0.6232172250747681, + -1.2366461753845215 + ], + [ + -0.7104620933532715, + 0.3868422508239746, + -0.5878748893737793, + -1.1138919591903687 + ], + [ + -0.03923419117927551, + -0.8558372259140015, + -0.5157552361488342, + 1.8474560976028442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26395055757342867, + 0.23944905115232912, + 0.2617123602761705 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.1716051879452822, + 1.1295749417289764, + 1.0575230910724522 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 4968.444220367247, + "intensity": 1.1295749417289764 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.8581424470255689, + 0.844940007074856, + 0.822307252873634 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5276.781447876839, + "intensity": 0.844940007074856 + }, + "point_color_scale": [ + 0.8705128125022885, + 0.8929295001080385, + 0.9287962002772386 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f78a0d31e1200ffa3e0cdc6b5614cb0777702f5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9102282951468224, + "K": [ + [ + 497.8171544160334, + 0.0, + 332.67354151006566 + ], + [ + 0.0, + 490.41821344387535, + 234.93165598316824 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9673819155966574, + -1.3308190946591953, + 1.6944781787560883 + ], + "camera_target": [ + -0.4473595341233388, + -1.890877260926775, + 1.1536788883127471 + ], + "camera_roll_rad": 0.029653368515059467, + "camera_pose_world_cv": [ + [ + -0.3627365827560425, + -0.27612119913101196, + 0.890044629573822, + -1.9673819541931152 + ], + [ + -0.9301943182945251, + 0.16490530967712402, + -0.3279404044151306, + -1.3308191299438477 + ], + [ + -0.056221723556518555, + -0.9468703866004944, + -0.3166634440422058, + 1.694478154182434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996414184570312, + 0.026774009689688683, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774009689688683, + -0.9996414184570312, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3331390110907289, + 0.33344700662228427, + 0.37061476976115937 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 0.9174117881064966, + 0.9031505513124247, + 0.8787027168083016 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5274.420827286248, + "intensity": 0.9031505513124247 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.8190633770097825, + 0.8187106825538246, + 0.8181060634864683 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5493.84582083105, + "intensity": 0.8187106825538246 + }, + "point_color_scale": [ + 1.0206574722156334, + 1.0337768113467372, + 1.0547677539565032 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82ec210e26030165baf7beaa8cdd061a3ee344d5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.108612804788968, + "K": [ + [ + 377.59335012915733, + 0.0, + 342.4178304193279 + ], + [ + 0.0, + 387.69325522862476, + 259.38984108898103 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8346376417574008, + -2.6737540483910056, + 1.479943033799524 + ], + "camera_target": [ + -0.4242239184072217, + -1.9579135475384661, + 1.1166962300611807 + ], + "camera_roll_rad": 0.027728946857137532, + "camera_pose_world_cv": [ + [ + 0.8550894260406494, + -0.248178169131279, + 0.4552249312400818, + -0.8346376419067383 + ], + [ + -0.5159927010536194, + -0.321428120136261, + 0.7939997911453247, + -2.6737539768218994 + ], + [ + -0.05073128640651703, + -0.913833498954773, + -0.4029079079627991, + 1.479943037033081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996414184570312, + 0.026774009689688683, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774009689688683, + -0.9996414184570312, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2591523525312355, + 0.2708624682773806, + 0.2689524493253291 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.1618095620993754, + 1.125021799398404, + 1.061957063339596 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5032.862858801705, + "intensity": 1.125021799398404 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.9301670623097577, + 0.9142132634767655, + 0.8868638940487786 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5250.702138106004, + "intensity": 0.9142132634767655 + }, + "point_color_scale": [ + 0.9969129727995284, + 1.028432800450065, + 1.0788645246909232 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a61b9f74ac1fcf9274f77034aa0cab2d9cfa73db --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1520892705205863, + "K": [ + [ + 352.37759555682305, + 0.0, + 348.9726646396974 + ], + [ + 0.0, + 369.4980337656973, + 236.63171912915155 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4785799229210834, + -0.4492020036189015, + 1.0039595972776127 + ], + "camera_target": [ + -0.3657133851501323, + -1.9648144685818636, + 1.121606434234736 + ], + "camera_roll_rad": -0.04488775160446544, + "camera_pose_world_cv": [ + [ + -0.8061128854751587, + -0.03545603156089783, + 0.5906985998153687, + -1.4785798788070679 + ], + [ + -0.584957480430603, + -0.10319411754608154, + -0.8044722676277161, + -0.4492020010948181 + ], + [ + 0.08947998285293579, + -0.9940291047096252, + 0.062445759773254395, + 1.0039596557617188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996414184570312, + 0.026774009689688683, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774009689688683, + -0.9996414184570312, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2987301000868509, + 0.3220361471831727, + 0.3009129396678714 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 0.9388911691688285, + 0.9586768062239408, + 0.9903338255121208 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5909.3900275407395, + "intensity": 0.9665910610459859 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.9171261942773329, + 0.8951780030261338, + 0.8575525323097923 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5149.739394575258, + "intensity": 0.8951780030261338 + }, + "point_color_scale": [ + 0.9651373964954912, + 0.9590145004232254, + 0.9485181071564842 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f95b578903e1a38c7d344da4bf6a6788f18ac9a9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000030/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 30, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1174918772392368, + "K": [ + [ + 395.01146483964834, + 0.0, + 323.8772822477065 + ], + [ + 0.0, + 383.8747544542998, + 225.75612733492122 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7728067696056671, + -0.6059531547723416, + 1.6416938710986833 + ], + "camera_target": [ + -0.4167459201385263, + -1.9190797398052368, + 1.1831804470568663 + ], + "camera_roll_rad": 0.037590430048096715, + "camera_pose_world_cv": [ + [ + -0.9686994552612305, + -0.01084950566291809, + 0.2480001151561737, + -0.7728067636489868 + ], + [ + -0.2378142923116684, + 0.3270152807235718, + -0.9146068096160889, + -0.6059531569480896 + ], + [ + -0.07117676734924316, + -0.94495689868927, + -0.3193594217300415, + 1.6416938304901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9996416568756104, + 0.026774011552333832, + 0.0, + -0.40011024475097656 + ], + [ + -0.026774011552333832, + -0.9996416568756104, + -0.0, + -1.9246479272842407 + ], + [ + -0.0, + 0.0, + 1.0, + 0.9727482795715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2662887484928901, + 0.271940496735211, + 0.260717703767284 + ], + "directional_primary": { + "direction": [ + -0.1659929961876917, + 0.36614778933169867, + -0.9156320874587909 + ], + "color": [ + 1.0123608201018366, + 1.021415125176542, + 1.0359020132960708 + ], + "azimuth_rad": 1.9964323845890188, + "elevation_rad": 1.1570774077745374, + "color_temp_k": 5676.663016541923, + "intensity": 1.0250368472064242 + }, + "directional_fill": { + "direction": [ + -0.11625716194780675, + -0.5095093309889694, + -0.8525752236201882 + ], + "color": [ + 0.8019810517635212, + 0.7831699212300809, + 0.7509222688870405 + ], + "azimuth_rad": -1.7951304753735422, + "elevation_rad": 1.0208933378220355, + "color_temp_k": 5156.868287574268, + "intensity": 0.7831699212300809 + }, + "point_color_scale": [ + 1.1925381215899375, + 1.1387579154157865, + 1.0465632762600992 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5418052d92a9e98dc3f3b50db221d18dcbc5784 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8638302880449843, + "K": [ + [ + 533.2097077818722, + 0.0, + 342.89988007230176 + ], + [ + 0.0, + 520.6739825578379, + 249.35117161837937 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.574594061209693, + -14.438119141866348, + 1.2104995852870197 + ], + "camera_target": [ + -13.136754879054136, + -15.28731970377185, + 1.011343908809377 + ], + "camera_roll_rad": -0.02051047252890391, + "camera_pose_world_cv": [ + [ + -0.8374898433685303, + 0.07165408134460449, + -0.5417349338531494, + -12.574594497680664 + ], + [ + 0.5449690222740173, + 0.18253374099731445, + -0.8183460831642151, + -14.438118934631348 + ], + [ + 0.04024708271026611, + -0.9805851578712463, + -0.19191932678222656, + 1.21049964427948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3706129004364186, + 0.35172531465802787, + 0.3768827879000533 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.8710444125776513, + 0.8667734121972499, + 0.8594516972594188 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5429.607564918354, + "intensity": 0.8667734121972499 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7452298027764797, + 0.7602014057680838, + 0.7841559705546508 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5890.806512063543, + "intensity": 0.7661900469647256 + }, + "point_color_scale": [ + 0.8986254131613722, + 0.8804308011794143, + 0.8492400377817719 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc8dc9b1fdcdf78bc2bec60a313dc7cd2192fad8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8981445466055245, + "K": [ + [ + 490.410056595362, + 0.0, + 329.17966258820906 + ], + [ + 0.0, + 498.01688292752743, + 241.29913298968006 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.18698514534358, + -16.896133391613002, + 1.0863082287728878 + ], + "camera_target": [ + -13.193994071889035, + -15.284677920706951, + 0.8976983554625343 + ], + "camera_roll_rad": 0.04885306083795142, + "camera_pose_world_cv": [ + [ + 0.849095344543457, + -0.030633002519607544, + -0.5273507237434387, + -12.18698501586914 + ], + [ + 0.519243597984314, + -0.1350579857826233, + 0.843887209892273, + -16.896133422851562 + ], + [ + -0.09707373380661011, + -0.9903640747070312, + -0.0987710952758789, + 1.086308240890503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21044487172070767, + 0.2358460301730801, + 0.2164757079449754 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0241821030350813, + 1.0592706109910597, + 1.1154122237206254 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6153.839771558534, + "intensity": 1.0733060141734512 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8641367644557736, + 0.8696682813437286, + 0.8785187083644568 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5626.886985675676, + "intensity": 0.8718808880989107 + }, + "point_color_scale": [ + 0.9445472932630548, + 0.9145978825428517, + 0.863256035593932 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94ce6120aad5cdef45bbfddcdf1c54b23269c773 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2226692481097812, + "K": [ + [ + 338.8096228277661, + 0.0, + 345.11795843755334 + ], + [ + 0.0, + 342.41333136287, + 220.5870542488259 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.574837864900616, + -16.673470427115532, + 0.8318889326412602 + ], + "camera_target": [ + -13.173132490561098, + -15.331257535251442, + 1.0165100803768943 + ], + "camera_roll_rad": -0.045559624841002615, + "camera_pose_world_cv": [ + [ + 0.914196252822876, + 0.032569676637649536, + -0.4039608836174011, + -12.574837684631348 + ], + [ + 0.39508742094039917, + 0.15042924880981445, + 0.9062435030937195, + -16.67346954345703 + ], + [ + 0.09028352797031403, + -0.9880842566490173, + 0.12465405464172363, + 0.8318889141082764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23930216035128665, + 0.2574458016499357, + 0.2429164201899851 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.8988962247617407, + 0.9401692621249943, + 1.0062061219062002 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6362.840303246855, + "intensity": 0.9566784770702957 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6907416169284694, + 0.6954888964106317, + 0.7030845435820915 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5636.144607815602, + "intensity": 0.6973878082034967 + }, + "point_color_scale": [ + 1.1189847007057625, + 1.0877273137523724, + 1.0341432218322753 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbefdc4f9cda258cfdf6b3a337992edc26aed67c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0232976490001355, + "K": [ + [ + 418.5270100713627, + 0.0, + 305.79730445172555 + ], + [ + 0.0, + 427.4071803984782, + 228.45377226535064 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.305028696044726, + -14.652245362126008, + 1.4970098049537914 + ], + "camera_target": [ + -13.170530556086575, + -15.361860079645782, + 0.9887774968436365 + ], + "camera_roll_rad": -0.04585450188625122, + "camera_pose_world_cv": [ + [ + -0.6606452465057373, + 0.26032766699790955, + -0.7041146755218506, + -12.305028915405273 + ], + [ + 0.7460527420043945, + 0.3318662643432617, + -0.5772954225540161, + -14.65224552154541 + ], + [ + 0.08338594436645508, + -0.9066941738128662, + -0.4134640693664551, + 1.4970097541809082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29443709251142874, + 0.31386167094882744, + 0.28741118744877836 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0017812713097838, + 0.9836131754153767, + 0.9524678681678219 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5236.131811213944, + "intensity": 0.9836131754153767 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.618094672422648, + 0.6046375131777855, + 0.5815680973294498 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5182.048950189868, + "intensity": 0.6046375131777855 + }, + "point_color_scale": [ + 0.8053884438942529, + 0.835291939767688, + 0.8831375331651844 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5127d1f33bb2e760ad318a4b99078b032f0d2d2d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.913780338961007, + "K": [ + [ + 463.9850048039672, + 0.0, + 313.2102078814805 + ], + [ + 0.0, + 488.22014683372225, + 220.33342624929577 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.40199538457116, + -16.14588375106858, + 1.592749910143048 + ], + "camera_target": [ + -13.175794855402305, + -15.342059971262332, + 0.894973784441648 + ], + "camera_roll_rad": 0.005787272841978698, + "camera_pose_world_cv": [ + [ + 0.7246416211128235, + 0.3593677282333374, + -0.5880045294761658, + -12.401995658874512 + ], + [ + 0.6890560388565063, + -0.39000093936920166, + 0.6108199954032898, + -16.145883560180664 + ], + [ + -0.009813308715820312, + -0.8477936387062073, + -0.5302354693412781, + 1.5927499532699585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2624540736347146, + 0.26049546707009896, + 0.26109285031267676 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.103455005915291, + 1.089086011562303, + 1.0644534498143232 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5311.519617623802, + "intensity": 1.089086011562303 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5561090311748281, + 0.5597771578835696, + 0.565646160617556 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5630.714058002173, + "intensity": 0.5612444085670663 + }, + "point_color_scale": [ + 0.8517793408460016, + 0.8374999304289548, + 0.8130209411425888 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e21b4c2c66715f26452e5367e921cb0d9db04033 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8753397325995689, + "K": [ + [ + 507.46190658114614, + 0.0, + 314.17852953907027 + ], + [ + 0.0, + 512.8894788237985, + 254.8565997636137 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.35441172681755, + -14.582207480831254, + 1.5783138556094962 + ], + "camera_target": [ + -13.179600931494358, + -15.328460367697364, + 0.8819148157644715 + ], + "camera_roll_rad": -0.00809606657653733, + "camera_pose_world_cv": [ + [ + -0.6770259141921997, + 0.38260504603385925, + -0.6286886930465698, + -12.354412078857422 + ], + [ + 0.7358312606811523, + 0.3678363561630249, + -0.5685497522354126, + -14.582207679748535 + ], + [ + 0.013724535703659058, + -0.8475316762924194, + -0.5305674076080322, + 1.5783138275146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25362901879307226, + 0.25355576563982407, + 0.2519023091834058 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9741499890446758, + 0.9408180102202937, + 0.8836774750927816 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4993.875413852776, + "intensity": 0.9408180102202937 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8561954797527839, + 0.8201303411197758, + 0.7583043891774762 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4871.787336288068, + "intensity": 0.8201303411197758 + }, + "point_color_scale": [ + 1.067253965558207, + 1.027358826634642, + 0.9589671599085307 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6dc87e1d637ceefc0c5868268d0ec2d384f4611 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.229544664938692, + "K": [ + [ + 334.7025885347497, + 0.0, + 330.5873887990829 + ], + [ + 0.0, + 339.92107593454307, + 257.6694882106876 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.618874312802372, + -14.242327373966933, + 1.5241777155831622 + ], + "camera_target": [ + -13.13527063764658, + -15.315766032073244, + 0.9286015610799568 + ], + "camera_roll_rad": -0.019336072895856787, + "camera_pose_world_cv": [ + [ + -0.9079692363739014, + 0.15888221561908722, + -0.3877480924129486, + -12.618874549865723 + ], + [ + 0.417607843875885, + 0.4194544553756714, + -0.8060160875320435, + -14.242327690124512 + ], + [ + 0.034581005573272705, + -0.8937643766403198, + -0.4472019672393799, + 1.5241776704788208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2837006315984138, + 0.29450252591290726, + 0.2971563814680254 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.8970207956302265, + 0.9366547552052736, + 1.000069090525349 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6332.201839097573, + "intensity": 0.9525083390352925 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.9283643995869023, + 0.9357416606327212, + 0.9475452783060317 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5657.181623046473, + "intensity": 0.9386925650510489 + }, + "point_color_scale": [ + 0.8649189835654394, + 0.8338858731545252, + 0.780686255307244 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6f9ab572473c5f4ea493e22c0dec959728dfc6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8990328940951321, + "K": [ + [ + 504.0261616017901, + 0.0, + 345.638751426028 + ], + [ + 0.0, + 497.4517839782841, + 261.1376902150494 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.350693909297137, + -13.847763991690492, + 1.5816805582268683 + ], + "camera_target": [ + -13.15159470592197, + -15.328324351219665, + 0.8832360933775386 + ], + "camera_roll_rad": 0.012466865615403527, + "camera_pose_world_cv": [ + [ + -0.8747384548187256, + 0.2042165994644165, + -0.43946409225463867, + -12.350693702697754 + ], + [ + 0.48404836654663086, + 0.32511913776397705, + -0.812400758266449, + -13.847764015197754 + ], + [ + -0.023027583956718445, + -0.9233598113059998, + -0.38324469327926636, + 1.5816805362701416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32645431039050576, + 0.35085707871987615, + 0.3469166730471482 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0567149651664196, + 1.103493531768119, + 1.1783392383308382 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6333.690249738835, + "intensity": 1.1222049584087987 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8580445841342389, + 0.8278997718949632, + 0.7762229509133476 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4979.840205945325, + "intensity": 0.8278997718949632 + }, + "point_color_scale": [ + 1.0282582098388424, + 1.0410797510450989, + 1.061594216975109 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..833292769f8b7f055151af0b9572713ebd017848 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0871952203960038, + "K": [ + [ + 387.4903656779535, + 0.0, + 306.28365556229176 + ], + [ + 0.0, + 397.13368644810413, + 223.23793655690363 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.336904598024722, + -15.865954104135506, + 0.8074448706863601 + ], + "camera_target": [ + -13.125645832290337, + -15.28236161526725, + 0.9836297579044078 + ], + "camera_roll_rad": -0.03444140915495503, + "camera_pose_world_cv": [ + [ + 0.6031613945960999, + -0.10080161690711975, + -0.7912240028381348, + -12.336904525756836 + ], + [ + 0.7947371006011963, + 0.1602039337158203, + 0.5854297280311584, + -15.865954399108887 + ], + [ + 0.06774482131004333, + -0.9819236397743225, + 0.17673969268798828, + 0.8074448704719543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31219029101541657, + 0.29937780360384586, + 0.32529336054229335 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1839118901683137, + 1.1533583372626468, + 1.1009808179957898 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5121.557920793516, + "intensity": 1.1533583372626468 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5730565763348959, + 0.5598165470567342, + 0.537119354008457 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5162.133467835595, + "intensity": 0.5598165470567342 + }, + "point_color_scale": [ + 0.9903770958894972, + 0.9468905856677441, + 0.872342282430453 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe94f086e7553646fa6cce771e0e8380347a95d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3056513711984936, + "K": [ + [ + 314.29292720351077, + 0.0, + 295.54706392833685 + ], + [ + 0.0, + 313.859777470955, + 230.1759588722629 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.499409299934454, + -16.724374686382866, + 0.990785983248347 + ], + "camera_target": [ + -13.164044417580746, + -15.343512645846667, + 0.9288868484608385 + ], + "camera_roll_rad": 0.005788136881511606, + "camera_pose_world_cv": [ + [ + 0.9012012481689453, + 0.0070714205503463745, + -0.4333431124687195, + -12.499409675598145 + ], + [ + 0.4332464337348938, + -0.04138326644897461, + 0.9003250002861023, + -16.724374771118164 + ], + [ + -0.011566594243049622, + -0.9991183876991272, + -0.04035830497741699, + 0.9907859563827515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24341886777035987, + 0.25998948210687534, + 0.23799987155414667 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.8773407754261588, + 0.8918268283335644, + 0.9150045129854132 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5822.765373826226, + "intensity": 0.8976212494965267 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7342564324652483, + 0.7375299118542421, + 0.7427674788766323 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5588.611403670599, + "intensity": 0.7388393036098396 + }, + "point_color_scale": [ + 1.1085152907530957, + 1.1527986447671221, + 1.223652011189565 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b75e0627ddfab75e8aa365ce533d8fedd268b431 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9789613101438829, + "K": [ + [ + 461.14740960027217, + 0.0, + 345.60724534768775 + ], + [ + 0.0, + 450.51705455430766, + 239.98700592322805 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.532465754973131, + -16.19663291109108, + 1.5093983514800065 + ], + "camera_target": [ + -13.160723868155857, + -15.35517284264061, + 0.926604308873087 + ], + "camera_roll_rad": 0.017370428957154474, + "camera_pose_world_cv": [ + [ + 0.8108949661254883, + 0.2623065710067749, + -0.5231105089187622, + -12.532465934753418 + ], + [ + 0.5844031572341919, + -0.40937840938568115, + 0.7006299495697021, + -16.196632385253906 + ], + [ + -0.030370324850082397, + -0.8738447427749634, + -0.4852556586265564, + 1.509398341178894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3360227520883765, + 0.32968713436557445, + 0.3263355406675895 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1425436841957268, + 1.0740032827157329, + 0.9565054516071719 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4588.318808397439, + "intensity": 1.0740032827157329 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7880855275217631, + 0.769662471949437, + 0.7380800909683067 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5158.049446649679, + "intensity": 0.769662471949437 + }, + "point_color_scale": [ + 1.1357589183976124, + 1.112188373255071, + 1.0717817244392858 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a975bc5167fe86e11d2df4fc504f64a8480d257 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0828325164458341, + "K": [ + [ + 396.25949896369207, + 0.0, + 296.95739244201127 + ], + [ + 0.0, + 399.09777133042417, + 217.74340398596527 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.247982170560384, + -14.077404194354123, + 1.451180300503952 + ], + "camera_target": [ + -13.213135853920654, + -15.319666257089995, + 0.9438195084753539 + ], + "camera_roll_rad": 0.04402418215975985, + "camera_pose_world_cv": [ + [ + -0.996666669845581, + 0.0773429349064827, + 0.02595967799425125, + -13.247982025146484 + ], + [ + 0.005292557179927826, + 0.3788243532180786, + -0.9254534840583801, + -14.077404022216797 + ], + [ + -0.0814114436507225, + -0.922231137752533, + -0.377970814704895, + 1.451180338859558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26934057528169997, + 0.25695788010594295, + 0.256651731044474 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1674922187845107, + 1.1795592115685858, + 1.198866400023106 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5703.76790498397, + "intensity": 1.1843860086822158 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8114743637265227, + 0.8162523646033123, + 0.8238971660061757 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5616.798182697321, + "intensity": 0.8181635649540282 + }, + "point_color_scale": [ + 0.8507419683427885, + 0.866792417487944, + 0.8924731361201931 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7140e390f32ce4060d42411318df2831a43e2854 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.00669910870178, + "K": [ + [ + 457.01582090039557, + 0.0, + 291.4526904971168 + ], + [ + 0.0, + 435.8408681572897, + 217.02521070334427 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.219897009732778, + -14.786554237765333, + 0.8024167655773824 + ], + "camera_target": [ + -13.207016930819265, + -15.318007136951376, + 0.914458802091736 + ], + "camera_roll_rad": -0.04946431547821282, + "camera_pose_world_cv": [ + [ + -0.46308350563049316, + -0.13395339250564575, + -0.8761336803436279, + -12.219897270202637 + ], + [ + 0.8808491826057434, + 0.040053367614746094, + -0.47169965505599976, + -14.786554336547852 + ], + [ + 0.09827777743339539, + -0.9901779294013977, + 0.09944474697113037, + 0.8024167418479919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2780232976346291, + 0.2611582767755182, + 0.27199134159751504 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0212873240302667, + 1.0227386780547618, + 1.0250608444939542 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5528.365616449007, + "intensity": 1.02331921966456 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6855637039349952, + 0.6885156435431005, + 0.693238746916069 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5585.6011289932985, + "intensity": 0.6896964193863426 + }, + "point_color_scale": [ + 0.9561832627596349, + 0.9959574511559806, + 1.0595961525901338 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7acda9e3c27b6e3bcc003ca1335c67bce79cb584 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7969457789764414, + "K": [ + [ + 572.6533924253349, + 0.0, + 300.971904270102 + ], + [ + 0.0, + 570.0789894558071, + 249.77734183691214 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.753355030791393, + -15.884238263430202, + 0.7833507147709031 + ], + "camera_target": [ + -13.17334359382602, + -15.366973498560808, + 0.9710291389063588 + ], + "camera_roll_rad": -0.030786599074587286, + "camera_pose_world_cv": [ + [ + 0.3487485647201538, + -0.09451502561569214, + -0.9324384927749634, + -11.753355026245117 + ], + [ + 0.9352249503135681, + 0.09991931915283203, + 0.3396627604961395, + -15.884238243103027 + ], + [ + 0.06106528639793396, + -0.9904965162277222, + 0.12323963642120361, + 0.7833507061004639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28172139440349414, + 0.2557795636618436, + 0.2805047694641773 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.089878651138351, + 1.1144966214669823, + 1.1538853739927928 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5937.9082291105215, + "intensity": 1.1243438095984348 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5996641065391846, + 0.6136643576809465, + 0.6360647595077655 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5952.157425080252, + "intensity": 0.6192644581376512 + }, + "point_color_scale": [ + 0.9127753660141358, + 0.9266677663173681, + 0.9488956068025401 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c6d252b05dbf6b1e7ce2a59d9d93c586b43a1a7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9807290001662317, + "K": [ + [ + 443.8734112647478, + 0.0, + 317.0705407520084 + ], + [ + 0.0, + 449.55906197258065, + 253.07388890686914 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.997041172163328, + -14.05537524902143, + 0.7962375808207512 + ], + "camera_target": [ + -13.194489783325988, + -15.326935616816174, + 1.0197605479736291 + ], + "camera_roll_rad": -0.03394997605825007, + "camera_pose_world_cv": [ + [ + -0.9840991497039795, + -0.09324415773153305, + -0.1511780023574829, + -12.997040748596191 + ], + [ + 0.16456231474876404, + -0.15831458568572998, + -0.973578929901123, + -14.055375099182129 + ], + [ + 0.06684684008359909, + -0.9829761981964111, + 0.17114198207855225, + 0.796237587928772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33322120066297456, + 0.3110919797865372, + 0.32699335500649973 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9836399207583696, + 0.984736285931465, + 0.9864904702084174 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5522.257271247354, + "intensity": 0.9851748320007031 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6563910689342415, + 0.6602952197665318, + 0.6665418610981964 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5617.975681742666, + "intensity": 0.661856880099448 + }, + "point_color_scale": [ + 1.0670211199324222, + 1.0873275884748927, + 1.1198179381428455 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ef650ef1395c5215f25d27af0ce78324b88ebe0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8040370521483875, + "K": [ + [ + 550.3219892180571, + 0.0, + 302.18025242466274 + ], + [ + 0.0, + 564.473982911217, + 260.39031618026263 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.370323565627265, + -17.02001533799884, + 1.0650329884288134 + ], + "camera_target": [ + -13.11913886663574, + -15.27729496942597, + 0.9963913800544654 + ], + "camera_roll_rad": 0.014213872834521468, + "camera_pose_world_cv": [ + [ + 0.918809711933136, + -0.011843830347061157, + -0.3945230543613434, + -12.370323181152344 + ], + [ + 0.39367735385894775, + -0.04443490505218506, + 0.9181742072105408, + -17.020015716552734 + ], + [ + -0.028405338525772095, + -0.9989421963691711, + -0.03616458177566528, + 1.065032958984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9285090565681458, + -0.37130969762802124, + 0.0, + -13.165313720703125 + ], + [ + 0.37130969762802124, + 0.9285090565681458, + 0.0, + -15.326964378356934 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2911034618583578, + 0.27544544966057377, + 0.28391592133165405 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0037940442582287, + 1.0164335335373849, + 1.0366567163840343 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5747.471782959259, + "intensity": 1.0214893292490472 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8460494727369652, + 0.8610023413271635, + 0.8849269310714808 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5844.9401005670525, + "intensity": 0.8669834887632428 + }, + "point_color_scale": [ + 1.1108017429334747, + 1.1358050151826522, + 1.1758102507813366 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae90e320f01a376a374147f952430f60155066e8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1207257000121682, + "K": [ + [ + 385.1870670405167, + 0.0, + 336.6311541919499 + ], + [ + 0.0, + 382.49747403728185, + 249.4638798227831 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.57444847837866, + -17.285387580547397, + 0.9722255246501399 + ], + "camera_target": [ + -13.187169256778503, + -16.67301228238554, + 0.9413379629236309 + ], + "camera_roll_rad": -0.03606458802757315, + "camera_pose_world_cv": [ + [ + 0.7032530307769775, + 0.07608237862586975, + -0.7068568468093872, + -12.574448585510254 + ], + [ + 0.707282304763794, + 0.025849461555480957, + 0.7064586281776428, + -17.28538703918457 + ], + [ + 0.07202085852622986, + -0.9967665076255798, + -0.0356329083442688, + 0.972225546836853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7600027918815613, + -0.6499198079109192, + 0.0, + -13.182621002197266 + ], + [ + 0.6499198079109192, + 0.7600027918815613, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3651649508056978, + 0.384264978406475, + 0.38921209172857923 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0766380376064582, + 1.0979814289927206, + 1.13213085521074 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5885.775490936774, + "intensity": 1.1065187855472254 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6490232047233064, + 0.6469811620929813, + 0.6434805175838526 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5454.910530189624, + "intensity": 0.6469811620929813 + }, + "point_color_scale": [ + 0.944721220061658, + 0.9339932005564723, + 0.9156023099761541 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10485ec90b2b332d5bc00600c7ca8fc527f717ae --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3043796257698081, + "K": [ + [ + 329.91129563556143, + 0.0, + 336.49694923903047 + ], + [ + 0.0, + 314.2737250506416, + 253.07995818664256 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.671692603740954, + -14.923988094489284, + 1.3752576989106728 + ], + "camera_target": [ + -13.224835543738989, + -16.657466971609608, + 0.8823747781503014 + ], + "camera_roll_rad": 0.029013058645420364, + "camera_pose_world_cv": [ + [ + -0.9464619159698486, + 0.13459512591362, + -0.2934184968471527, + -12.671692848205566 + ], + [ + 0.31792595982551575, + 0.2310314178466797, + -0.9195367693901062, + -14.923988342285156 + ], + [ + -0.05597630888223648, + -0.9635916352272034, + -0.26145344972610474, + 1.3752577304840088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2933460407692693, + 0.27993716289491544, + 0.30357626811821825 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9337534413409289, + 0.9214298367327738, + 0.9003036574045078 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5308.936625032175, + "intensity": 0.9214298367327738 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.85480420204167, + 0.8808754150989556, + 0.9225893559906126 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 6085.012879397718, + "intensity": 0.8913039003218699 + }, + "point_color_scale": [ + 1.1450885292983013, + 1.102604797109369, + 1.0297755419283425 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8979e38f443e5734181ebb3ccfd8ef255c886d87 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8683952372547474, + "K": [ + [ + 492.63816273828644, + 0.0, + 341.8590223942173 + ], + [ + 0.0, + 517.5633279515199, + 242.15470522496636 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.947095657446415, + -16.75917996866078, + 1.1871302764053107 + ], + "camera_target": [ + -13.178362998380287, + -16.599220133345092, + 0.9419656753383381 + ], + "camera_roll_rad": 0.015023056972706006, + "camera_pose_world_cv": [ + [ + 0.13454502820968628, + 0.1881447434425354, + -0.9728819727897644, + -11.94709587097168 + ], + [ + 0.9904691576957703, + -0.05473679304122925, + 0.12639179825782776, + -16.759180068969727 + ], + [ + -0.029472529888153076, + -0.9806149005889893, + -0.19371604919433594, + 1.187130331993103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3582880401216595, + 0.3325260688628434, + 0.3391944033734509 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.027145782251799, + 0.9937194599556467, + 0.9364171931622426 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5019.463078677811, + "intensity": 0.9937194599556467 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5832073893327017, + 0.5926591355196945, + 0.6077819294188832 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5816.938797453968, + "intensity": 0.5964398339944917 + }, + "point_color_scale": [ + 0.9733294479866813, + 0.9935397403257862, + 1.0258762080683537 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbf58d1b939a5647262806af5124b03da51104e3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0283606127773721, + "K": [ + [ + 417.65734181987244, + 0.0, + 323.5769377011166 + ], + [ + 0.0, + 424.8841468437766, + 262.4417738919821 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.250765589904296, + -17.538582125041764, + 1.08443896228543 + ], + "camera_target": [ + -13.183351936103131, + -16.62151887503937, + 1.0174240430168129 + ], + "camera_roll_rad": 0.005216127382811103, + "camera_pose_world_cv": [ + [ + 0.9971991181373596, + -0.01573256030678749, + 0.07311944663524628, + -13.250765800476074 + ], + [ + -0.07406561076641083, + -0.07172167301177979, + 0.9946710467338562, + -17.53858184814453 + ], + [ + -0.010404463857412338, + -0.9973006844520569, + -0.07268601655960083, + 1.0844389200210571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7600027918815613, + -0.6499198079109192, + 0.0, + -13.182621002197266 + ], + [ + 0.6499198079109192, + 0.7600027918815613, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2895013364468286, + 0.2901475030479768, + 0.2865965632966116 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0882983101246122, + 1.080597843302251, + 1.0673970430353457 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5398.198326442423, + "intensity": 1.080597843302251 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6519357731779662, + 0.6475054677899922, + 0.6399106585534653 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5402.255532780173, + "intensity": 0.6475054677899922 + }, + "point_color_scale": [ + 1.0075964091301788, + 1.0343120638495975, + 1.0770571114006673 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42cee07659baaf3d8c3a80a669887cdd723c01b8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1150256462380999, + "K": [ + [ + 398.51720232658516, + 0.0, + 302.3807896356386 + ], + [ + 0.0, + 384.9299158767259, + 242.76451220195042 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.598845941149342, + -15.036586026472838, + 0.9680244672498033 + ], + "camera_target": [ + -13.14859251075825, + -16.66536917532105, + 0.9411484853082059 + ], + "camera_roll_rad": -0.023200055835382465, + "camera_pose_world_cv": [ + [ + -0.9466984272003174, + -0.0389539897441864, + -0.3197568655014038, + -12.598845481872559 + ], + [ + 0.31876474618911743, + 0.029628634452819824, + -0.9473706483840942, + -15.036585807800293 + ], + [ + 0.04637782275676727, + -0.998801589012146, + -0.015632271766662598, + 0.968024492263794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27452414263169905, + 0.25755279389294483, + 0.26050978715917233 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9571887356299735, + 0.9666279820853917, + 0.981730776414061 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5694.542676279315, + "intensity": 0.9704036806675591 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8829195385319248, + 0.8573989740807928, + 0.8136494350217094 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5074.784314910232, + "intensity": 0.8573989740807928 + }, + "point_color_scale": [ + 1.0233383997356076, + 1.026165803275848, + 1.0306896489402328 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..585fb3cb5670d27e0caf20179a4b29f7f620941c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8543922771586034, + "K": [ + [ + 503.25025443717215, + 0.0, + 295.24459328353026 + ], + [ + 0.0, + 527.2039822821624, + 248.0599908859687 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.012624685665191, + -17.47515333978065, + 1.4910177487760476 + ], + "camera_target": [ + -13.198886533195978, + -16.6758592010416, + 0.9330004876052922 + ], + "camera_roll_rad": 0.01338049956579429, + "camera_pose_world_cv": [ + [ + 0.9769715666770935, + 0.10150225460529327, + -0.18768003582954407, + -13.012624740600586 + ], + [ + 0.21221892535686493, + -0.5534700155258179, + 0.8053781390190125, + -17.47515296936035 + ], + [ + -0.022127553820610046, + -0.8266608119010925, + -0.562265157699585, + 1.4910176992416382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7600027918815613, + -0.6499198079109192, + 0.0, + -13.182621002197266 + ], + [ + 0.6499198079109192, + 0.7600027918815613, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2176661026672505, + 0.2389706802389732, + 0.21983290397650504 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0046496617781449, + 1.004023361251028, + 1.0029497032045422 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5491.088702979745, + "intensity": 1.004023361251028 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8251469121269632, + 0.7919327921207234, + 0.7349943006814551 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4900.848868260733, + "intensity": 0.7919327921207234 + }, + "point_color_scale": [ + 0.8777883630963427, + 0.8473141830691695, + 0.7950727315940157 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6bbcde1af3ef9d5539c747e145218a9553c90f7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8672946212638848, + "K": [ + [ + 527.0391699167985, + 0.0, + 330.8732938091212 + ], + [ + 0.0, + 518.3105052913168, + 216.91382184338872 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.617542275812411, + -15.163206955032749, + 0.8679091152023114 + ], + "camera_target": [ + -13.219519442322865, + -16.608117353480573, + 0.8860381840732428 + ], + "camera_roll_rad": -0.01396757683353645, + "camera_pose_world_cv": [ + [ + -0.9226078987121582, + -0.03023548424243927, + -0.384552001953125, + -12.617542266845703 + ], + [ + 0.384726345539093, + 5.5670738220214844e-05, + -0.92303067445755, + -15.163207054138184 + ], + [ + 0.027929678559303284, + -0.999542772769928, + 0.011580944061279297, + 0.8679091334342957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38365350054145986, + 0.38270061690782475, + 0.3936378256354068 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0494489767545334, + 1.1038186691936076, + 1.1908101770961268 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6466.08579251252, + "intensity": 1.1255665461692375 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6062545851173766, + 0.6311737862298038, + 0.6710445080096875 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 6277.3386189375215, + "intensity": 0.6411414666747748 + }, + "point_color_scale": [ + 1.015112876782734, + 0.9855843416296858, + 0.9349639956530315 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4df2bf67125c06af8ec600a9d8d082e982fe996f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.950311554615277, + "K": [ + [ + 476.45731066908775, + 0.0, + 321.0861433277609 + ], + [ + 0.0, + 466.5003153556926, + 240.9581143106684 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.15514785380061, + -17.411630706975007, + 1.3914613842200674 + ], + "camera_target": [ + -13.227538980855664, + -16.590123133222704, + 0.9706102126261887 + ], + "camera_roll_rad": -0.010126453594616593, + "camera_pose_world_cv": [ + [ + 0.6032180786132812, + 0.24838483333587646, + -0.7579135894775391, + -12.155147552490234 + ], + [ + 0.7973419427871704, + -0.16476494073867798, + 0.5806018710136414, + -17.411630630493164 + ], + [ + 0.019335001707077026, + -0.954545795917511, + -0.29743677377700806, + 1.3914613723754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23047474123170655, + 0.22146770084756334, + 0.21812484768975085 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9950377116104605, + 0.9534935335124723, + 0.8822749424873498 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4877.564464064691, + "intensity": 0.9534935335124723 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7870499270608347, + 0.7548928452569941, + 0.6997664193075532 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4891.454183466775, + "intensity": 0.7548928452569941 + }, + "point_color_scale": [ + 0.9549422348252721, + 0.9403314242204294, + 0.9152843203264136 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85f6d76ec8cf811c9cbf5136b7c67af3def0eb6f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8009855807907669, + "K": [ + [ + 579.1730622753406, + 0.0, + 342.3990487513686 + ], + [ + 0.0, + 566.8743855709479, + 261.817942298342 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.444288505794736, + -16.72512967812266, + 0.684070893426898 + ], + "camera_target": [ + -13.183166732121661, + -16.656038404020897, + 0.9925058001194673 + ], + "camera_roll_rad": 0.03654275711486393, + "camera_pose_world_cv": [ + [ + 0.026863038539886475, + -0.176812082529068, + -0.9838778972625732, + -11.44428825378418 + ], + [ + 0.9970500469207764, + -0.06605273485183716, + 0.03909292817115784, + -16.725130081176758 + ], + [ + -0.07189986109733582, + -0.9820257425308228, + 0.17451608180999756, + 0.684070885181427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7600027918815613, + -0.6499198079109192, + 0.0, + -13.182621002197266 + ], + [ + 0.6499198079109192, + 0.7600027918815613, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2421095666885651, + 0.25419930087481996, + 0.23998545217534395 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9387059710671755, + 0.9070732431537201, + 0.8528457095877965 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5001.808573386857, + "intensity": 0.9070732431537201 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8998409643493315, + 0.9344801680765819, + 0.9899028940401823 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 6230.52608404604, + "intensity": 0.948335849567482 + }, + "point_color_scale": [ + 1.073507983127657, + 1.075835203998947, + 1.0795587573930108 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..012e44461335051437ef37dbde27ec9ba14ec14e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8918663260149551, + "K": [ + [ + 516.9725276227254, + 0.0, + 289.55349008133936 + ], + [ + 0.0, + 502.0405115940674, + 246.58317796539257 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.050043919553957, + -17.50048291901885, + 1.6439767601351307 + ], + "camera_target": [ + -13.211866947539658, + -16.630065207490272, + 0.9369933839986502 + ], + "camera_roll_rad": -0.015080512130381737, + "camera_pose_world_cv": [ + [ + 0.5887409448623657, + 0.3683311641216278, + -0.7195250391960144, + -12.050044059753418 + ], + [ + 0.8078669309616089, + -0.2382662296295166, + 0.5390548706054688, + -17.5004825592041 + ], + [ + 0.027112185955047607, + -0.898644208908081, + -0.43783968687057495, + 1.6439768075942993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2446935721617483, + 0.2559200669348395, + 0.24596945246328453 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.174006617679808, + 1.1486091706501709, + 1.1050706900279357 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5184.121735118495, + "intensity": 1.1486091706501709 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.852047796339467, + 0.8327138922808867, + 0.799570056751892 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5168.315093613061, + "intensity": 0.8327138922808867 + }, + "point_color_scale": [ + 0.9977744685516846, + 0.9856313995869508, + 0.9648147099331212 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9c89e5664eda1237ad500437fe30fab12239bb6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1083061183047005, + "K": [ + [ + 385.4179253449471, + 0.0, + 324.6361336213628 + ], + [ + 0.0, + 387.82612559835286, + 239.16484598765555 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.781525236539407, + -18.283282217568424, + 1.378979691647169 + ], + "camera_target": [ + -13.175217079388727, + -16.577205461634815, + 0.8890175648953492 + ], + "camera_roll_rad": -0.025217488390839246, + "camera_pose_world_cv": [ + [ + 0.9454777836799622, + -0.039856165647506714, + 0.32323867082595825, + -13.781525611877441 + ], + [ + -0.32203051447868347, + -0.2626991271972656, + 0.9095524549484253, + -18.283281326293945 + ], + [ + 0.04866327345371246, + -0.9640543460845947, + -0.261211097240448, + 1.3789796829223633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7600027918815613, + -0.6499198079109192, + 0.0, + -13.182621002197266 + ], + [ + 0.6499198079109192, + 0.7600027918815613, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3915342796275938, + 0.36873961493250057, + 0.3621013608157489 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9326578577826199, + 0.8811592364079774, + 0.7928758854800192 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4665.083266827733, + "intensity": 0.8811592364079774 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6506128798990161, + 0.6229950632536281, + 0.5756502347186773 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4866.704070284686, + "intensity": 0.6229950632536281 + }, + "point_color_scale": [ + 1.0599978575289206, + 1.0581181618433968, + 1.0548958263824986 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf7985b5f8017adfca5baaca35787a273a7181b8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.851304915533712, + "K": [ + [ + 508.21366652449007, + 0.0, + 348.85616335776365 + ], + [ + 0.0, + 529.3695477811416, + 253.4804997116696 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.0477261291107, + -17.786177212153014, + 1.0847656571055344 + ], + "camera_target": [ + -13.156557651403876, + -16.637735225377565, + 0.960714973134603 + ], + "camera_roll_rad": 0.050641406696142324, + "camera_pose_world_cv": [ + [ + 0.7211580276489258, + -0.019201695919036865, + -0.6925044059753418, + -12.047725677490234 + ], + [ + 0.6853971481323242, + -0.12567943334579468, + 0.7172415852546692, + -17.786176681518555 + ], + [ + -0.10080587863922119, + -0.9918851256370544, + -0.07747393846511841, + 1.0847656726837158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32186072706263263, + 0.32963932248690114, + 0.32940769496748584 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.128736438775715, + 1.1096615664818574, + 1.076961785406673 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5254.431275392837, + "intensity": 1.1096615664818574 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6015343730567189, + 0.6124158486845858, + 0.6298262096891728 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5852.854489332933, + "intensity": 0.6167684389357325 + }, + "point_color_scale": [ + 0.8188399427999998, + 0.8449124810691887, + 0.8866285422998912 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b975f53031b05df9781951b6e68fa854e6673c4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8502304499461238, + "K": [ + [ + 525.791656827182, + 0.0, + 334.57009709190334 + ], + [ + 0.0, + 530.126672082207, + 234.06134764612108 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.927965609386014, + -14.887704769871338, + 0.984602923208106 + ], + "camera_target": [ + -13.164626300724876, + -16.662272140532373, + 1.017683080959035 + ], + "camera_roll_rad": -0.00604544917566497, + "camera_pose_world_cv": [ + [ + -0.9911222457885742, + -0.014426488429307938, + -0.13216982781887054, + -12.92796516418457 + ], + [ + 0.1324041336774826, + -0.016712546348571777, + -0.9910550117492676, + -14.887704849243164 + ], + [ + 0.012088537216186523, + -0.9997563362121582, + 0.018474459648132324, + 0.9846029281616211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7600027918815613, + -0.6499198079109192, + 0.0, + -13.182621002197266 + ], + [ + 0.6499198079109192, + 0.7600027918815613, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22431109227494117, + 0.22591440525007248, + 0.22280853372716228 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.261082715928943, + 1.1896656203591314, + 1.0672363136680258 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4642.410938867098, + "intensity": 1.1896656203591314 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5911505637790131, + 0.6053005657505508, + 0.6279405689050112 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5963.205082177122, + "intensity": 0.6109605665391659 + }, + "point_color_scale": [ + 0.7857145420199847, + 0.7986620912798144, + 0.8193781700955415 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c92c9059bf90dde2632352c367731b5617354945 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.235594347243251, + "K": [ + [ + 345.72134493909357, + 0.0, + 292.17312778021284 + ], + [ + 0.0, + 337.74812794378494, + 245.92876094944907 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.28296612144534, + -17.49157298113516, + 0.8648516817117238 + ], + "camera_target": [ + -13.15907951713065, + -16.662341951295325, + 0.9947702406177631 + ], + "camera_roll_rad": 0.03177203583245228, + "camera_pose_world_cv": [ + [ + 0.6810817122459412, + -0.1212630569934845, + -0.72209632396698, + -12.282965660095215 + ], + [ + 0.7294803857803345, + 0.027339458465576172, + 0.6834553480148315, + -17.491573333740234 + ], + [ + -0.06313619017601013, + -0.9922438859939575, + 0.10707950592041016, + 0.8648516535758972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3754954661481125, + 0.3707364663856793, + 0.34174270910930277 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.129186980199307, + 1.1708280777947664, + 1.237453833947501 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6201.33289327455, + "intensity": 1.18748451683295 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7136921164478467, + 0.7108367142023606, + 0.7059417389243844 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5442.614865221792, + "intensity": 0.7108367142023606 + }, + "point_color_scale": [ + 0.9645318301479074, + 0.9651733904037392, + 0.9661998868130699 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc6bb3981dc129ae5d8f2388c0d9d103304b943 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9486868073843034, + "K": [ + [ + 484.061633111903, + 0.0, + 330.9710859445637 + ], + [ + 0.0, + 467.43338698532773, + 242.12248173973458 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.025554408810587, + -17.3055408964155, + 0.8948181384073928 + ], + "camera_target": [ + -13.175296767360615, + -16.607746456956324, + 0.9009473938098347 + ], + "camera_roll_rad": 0.02436062680804163, + "camera_pose_world_cv": [ + [ + 0.5180293917655945, + -0.029159516096115112, + -0.8548656702041626, + -12.025554656982422 + ], + [ + 0.8539752960205078, + -0.0392722487449646, + 0.5188294649124146, + -17.305540084838867 + ], + [ + -0.04870137572288513, + -0.9988030195236206, + 0.004557371139526367, + 0.894818127155304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2577195371577128, + 0.2537764611624812, + 0.23697134330725939 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9117335806443111, + 0.9207054143533437, + 0.9350603482877962 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5694.133733942353, + "intensity": 0.9242941478369568 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8171645435699342, + 0.8140816438613379, + 0.8087966729323154 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5445.900482168319, + "intensity": 0.8140816438613379 + }, + "point_color_scale": [ + 1.0298939083308905, + 1.0618989579264537, + 1.113107037279355 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4338494c412f3b9d41d943971a486328dec53c5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8169659386322873, + "K": [ + [ + 570.3819121588588, + 0.0, + 326.49892854988144 + ], + [ + 0.0, + 554.491769052322, + 262.3425491168617 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.830694748442346, + -17.48656366950123, + 0.984284264168734 + ], + "camera_target": [ + -13.204478081797308, + -16.613502333828418, + 0.9395276178645661 + ], + "camera_roll_rad": -0.003187982967742052, + "camera_pose_world_cv": [ + [ + 0.5362069010734558, + 0.0266171395778656, + -0.8436669111251831, + -11.830695152282715 + ], + [ + 0.8440625667572021, + -0.009360969066619873, + 0.5361632704734802, + -17.486562728881836 + ], + [ + 0.006373494863510132, + -0.9996020197868347, + -0.02748584747314453, + 0.9842842817306519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.760002851486206, + -0.6499197483062744, + 0.0, + -13.182621002197266 + ], + [ + 0.6499197483062744, + 0.760002851486206, + 0.0, + -16.626230239868164 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31589150683571077, + 0.3383708311759035, + 0.33592591427052193 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9140469883448612, + 0.8886289174254305, + 0.8450550815635494 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5091.3757793286295, + "intensity": 0.8886289174254305 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5733702807113464, + 0.565664350494451, + 0.5524541844083446 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5305.388624388308, + "intensity": 0.565664350494451 + }, + "point_color_scale": [ + 1.136180839738327, + 1.170207367810231, + 1.2246498127252776 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a14ed2680207d0b0deac1937f417f5eaad9c4680 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1997034065966505, + "K": [ + [ + 344.7672364989858, + 0.0, + 343.7209134994346 + ], + [ + 0.0, + 350.9186852872255, + 241.10561040475974 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -15.499207081275793, + -17.465647109992375, + 1.2099162014581624 + ], + "camera_target": [ + -13.795638969502658, + -16.63036595136795, + 0.9769730108471699 + ], + "camera_roll_rad": 0.05018828356234882, + "camera_pose_world_cv": [ + [ + 0.42706143856048584, + -0.1529802680015564, + 0.8911877870559692, + -15.499207496643066 + ], + [ + -0.8987358212471008, + 0.03659713268280029, + 0.4369608163833618, + -17.465646743774414 + ], + [ + -0.09946122765541077, + -0.9875514507293701, + -0.12185955047607422, + 1.2099162340164185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3246351726200401, + 0.3330206198440279, + 0.3241045095962152 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1576992597143287, + 1.1859317641960008, + 1.231103771366676 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5971.632483451969, + "intensity": 1.1972247659886694 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6179439999813809, + 0.612350378865811, + 0.6027613140962627 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5369.50465642305, + "intensity": 0.612350378865811 + }, + "point_color_scale": [ + 0.8308613914710751, + 0.865711982334839, + 0.9214729277168615 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41f9446f5c37675aba7c17749dd78131896ee046 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1152317314670628, + "K": [ + [ + 388.3208281949039, + 0.0, + 326.67290290458027 + ], + [ + 0.0, + 384.8415838666504, + 248.07833465696444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.951443387524947, + -17.72077968610683, + 1.4424529455002815 + ], + "camera_target": [ + -13.775909906651094, + -16.6346165948088, + 0.9469576519890405 + ], + "camera_roll_rad": -0.0006148791228456282, + "camera_pose_world_cv": [ + [ + 0.9872714877128601, + -0.0642969012260437, + 0.14546813070774078, + -13.951443672180176 + ], + [ + -0.15904028713703156, + -0.4055632948875427, + 0.9001248478889465, + -17.720779418945312 + ], + [ + 0.0011213123798370361, + -0.9118028283119202, + -0.4106268882751465, + 1.4424529075622559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34200906320068214, + 0.34913994748703014, + 0.36973434667788596 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9069383583335089, + 0.8911507615175054, + 0.8640863098329277 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5246.91476783634, + "intensity": 0.8911507615175054 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.9291205515292887, + 0.940147049541257, + 0.9577894463604063 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5733.4743258202725, + "intensity": 0.9445576487460443 + }, + "point_color_scale": [ + 1.1647121712252726, + 1.1648862932848043, + 1.1651648885800552 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f75692f43821096543af9adc754cc57eda711fbd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1242066347819875, + "K": [ + [ + 388.71210820403445, + 0.0, + 291.37630407791374 + ], + [ + 0.0, + 381.0228595163513, + 258.4814705049532 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.557666410467306, + -17.95389451075151, + 1.0441763748895845 + ], + "camera_target": [ + -13.823224423230396, + -16.606219247032556, + 0.919104689634795 + ], + "camera_roll_rad": 0.048278922635061755, + "camera_pose_world_cv": [ + [ + 0.9782535433769226, + -0.07713956385850906, + -0.19253437221050262, + -13.557666778564453 + ], + [ + 0.18385303020477295, + -0.1071927547454834, + 0.9770916104316711, + -17.953893661499023 + ], + [ + -0.0960107296705246, + -0.9912413954734802, + -0.0906793475151062, + 1.0441763401031494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24291477516196655, + 0.2316491491738923, + 0.22702626977421056 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.8676489879349927, + 0.8983052469360961, + 0.9473552613378619 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6173.343833735377, + "intensity": 0.9105677505365376 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7961899777065033, + 0.813577798635619, + 0.8413983121222041 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5923.817749582198, + "intensity": 0.8205329270072652 + }, + "point_color_scale": [ + 1.1183250179608828, + 1.0751877762692137, + 1.0012382190834952 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2942556613ad003ad5f240bc8c240e12bdf307ca --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8983348908627038, + "K": [ + [ + 494.41955665933756, + 0.0, + 311.5783719612261 + ], + [ + 0.0, + 497.8957127587134, + 240.5455055523293 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -15.01706093852107, + -17.592449838804157, + 1.6723291229380957 + ], + "camera_target": [ + -13.835779016699805, + -16.60134574354104, + 1.0124755695064795 + ], + "camera_roll_rad": -0.04957844841782965, + "camera_pose_world_cv": [ + [ + 0.6694246530532837, + -0.23627996444702148, + 0.7043027877807617, + -15.017061233520508 + ], + [ + -0.7372838854789734, + -0.3274627923965454, + 0.5909150838851929, + -17.592449188232422 + ], + [ + 0.09101158380508423, + -0.914844274520874, + -0.3934170603752136, + 1.672329068183899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3178328945388668, + 0.31721205327168267, + 0.3145005739550486 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0806271885254128, + 1.0139778588622617, + 0.8997218651540029 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4560.9920398355625, + "intensity": 1.0139778588622617 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6506937928756291, + 0.6509585157895365, + 0.6513820724517883 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5508.132003896776, + "intensity": 0.6510644049550994 + }, + "point_color_scale": [ + 1.0231479727938484, + 1.036970592789785, + 1.0590867847832839 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b7900c8b072b1b9fed06dd22544094f65dda76a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7919676113932621, + "K": [ + [ + 562.1467421211574, + 0.0, + 336.75514169105844 + ], + [ + 0.0, + 574.0705083900764, + 261.8328011563466 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.89102003430263, + -15.976804435167804, + 0.929176858326986 + ], + "camera_target": [ + -13.754169382020597, + -16.663229841160934, + 0.9791743998020143 + ], + "camera_roll_rad": -0.02748105833491994, + "camera_pose_world_cv": [ + [ + -0.5178713798522949, + 0.003763139247894287, + 0.855450451374054, + -14.891019821166992 + ], + [ + -0.8536955118179321, + -0.0664435625076294, + -0.5165165662765503, + -15.976804733276367 + ], + [ + 0.05489557981491089, + -0.9977831840515137, + 0.03762197494506836, + 0.9291768670082092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.263680637374539, + 0.2657396881172102, + 0.2847430548736215 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9380472611319008, + 0.953872545336125, + 0.9791930000628838 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5829.6238362933045, + "intensity": 0.9602026590178147 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7327239034257078, + 0.7042559181330612, + 0.6554536576313813 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4922.531648354813, + "intensity": 0.7042559181330612 + }, + "point_color_scale": [ + 0.8569115418937258, + 0.8740176536514727, + 0.9013874324638678 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..152d419d237b77e63fec8dc127a7f35a4ee91fa4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.232905468806793, + "K": [ + [ + 340.6879417540171, + 0.0, + 318.19131052701 + ], + [ + 0.0, + 338.71163893894663, + 256.3831518546846 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.795539912996302, + -17.737319187358686, + 1.3831330751496802 + ], + "camera_target": [ + -13.81962397273753, + -16.63137701380432, + 1.0234193717239939 + ], + "camera_roll_rad": 0.04751220749305132, + "camera_pose_world_cv": [ + [ + 0.9958913922309875, + -0.08815668523311615, + -0.02070460096001625, + -13.795539855957031 + ], + [ + -0.007660571485757828, + -0.3098366856575012, + 0.9507590532302856, + -17.737319946289062 + ], + [ + -0.090230792760849, + -0.9466941356658936, + -0.3092390298843384, + 1.383133053779602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27345178903754064, + 0.25844850913993456, + 0.2847583344885496 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0337031602537987, + 1.0377190555096971, + 1.0441444879191344 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5577.278881153143, + "intensity": 1.0393254136120564 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6537581361801866, + 0.6774741972484855, + 0.7154198949577636 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 6190.463479855503, + "intensity": 0.686960621675805 + }, + "point_color_scale": [ + 1.1638414978728286, + 1.1731870441745331, + 1.1881399182572605 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73078e84c20d2499a9d273984ddaf4da0ed9e12b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.804362439667258, + "K": [ + [ + 581.3349800766578, + 0.0, + 294.0244631500134 + ], + [ + 0.0, + 564.2190370650098, + 234.89662857184433 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.894187617166804, + -18.148235996509964, + 1.1625515729801557 + ], + "camera_target": [ + -13.838805439988148, + -16.60549134282806, + 0.907460050630664 + ], + "camera_roll_rad": 0.020140563640143744, + "camera_pose_world_cv": [ + [ + 0.9983100891113281, + -0.04608847573399544, + 0.03539581969380379, + -13.894187927246094 + ], + [ + -0.042407821863889694, + -0.16135013103485107, + 0.9859857559204102, + -18.148235321044922 + ], + [ + -0.039731454104185104, + -0.9858205318450928, + -0.1630319356918335, + 1.1625515222549438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2986604202624035, + 0.27943430397570856, + 0.2971267168491341 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.8861098378056693, + 0.8589922895797284, + 0.8125050640495438 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5049.013942518148, + "intensity": 0.8589922895797284 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.601006743454708, + 0.5892494397342747, + 0.5690940619278176 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5214.956908917524, + "intensity": 0.5892494397342747 + }, + "point_color_scale": [ + 0.8647401834205466, + 0.8743873366389457, + 0.8898227817883845 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39aa544d6cb2aebd65fbdb915a4883194098261b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2788354078959725, + "K": [ + [ + 335.8619464532267, + 0.0, + 334.06966379008577 + ], + [ + 0.0, + 322.73718783845976, + 231.41470787850275 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.746898228875015, + -15.59948759709218, + 1.337373857884271 + ], + "camera_target": [ + -13.79597994120213, + -16.660533895437002, + 1.0214788903467786 + ], + "camera_roll_rad": 0.03654356920622581, + "camera_pose_world_cv": [ + [ + -0.9953031539916992, + 0.08608096092939377, + -0.04429023340344429, + -13.746898651123047 + ], + [ + 0.06687771528959274, + 0.28062379360198975, + -0.9574850797653198, + -15.5994873046875 + ], + [ + -0.06999233365058899, + -0.9559500217437744, + -0.28506261110305786, + 1.3373738527297974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35953181084583613, + 0.3296924426320731, + 0.3497410126662237 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0918846096367631, + 1.1404047762263216, + 1.2180370427696154 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6336.689589844896, + "intensity": 1.159812842862145 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8274331220899575, + 0.832068953789956, + 0.8394862845099539 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5611.181250726847, + "intensity": 0.8339232864699555 + }, + "point_color_scale": [ + 0.8450252007802828, + 0.8808187243269144, + 0.9380883620015252 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01bebfeb6b2ac0807077e2de9d50c6b5fc6af27f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9980703403338496, + "K": [ + [ + 456.8129201175077, + 0.0, + 326.4091228476341 + ], + [ + 0.0, + 440.326276956524, + 256.57038437129046 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.0584024156626, + -15.100331638009573, + 1.5336493085030272 + ], + "camera_target": [ + -13.815283063393363, + -16.610201789159994, + 0.977561310279637 + ], + "camera_roll_rad": -0.033439732925596884, + "camera_pose_world_cv": [ + [ + -0.9814454317092896, + -0.12018364667892456, + 0.14940205216407776, + -14.058402061462402 + ], + [ + -0.18116411566734314, + 0.3260040283203125, + -0.9278475642204285, + -15.10033130645752 + ], + [ + 0.06280644237995148, + -0.9376979470252991, + -0.3417280316352844, + 1.5336493253707886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34433002673159296, + 0.35903836146414936, + 0.35365754725638676 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0086552948632368, + 0.9859741473721407, + 0.9470921802445476 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5171.374352366616, + "intensity": 0.9859741473721407 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5727418998717227, + 0.5561231353054261, + 0.5276338246203462 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5073.096482948371, + "intensity": 0.5561231353054261 + }, + "point_color_scale": [ + 1.0581180261724294, + 1.0767384276392347, + 1.1065310699861233 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d4ad09eddbc172e8ec5cad97c5489a0327805c9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2290575492499023, + "K": [ + [ + 350.29428579769996, + 0.0, + 344.6288409311518 + ], + [ + 0.0, + 340.09684969303015, + 262.0430935501984 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.163596703596847, + -17.576910093131026, + 1.3110935671692932 + ], + "camera_target": [ + -13.790495611837793, + -16.587647722841552, + 0.9067117256094819 + ], + "camera_roll_rad": -0.032070220676076094, + "camera_pose_world_cv": [ + [ + 0.9418219923973083, + -0.06583191454410553, + 0.3296019732952118, + -14.163597106933594 + ], + [ + -0.3307374119758606, + -0.3561844825744629, + 0.8739253282546997, + -17.5769100189209 + ], + [ + 0.05986696481704712, + -0.9320938587188721, + -0.35723549127578735, + 1.3110935688018799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37656576432199207, + 0.37981951339371883, + 0.353905915217714 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0842875555790437, + 1.1104079867876917, + 1.1522006767215287 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5966.079987027653, + "intensity": 1.120856159271151 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.9338034973562409, + 0.9141130625339977, + 0.8803580314101525 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5192.278846500366, + "intensity": 0.9141130625339977 + }, + "point_color_scale": [ + 0.9245578210925822, + 0.8933636659053272, + 0.8398879712986044 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..184b6ff5fabc0983520366687c68b98038d57b5f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0689379090604294, + "K": [ + [ + 402.8464670572273, + 0.0, + 293.04935503138705 + ], + [ + 0.0, + 405.4492693331673, + 254.83651987841034 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.807474014457789, + -15.572585429951666, + 1.6775915245323016 + ], + "camera_target": [ + -13.825216541488652, + -16.663227533677397, + 1.002634806694336 + ], + "camera_roll_rad": 0.022337586862596, + "camera_pose_world_cv": [ + [ + -0.7548093795776367, + -0.2461332529783249, + 0.6080144047737122, + -14.807474136352539 + ], + [ + -0.6546882390975952, + 0.34002685546875, + -0.6751038432121277, + -15.572585105895996 + ], + [ + -0.04057574272155762, + -0.907634437084198, + -0.41779589653015137, + 1.6775915622711182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31218041678916864, + 0.2919151534719446, + 0.3077069847099861 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0966112301411246, + 1.0371872096144932, + 0.9353174601402681 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4681.522322023809, + "intensity": 1.0371872096144932 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8837279401513033, + 0.87965397685929, + 0.8726700397872675 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5433.8382169225415, + "intensity": 0.87965397685929 + }, + "point_color_scale": [ + 1.12060124537347, + 1.1534687775131154, + 1.2060568289365483 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e023ef05c8f713398f272f78ba25e166009b9e9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1740951338041583, + "K": [ + [ + 359.20624902540567, + 0.0, + 331.7934767253529 + ], + [ + 0.0, + 360.74599749270226, + 247.69688832036545 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.003768799895795, + -17.276095231030276, + 1.101668414727515 + ], + "camera_target": [ + -13.792586668756316, + -16.639346401372286, + 0.938386370284006 + ], + "camera_roll_rad": -0.047968434592734935, + "camera_pose_world_cv": [ + [ + 0.6133726835250854, + 0.1833336055278778, + -0.7682205438613892, + -13.003768920898438 + ], + [ + 0.7841111421585083, + -0.024886250495910645, + 0.6201212406158447, + -17.276094436645508 + ], + [ + 0.09457093477249146, + -0.9827357530593872, + -0.1590183973312378, + 1.101668357849121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34547209498884873, + 0.35746246065415227, + 0.3633790422886143 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.110608816680133, + 1.1636589061981348, + 1.2485390494269386 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6395.451638767723, + "intensity": 1.1848789420053358 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6438329056356911, + 0.6138414677057671, + 0.5624275741116117 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4802.019925623537, + "intensity": 0.6138414677057671 + }, + "point_color_scale": [ + 1.0055548336303302, + 0.9797272113798914, + 0.9354512875219961 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71919a40a9a482a8d8d6fa18aa1f4abd8850960b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1901459614408845, + "K": [ + [ + 350.0586811904732, + 0.0, + 335.00248103559255 + ], + [ + 0.0, + 354.54289060335907, + 223.45963729062782 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.813090119727235, + -15.98843295231043, + 0.7949322838604492 + ], + "camera_target": [ + -13.751578371870266, + -16.64459331660223, + 0.9873004743044198 + ], + "camera_roll_rad": 0.013888867710859162, + "camera_pose_world_cv": [ + [ + -0.5219933986663818, + 0.14414343237876892, + 0.840681791305542, + -14.813090324401855 + ], + [ + -0.8525079488754272, + -0.056448519229888916, + -0.5196576118469238, + -15.988432884216309 + ], + [ + -0.02744990587234497, + -0.987945556640625, + 0.15234923362731934, + 0.7949323058128357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31088919694470807, + 0.3031099654793589, + 0.3010632965353789 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1373850811413344, + 1.171002571860896, + 1.224790557012195 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6067.647481557285, + "intensity": 1.1844495681487208 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6123464474189279, + 0.6292204947403083, + 0.6562189704545174 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 6030.6553549831315, + "intensity": 0.6359701136688606 + }, + "point_color_scale": [ + 0.8514183252515618, + 0.8726240566303732, + 0.9065532268364713 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed8476f74af0d24c7e6ce55edf23798c06bc671f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8861631912530157, + "K": [ + [ + 526.4269529650547, + 0.0, + 321.3212805270255 + ], + [ + 0.0, + 505.7416516950112, + 260.84697279207114 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -15.244754721724942, + -15.569579348966203, + 1.1948994088729066 + ], + "camera_target": [ + -13.838951015908972, + -16.63435731633118, + 0.9802952099534588 + ], + "camera_roll_rad": -0.0022172664260940236, + "camera_pose_world_cv": [ + [ + -0.6033438444137573, + -0.09897187352180481, + 0.7913159132003784, + -15.244754791259766 + ], + [ + -0.7974690198898315, + 0.06939983367919922, + -0.5993553400039673, + -15.569579124450684 + ], + [ + 0.004402130842208862, + -0.9926671981811523, + -0.12079894542694092, + 1.1948994398117065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36322624415712995, + 0.3815758289273203, + 0.38814070967063957 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9964862072113122, + 0.967577624116804, + 0.918020053097647 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5073.181780769331, + "intensity": 0.967577624116804 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.62790643461387, + 0.6317796376824485, + 0.6379767625921743 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5622.312528385577, + "intensity": 0.63332891890988 + }, + "point_color_scale": [ + 0.8784321692432046, + 0.9142563673183892, + 0.9715750842386848 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84ea312193ca9a8669509409234835ad939f1a11 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2142756647638422, + "K": [ + [ + 332.9943110238248, + 0.0, + 291.5614704128444 + ], + [ + 0.0, + 345.4892501729283, + 261.38749782947673 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.470595543566011, + -17.604289857892645, + 1.2086260738419528 + ], + "camera_target": [ + -13.749145524248673, + -16.66061709415709, + 0.9906741245293144 + ], + "camera_roll_rad": -0.031910925664398244, + "camera_pose_world_cv": [ + [ + 0.7998050451278687, + -0.05871841311454773, + 0.5973809957504272, + -14.470595359802246 + ], + [ + -0.5969729423522949, + -0.181815505027771, + 0.7813875079154968, + -17.604290008544922 + ], + [ + 0.0627312958240509, + -0.9815779328346252, + -0.1804702877998352, + 1.2086260318756104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24579319172023625, + 0.22468161639123385, + 0.22484900896701435 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0778762948964782, + 1.0134589052695346, + 0.9030290944804885 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4591.972631098143, + "intensity": 1.0134589052695346 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6075640819030546, + 0.6018115764530093, + 0.591950138538646 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5363.44787554485, + "intensity": 0.6018115764530093 + }, + "point_color_scale": [ + 1.1855976258167695, + 1.1592397414748605, + 1.1140547968887307 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d2cd1d906c53356f9541f23de67bbbfc4e3cf80 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2650203738225558, + "K": [ + [ + 312.3456735233792, + 0.0, + 314.0546580639921 + ], + [ + 0.0, + 327.4365602403738, + 235.51795618161756 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.405091700076685, + -18.013394944736515, + 1.5137325576060943 + ], + "camera_target": [ + -13.781646616827981, + -16.620974356879746, + 1.0082143800908574 + ], + "camera_roll_rad": -0.026969477519553003, + "camera_pose_world_cv": [ + [ + 0.9592652320861816, + 0.13825830817222595, + -0.24636319279670715, + -13.405091285705566 + ], + [ + 0.27788764238357544, + -0.30473047494888306, + 0.9109981656074524, + -18.013395309448242 + ], + [ + 0.05087869614362717, + -0.9423502087593079, + -0.3307376503944397, + 1.5137325525283813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9766110181808472, + 0.21501389145851135, + 0.0, + -13.798332214355469 + ], + [ + -0.21501389145851135, + 0.9766110181808472, + -0.0, + -16.623966217041016 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2656408623381519, + 0.2906199604377265, + 0.2816658779202437 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0189708347196433, + 0.9623917936533006, + 0.8653991518252846 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4660.142448674448, + "intensity": 0.9623917936533006 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.78988700567375, + 0.7851933887131293, + 0.7771471882092078 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5414.604896284335, + "intensity": 0.7851933887131293 + }, + "point_color_scale": [ + 0.9603990791607684, + 0.994132350929438, + 1.0481055857593093 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..213105607b293413a62857f2a2517e821fe68832 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1909701878217882, + "K": [ + [ + 365.97591648315785, + 0.0, + 301.64234370650564 + ], + [ + 0.0, + 354.22832950537537, + 231.72631267100905 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.26025131959798, + -14.337529595835075, + 1.3663945195980303 + ], + "camera_target": [ + -13.753152209076493, + -15.26332199043938, + 0.934033286924282 + ], + "camera_roll_rad": 0.019106788498488236, + "camera_pose_world_cv": [ + [ + -0.8833658695220947, + -0.1484481692314148, + 0.4445541501045227, + -14.26025104522705 + ], + [ + -0.4673492908477783, + 0.3505425453186035, + -0.8116064071655273, + -14.337529182434082 + ], + [ + -0.035353586077690125, + -0.9247071743011475, + -0.379034161567688, + 1.3663945198059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476900458335876, + 0.0, + -13.783746719360352 + ], + [ + -0.18476900458335876, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2428716092942022, + 0.2467297720137582, + 0.2659695099870968 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9204088450057357, + 0.9518167361254474, + 1.002069361916986 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6151.359311026352, + "intensity": 0.964379892573332 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7967968878264385, + 0.7710915696167846, + 0.7270253098288064 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5023.767544561557, + "intensity": 0.7710915696167846 + }, + "point_color_scale": [ + 0.9502044162180647, + 0.9567690925873571, + 0.9672725747782246 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01c44c53f98ef071a5aff0a9a77467c12f372662 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1381230038812695, + "K": [ + [ + 376.69071878720257, + 0.0, + 348.1498657108611 + ], + [ + 0.0, + 375.2079613037603, + 248.98297554171134 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.637693172157313, + -16.387156957383308, + 1.4176825984024193 + ], + "camera_target": [ + -13.81893855155875, + -15.254941827337417, + 1.0120658137141443 + ], + "camera_roll_rad": 0.03054338886562684, + "camera_pose_world_cv": [ + [ + 0.9888047575950623, + -0.007664933800697327, + -0.14901825785636902, + -13.637693405151367 + ], + [ + 0.13766896724700928, + -0.33833831548690796, + 0.9308998584747314, + -16.387157440185547 + ], + [ + -0.05755387991666794, + -0.9409934282302856, + -0.3334953188896179, + 1.4176826477050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476900458335876, + 0.0, + -13.783746719360352 + ], + [ + -0.18476900458335876, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23088527344251494, + 0.23625142512689004, + 0.22778602857529112 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1136970958961772, + 1.1592449472386603, + 1.2321215093866336 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6273.660136480725, + "intensity": 1.1774640877756537 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5846089454051512, + 0.5576510566118841, + 0.5114375329662835 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4809.4020131755915, + "intensity": 0.5576510566118841 + }, + "point_color_scale": [ + 0.8696629186586121, + 0.8302272028922444, + 0.7626231187213284 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe9f7e4d5fa3362d5ad03059f2e55fa18fcd4506 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8715692286523783, + "K": [ + [ + 494.0145786105823, + 0.0, + 294.50809516574 + ], + [ + 0.0, + 515.4184901628347, + 241.1584211500073 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.072265443497976, + -16.80162603769093, + 1.6633186363819528 + ], + "camera_target": [ + -13.790168713634927, + -15.249283536298705, + 1.0228358465438274 + ], + "camera_roll_rad": 0.00802838866722571, + "camera_pose_world_cv": [ + [ + 0.9826797246932983, + -0.08303934335708618, + 0.16566535830497742, + -14.072265625 + ], + [ + -0.18471387028694153, + -0.3671532869338989, + 0.9116355180740356, + -16.801626205444336 + ], + [ + -0.01487702876329422, + -0.9264464378356934, + -0.376132607460022, + 1.6633186340332031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3047765368771362, + 0.28953470820282484, + 0.28918545039915833 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9197135109668515, + 0.9515053654835519, + 1.0023723327102727 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6159.4301100613775, + "intensity": 0.9642221072902322 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8133602305781377, + 0.7906069998730421, + 0.7516014615214495 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5088.865070784682, + "intensity": 0.7906069998730421 + }, + "point_color_scale": [ + 0.9482903714974006, + 0.9448980308025593, + 0.9390825896114028 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9211b6bcf546dbc1d3b61b64759bd627b6a0850 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.082683670251211, + "K": [ + [ + 381.5462108243975, + 0.0, + 316.65241399693883 + ], + [ + 0.0, + 399.16503302658197, + 259.31625744896235 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -15.00339811934711, + -15.266624526421488, + 1.510349604637426 + ], + "camera_target": [ + -13.821605105962682, + -15.2899578352785, + 0.9061844161989526 + ], + "camera_roll_rad": -0.02272293819317445, + "camera_pose_world_cv": [ + [ + 0.0009524822235107422, + -0.45546120405197144, + 0.8902550935745239, + -15.003397941589355 + ], + [ + -0.9991809725761414, + -0.036446452140808105, + -0.017577290534973145, + -15.266624450683594 + ], + [ + 0.04045233130455017, + -0.8895092010498047, + -0.4551229476928711, + 1.5103496313095093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2655085023414816, + 0.2832369615376402, + 0.2711631000260569 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.925424605792701, + 0.940888152073014, + 0.9656298261215149 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5826.554277525854, + "intensity": 0.9470735705851392 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8233462639493881, + 0.7937987093289762, + 0.7431457585511272 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 4968.243122358357, + "intensity": 0.7937987093289762 + }, + "point_color_scale": [ + 0.925236266536606, + 0.9184645722412869, + 0.9068559534493111 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e44c61d4be042b87c9a9ed6b7da254fba6f64be0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9036628326557046, + "K": [ + [ + 479.4360376130019, + 0.0, + 293.3562981391141 + ], + [ + 0.0, + 494.52332802559204, + 241.03963040627053 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.991232941832598, + -14.429733428104399, + 1.0934840830573276 + ], + "camera_target": [ + -13.825653272603969, + -15.235155522857529, + 0.994724951026914 + ], + "camera_roll_rad": 0.018820228200455077, + "camera_pose_world_cv": [ + [ + -0.9797253608703613, + 0.012864537537097931, + 0.1999332308769226, + -13.991232872009277 + ], + [ + -0.19683191180229187, + 0.12430143356323242, + -0.9725258946418762, + -14.429733276367188 + ], + [ + -0.037363044917583466, + -0.992161214351654, + -0.11924880743026733, + 1.0934840440750122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32923576587239967, + 0.30070610100340783, + 0.31923691218056616 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9451007567672738, + 0.9698186956737876, + 1.0093673979242102 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6004.59917883966, + "intensity": 0.9797058712363932 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8350063363825364, + 0.8148278597708292, + 0.7802361855793312 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5146.227177753973, + "intensity": 0.8148278597708292 + }, + "point_color_scale": [ + 0.9769132002384063, + 1.0086309130561806, + 1.0593792535646194 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a9fe6a8a25bf7c96fb7a036f771206080857ada --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8181640441251988, + "K": [ + [ + 528.5015732815574, + 0.0, + 319.1591872002678 + ], + [ + 0.0, + 553.5818164062955, + 219.6031169474448 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.516790612609322, + -14.728006247653369, + 1.5589225390411952 + ], + "camera_target": [ + -13.830520179937626, + -15.247567590485332, + 0.9567888200368964 + ], + "camera_roll_rad": 0.047507830539633256, + "camera_pose_world_cv": [ + [ + -0.6442413330078125, + -0.39768099784851074, + 0.6533015966415405, + -14.516790390014648 + ], + [ + -0.7608611583709717, + 0.42007124423980713, + -0.4946012496948242, + -14.728006362915039 + ], + [ + -0.07773968577384949, + -0.8157143592834473, + -0.5732073187828064, + 1.558922529220581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476900458335876, + 0.0, + -13.783746719360352 + ], + [ + -0.18476900458335876, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3210893919312977, + 0.3151051478298587, + 0.3377084277513336 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9101939024507686, + 0.9402033268137159, + 0.9882184057944315 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6130.312974381223, + "intensity": 0.9522070965588948 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8233975033850007, + 0.8180323113763468, + 0.8088348393615113 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5406.304923341388, + "intensity": 0.8180323113763468 + }, + "point_color_scale": [ + 0.8206026908413773, + 0.8260733090531862, + 0.8348262981920804 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a76713465120d1bcff31fd5b983bf6d541e266f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2097093992386256, + "K": [ + [ + 363.24010998179176, + 0.0, + 288.0139510610985 + ], + [ + 0.0, + 347.17826104411773, + 232.47077887165344 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.686151512816009, + -15.463104826371227, + 1.0615052044963114 + ], + "camera_target": [ + -13.794138862430149, + -15.303291374129538, + 0.9955670540568439 + ], + "camera_roll_rad": 0.016649999316809702, + "camera_pose_world_cv": [ + [ + 0.17387688159942627, + -0.07726466655731201, + 0.9817317128181458, + -14.686151504516602 + ], + [ + -0.9842075109481812, + 0.0199812650680542, + 0.1758880913257599, + -15.463105201721191 + ], + [ + -0.033206045627593994, + -0.9968105554580688, + -0.07257002592086792, + 1.0615051984786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37058057468189387, + 0.34842680490726646, + 0.36719467149575624 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0596901947508508, + 1.0479496303839964, + 1.027822948612246 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5339.951899180058, + "intensity": 1.0479496303839964 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.5391235401557575, + 0.5514906397091177, + 0.5712779989944942 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5944.509940768044, + "intensity": 0.5564374795304619 + }, + "point_color_scale": [ + 0.9255803931650322, + 0.9370920955177012, + 0.9555108192819719 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da4f3830bfa6641a2554c3e9545804512ecef70e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.091047504513466, + "K": [ + [ + 394.5617521999957, + 0.0, + 347.184194634436 + ], + [ + 0.0, + 395.411142819691, + 218.54964757444222 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.418357628569064, + -14.52021596985339, + 1.5060311445885879 + ], + "camera_target": [ + -13.77001179936935, + -15.241989344067036, + 0.8880982855602144 + ], + "camera_roll_rad": -0.02840732085401289, + "camera_pose_world_cv": [ + [ + -0.9126983880996704, + 0.21565911173820496, + -0.3470924198627472, + -13.418357849121094 + ], + [ + 0.4061490595340729, + 0.572289228439331, + -0.7124102115631104, + -14.52021598815918 + ], + [ + 0.04499945044517517, + -0.7911868095397949, + -0.6099168658256531, + 1.5060311555862427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2755747695060316, + 0.27533943284611795, + 0.2736813769617621 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9869374073292205, + 1.023832967015859, + 1.0828658625144807 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6210.492444192661, + "intensity": 1.0385911908905143 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8595508970002491, + 0.870864389335811, + 0.8889659770727099 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5758.47896589627, + "intensity": 0.8753897862700357 + }, + "point_color_scale": [ + 0.8384116284584852, + 0.8569068283811321, + 0.8864991482573672 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f448631edadb85f1c076957e8c1ce650f50cbdbb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0286883024386129, + "K": [ + [ + 430.9277838303617, + 0.0, + 316.9692310099964 + ], + [ + 0.0, + 424.7216281399353, + 253.16450100264387 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.503586092926708, + -16.722161833226462, + 1.1992424818177077 + ], + "camera_target": [ + -13.748115013324078, + -15.213085058468213, + 1.0303385112964512 + ], + "camera_roll_rad": 0.030557303731270954, + "camera_pose_world_cv": [ + [ + 0.9863547086715698, + -0.042757678776979446, + -0.15898483991622925, + -13.503585815429688 + ], + [ + 0.1530327945947647, + -0.1179690957069397, + 0.9811546802520752, + -16.7221622467041 + ], + [ + -0.06070719659328461, + -0.9920964241027832, + -0.10981601476669312, + 1.1992424726486206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476900458335876, + 0.0, + -13.783746719360352 + ], + [ + -0.18476900458335876, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33714869082685434, + 0.34543465186431016, + 0.3343516961781428 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9731402313997168, + 1.0162613006755041, + 1.0852550115167638 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6334.458894608291, + "intensity": 1.033509728385819 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7187591830267099, + 0.7332451453547648, + 0.7564226850796526 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5892.021312376868, + "intensity": 0.7390395302859867 + }, + "point_color_scale": [ + 1.1581122741612313, + 1.130098825681103, + 1.0820757711437408 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c5841f88147d6c6868548eb89c3f3ba172900ad --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8068038145771196, + "K": [ + [ + 563.9988220515335, + 0.0, + 302.40588549906636 + ], + [ + 0.0, + 562.3123866369139, + 232.28797135129622 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.449736753799085, + -16.127995529226588, + 1.1717970505448314 + ], + "camera_target": [ + -13.743688763490177, + -15.211987033774003, + 0.9489388595983899 + ], + "camera_roll_rad": 0.02222946559256142, + "camera_pose_world_cv": [ + [ + 0.7861112356185913, + -0.15059907734394073, + 0.599457323551178, + -14.449736595153809 + ], + [ + -0.6165424585342407, + -0.12258166074752808, + 0.7777206897735596, + -16.12799644470215 + ], + [ + -0.04364144802093506, + -0.9809658527374268, + -0.18921351432800293, + 1.1717970371246338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476900458335876, + 0.0, + -13.783746719360352 + ], + [ + -0.18476900458335876, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26799046681424077, + 0.2652803126643815, + 0.2661033889475813 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9490218756660258, + 0.9824581678084998, + 1.0359562352364582 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6171.5242963471455, + "intensity": 0.9958326846654895 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6295621447234574, + 0.6478950562140388, + 0.6772277145989689 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 6059.588580232716, + "intensity": 0.6552282208102713 + }, + "point_color_scale": [ + 0.9339803487577921, + 0.9178430908934139, + 0.8901792202687656 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3cb41ca35804721f1d20f9ebeeb09010873aaf9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9033889220809899, + "K": [ + [ + 491.35541608477143, + 0.0, + 293.1065388149609 + ], + [ + 0.0, + 494.69579959382844, + 234.33118389254813 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -15.331220072014649, + -14.230587933558127, + 0.8934832112755424 + ], + "camera_target": [ + -13.771517831600844, + -15.260424021247472, + 0.961797709465877 + ], + "camera_roll_rad": 0.01813385851081184, + "camera_pose_world_cv": [ + [ + -0.5495359897613525, + 0.05044075846672058, + 0.8339462280273438, + -15.331219673156738 + ], + [ + -0.8346841335296631, + 0.010145902633666992, + -0.5506357550621033, + -14.23058795928955 + ], + [ + -0.036235511302948, + -0.9986756443977356, + 0.03652667999267578, + 0.8934832215309143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476900458335876, + 0.0, + -13.783746719360352 + ], + [ + -0.18476900458335876, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24640973472645963, + 0.22683304044260374, + 0.23487363548528353 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.8986548649310693, + 0.872264652853596, + 0.8270242892922133 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5067.788252745504, + "intensity": 0.872264652853596 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.9084021829049249, + 0.9185924577745963, + 0.9348968975660704 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5720.887005933782, + "intensity": 0.9226685677224649 + }, + "point_color_scale": [ + 0.8583138760557908, + 0.8649792181707716, + 0.875643765554741 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed16a5306b36848757a3af5489d0a2885e5553c7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0784450052316208, + "K": [ + [ + 409.40087667417976, + 0.0, + 329.63907687767517 + ], + [ + 0.0, + 401.0874478472326, + 242.59763609895364 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.617878691105197, + -15.47082459352884, + 1.2624097445837466 + ], + "camera_target": [ + -13.736814085730458, + -15.2425998477036, + 0.9972223929207065 + ], + "camera_roll_rad": -0.016139791324504993, + "camera_pose_world_cv": [ + [ + 0.259365975856781, + -0.2625648081302643, + 0.9294025301933289, + -14.617878913879395 + ], + [ + -0.9652819633483887, + -0.10135209560394287, + 0.24074587225914001, + -15.470824241638184 + ], + [ + 0.030985474586486816, + -0.9595767259597778, + -0.2797362804412842, + 1.2624096870422363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3224619647471975, + 0.32760563116103764, + 0.32120543909909427 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1974796667084522, + 1.1494982266524745, + 1.0672443294136555 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4903.697084724555, + "intensity": 1.1494982266524745 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6077229230264961, + 0.6127493444092311, + 0.6207916186216071 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5663.524695633271, + "intensity": 0.6147599129623251 + }, + "point_color_scale": [ + 0.9509828316270111, + 0.9364032213946183, + 0.9114096038533736 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db3e836761354ed4ee7c583080a4281d0da1677e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.304112319809807, + "K": [ + [ + 326.50625983100156, + 0.0, + 323.11273794449806 + ], + [ + 0.0, + 314.3608196512628, + 245.55271388504278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.638342099394196, + -13.629671823580928, + 0.9821092776355623 + ], + "camera_target": [ + -13.793468547273227, + -15.305892636352437, + 1.0201764808773373 + ], + "camera_roll_rad": 0.03638114973454304, + "camera_pose_world_cv": [ + [ + -0.8899552822113037, + 0.07401981949806213, + 0.450001060962677, + -14.638341903686523 + ], + [ + -0.45021888613700867, + 0.014663219451904297, + -0.8927978873252869, + -13.629672050476074 + ], + [ + -0.0726831704378128, + -0.9971490502357483, + 0.020275592803955078, + 0.9821092486381531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3492011661103001, + 0.33493735877322717, + 0.37050886936520994 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1313139712068607, + 1.111176555425627, + 1.0766552712292263 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 5241.105617375858, + "intensity": 1.111176555425627 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6118107730202429, + 0.6233473648134465, + 0.6418059116825723 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5867.429614055687, + "intensity": 0.627962001530728 + }, + "point_color_scale": [ + 0.8312965353883431, + 0.8411265867748824, + 0.8568546689933454 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e7daf914e883c1b7b0c59d026edfb3a6cef2a76 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9628627248322641, + "K": [ + [ + 473.78907742760094, + 0.0, + 345.4187275233601 + ], + [ + 0.0, + 459.3903567995675, + 247.9129361010135 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.732409547414315, + -14.498038734536859, + 1.1938551775120774 + ], + "camera_target": [ + -13.823190838987738, + -15.265487145167956, + 1.0060761644593714 + ], + "camera_roll_rad": -0.03774420146949855, + "camera_pose_world_cv": [ + [ + -0.6341946125030518, + -0.16743415594100952, + 0.7548266053199768, + -14.732409477233887 + ], + [ + -0.7695764899253845, + 0.04263567924499512, + -0.6371298432350159, + -14.498038291931152 + ], + [ + 0.07449477910995483, + -0.9849609732627869, + -0.15589261054992676, + 1.1938551664352417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3171017903679105, + 0.31340336952756853, + 0.30708780043007966 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.1316690929745472, + 1.069432737204306, + 0.9627418415981782 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 4668.633270903995, + "intensity": 1.069432737204306 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.7719850069385749, + 0.7504064471020347, + 0.7134146302393946 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5089.2024359432435, + "intensity": 0.7504064471020347 + }, + "point_color_scale": [ + 0.8715740145568178, + 0.8659369858157708, + 0.856273507973976 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf37767f8acf0856899a8be70e68b8996e2c9acd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9917268350328098, + "K": [ + [ + 464.3848245849947, + 0.0, + 350.2007842884814 + ], + [ + 0.0, + 443.6693055954456, + 226.31000766938072 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.104178845668002, + -16.479533655396015, + 1.374054278172355 + ], + "camera_target": [ + -13.74862036252469, + -15.245378192579972, + 0.9646533682460117 + ], + "camera_roll_rad": -0.003082614347496619, + "camera_pose_world_cv": [ + [ + 0.8856055736541748, + 0.13604077696800232, + -0.4440672993659973, + -13.104178428649902 + ], + [ + 0.4644005596637726, + -0.24720895290374756, + 0.8504234552383423, + -16.479534149169922 + ], + [ + 0.005914792418479919, + -0.9593647718429565, + -0.28210699558258057, + 1.3740543127059937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.319435351941811, + 0.3341818394980654, + 0.33091555993716815 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 0.9103393104593698, + 0.9558507438665913, + 1.0286690373181457 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6434.473280976904, + "intensity": 0.9740553172294799 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.6837047420657609, + 0.6885264710174642, + 0.6962412373401897 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5639.66812656044, + "intensity": 0.6904551625981457 + }, + "point_color_scale": [ + 1.1587782811348044, + 1.1763962910000327, + 1.2045851067843982 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5817b0d9f5f8e80a9acf614eca0e5ee915e55e3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000054/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 54, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8158377222532469, + "K": [ + [ + 552.3998024616837, + 0.0, + 307.32015824571096 + ], + [ + 0.0, + 555.3509471174117, + 221.8843297190392 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -14.635833261922444, + -14.441530185616022, + 0.7571308056145416 + ], + "camera_target": [ + -13.740811834413256, + -15.253437494738092, + 0.9198059695352755 + ], + "camera_roll_rad": -0.012775503531362586, + "camera_pose_world_cv": [ + [ + -0.6741855144500732, + 0.0816180408000946, + 0.7340383529663086, + -14.635832786560059 + ], + [ + -0.7381279468536377, + -0.10853266716003418, + -0.6658737659454346, + -14.441530227661133 + ], + [ + 0.025319844484329224, + -0.990736722946167, + 0.13341569900512695, + 0.7571308016777039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9827820062637329, + 0.18476898968219757, + 0.0, + -13.783746719360352 + ], + [ + -0.18476898968219757, + 0.9827820062637329, + -0.0, + -15.261980056762695 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2389203271643817, + 0.24186113435016213, + 0.2600938637540641 + ], + "directional_primary": { + "direction": [ + -0.08104438806984923, + 0.8021750938225327, + -0.5915631192131524 + ], + "color": [ + 1.0762644914963586, + 1.1307283814097755, + 1.2178706052712422 + ], + "azimuth_rad": 1.6714854646460653, + "elevation_rad": 0.6329961973976087, + "color_temp_k": 6445.131996190147, + "intensity": 1.152513937375142 + }, + "directional_fill": { + "direction": [ + -0.030441330619263803, + -0.4067249188260675, + -0.9130433526377909 + ], + "color": [ + 0.8092570440728208, + 0.8272447951947546, + 0.8560251969898487 + ], + "azimuth_rad": -1.6455020496735773, + "elevation_rad": 1.1506845428874317, + "color_temp_k": 5931.133535581049, + "intensity": 0.8344398956435282 + }, + "point_color_scale": [ + 0.8931550692626984, + 0.9105903188119961, + 0.9384867180908729 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39c67a649a5200654c6d632e291b9fb201147d9e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.032638123718512, + "K": [ + [ + 432.0553755017932, + 0.0, + 335.7213350467715 + ], + [ + 0.0, + 422.7700880292698, + 259.6856236711336 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.613099620626347, + -9.177391791361673, + 1.8228201175582543 + ], + "camera_target": [ + -3.7403554467101574, + -8.99163466942436, + 1.1528444319856965 + ], + "camera_roll_rad": -0.044568943663995456, + "camera_pose_world_cv": [ + [ + 0.1280239224433899, + -0.3236348032951355, + 0.9374809265136719, + -5.613099575042725 + ], + [ + -0.9882189631462097, + -0.12155818939208984, + 0.09298881888389587, + -9.17739200592041 + ], + [ + 0.0838640034198761, + -0.9383411407470703, + -0.3353843688964844, + 1.8228200674057007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22942974879886083, + 0.22624173763625746, + 0.23151146150662527 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9942743402845841, + 1.037827044855863, + 1.1075113721699092 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6325.449550109565, + "intensity": 1.0552481266843745 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.8939199064643262, + 0.8719432950351783, + 0.8342691040137821 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5139.9403566348865, + "intensity": 0.8719432950351783 + }, + "point_color_scale": [ + 1.1356010028063008, + 1.107082511113092, + 1.0581936682104485 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f135bd4049a738b03c8d86d76c282d8783bd1af2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0608474888974668, + "K": [ + [ + 391.26683211658326, + 0.0, + 295.5486919164572 + ], + [ + 0.0, + 409.2166715730736, + 237.13586233123553 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.504086158230525, + -8.618277356745736, + 1.5516310788941818 + ], + "camera_target": [ + -3.7580043884745153, + -8.958923681472054, + 1.0750988494278753 + ], + "camera_roll_rad": -0.005766612980612103, + "camera_pose_world_cv": [ + [ + -0.4100379943847656, + -0.4617549777030945, + 0.7865439653396606, + -4.504086017608643 + ], + [ + -0.9120140671730042, + 0.1981499195098877, + -0.35912013053894043, + -8.618277549743652 + ], + [ + 0.009971976280212402, + -0.8645919561386108, + -0.5023758411407471, + 1.5516310930252075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21189589269645434, + 0.2220999254489611, + 0.21991509704715065 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0976885856213523, + 1.0830345259123124, + 1.0579132806968157 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5306.706337498524, + "intensity": 1.0830345259123124 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.9029986700224597, + 0.8631189365686462, + 0.7947536792192517 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 4839.939776809299, + "intensity": 0.8631189365686462 + }, + "point_color_scale": [ + 1.045274566402351, + 1.061656487498504, + 1.0878675612523485 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89914be326b7c74d5f5e7da34cc2add4da8b0566 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0028359496041586, + "K": [ + [ + 450.5276249574816, + 0.0, + 290.16880983557843 + ], + [ + 0.0, + 437.84028638544294, + 232.5990762280639 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.234684005177499, + -9.132593696751908, + 1.3971952774122665 + ], + "camera_target": [ + -3.7263402429204877, + -8.91587007998872, + 1.132808271391991 + ], + "camera_roll_rad": -0.011512340078289503, + "camera_pose_world_cv": [ + [ + 0.14608103036880493, + -0.16589027643203735, + 0.9752644896507263, + -5.234683990478516 + ], + [ + -0.9890125393867493, + -0.047094762325286865, + 0.14012959599494934, + -9.132594108581543 + ], + [ + 0.02268373966217041, + -0.9850190877914429, + -0.17094719409942627, + 1.3971952199935913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3219024708943805, + 0.32927387468265046, + 0.3486214626452811 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.1988742298000261, + 1.1775914722696235, + 1.1411067450746473 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5241.812504207865, + "intensity": 1.1775914722696235 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.782672439709049, + 0.80015386845846, + 0.8281241544575177 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5933.166223227493, + "intensity": 0.8071464399582244 + }, + "point_color_scale": [ + 0.8061170132229453, + 0.8381659192504232, + 0.889444168894388 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22842097e46a3675438a5a5635591a63762f3847 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0025364957187104, + "K": [ + [ + 434.87679597001704, + 0.0, + 295.303703560903 + ], + [ + 0.0, + 437.99586031174954, + 225.0456056797662 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.0073894910929475, + -10.550337344628714, + 1.4873719369489562 + ], + "camera_target": [ + -3.771812053779863, + -8.95302489642216, + 1.133647004874498 + ], + "camera_roll_rad": 0.021971903008800225, + "camera_pose_world_cv": [ + [ + 0.9869718551635742, + -0.07465384900569916, + 0.14252513647079468, + -4.007389545440674 + ], + [ + -0.15506507456302643, + -0.20510053634643555, + 0.9663791060447693, + -10.550337791442871 + ], + [ + -0.04291193559765816, + -0.9758896231651306, + -0.21400463581085205, + 1.4873719215393066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32016889827867084, + 0.34355558832293226, + 0.33076149429928603 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0311665592987707, + 1.0672462633633435, + 1.1249737898666599 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6167.10609309637, + "intensity": 1.0816781449891726 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7537349129655332, + 0.7384334297141699, + 0.7122023155689757 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5203.977895527793, + "intensity": 0.7384334297141699 + }, + "point_color_scale": [ + 1.1388250213576554, + 1.110924463073144, + 1.0630949345854102 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86652ecb9482f0ab89dacc202236b20fa392692a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8019796751564584, + "K": [ + [ + 544.6375106763784, + 0.0, + 292.16374785759865 + ], + [ + 0.0, + 566.0904961176985, + 220.00138669750794 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.0114024125303995, + -9.230304764242574, + 1.5907348798868575 + ], + "camera_target": [ + -3.759212439777826, + -8.974556001312466, + 1.139897317453698 + ], + "camera_roll_rad": -0.02384455086881957, + "camera_pose_world_cv": [ + [ + 0.21542024612426758, + -0.316026896238327, + 0.9239703416824341, + -5.011402606964111 + ], + [ + -0.9754860401153564, + -0.11320078372955322, + 0.1887127161026001, + -9.230304718017578 + ], + [ + 0.04495587944984436, + -0.9419727325439453, + -0.3326655626296997, + 1.590734839439392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31172792525936627, + 0.3183364670201637, + 0.32664620281776297 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9417084915379358, + 0.953327285748273, + 0.9719173564848127 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5742.569933336604, + "intensity": 0.9579748034324079 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.6623440319292838, + 0.6860466190034761, + 0.7239707583221837 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6181.57137803404, + "intensity": 0.695527653833153 + }, + "point_color_scale": [ + 0.9236860855761342, + 0.8948728511368758, + 0.8454787349552898 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..761500b208af8f4d11d492c417881365ffc11e55 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9993660418540683, + "K": [ + [ + 419.29806427931993, + 0.0, + 329.4510770748413 + ], + [ + 0.0, + 439.64822366219414, + 235.5069038884457 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.8150386073217195, + -9.344145836001443, + 1.7369958484873254 + ], + "camera_target": [ + -3.7343616412378706, + -8.937905288782359, + 1.1413769577516777 + ], + "camera_roll_rad": -0.02628689004403118, + "camera_pose_world_cv": [ + [ + 0.37393873929977417, + -0.4100816547870636, + 0.8318670988082886, + -4.815038681030273 + ], + [ + -0.9262769222259521, + -0.2102947235107422, + 0.31270962953567505, + -9.344145774841309 + ], + [ + 0.046700865030288696, + -0.8874735236167908, + -0.45848649740219116, + 1.736995816230774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3523658821343539, + 0.3608345116993737, + 0.3484891325092251 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.1161085277910654, + 1.172391484840733, + 1.262444216120202 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6442.049329506084, + "intensity": 1.1949046676606003 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.5995237751929898, + 0.6099411113577565, + 0.6266088492213834 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5839.267209918889, + "intensity": 0.6141080458236632 + }, + "point_color_scale": [ + 0.9516578778389565, + 0.9347974612050385, + 0.9058938898326074 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7364532e8bcd5d0f4e36d3aa1f26904200a2080 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2341209699335625, + "K": [ + [ + 354.6654738531812, + 0.0, + 347.9882353704494 + ], + [ + 0.0, + 338.2756338340447, + 250.5319813027364 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.710190399584902, + -8.723700682760843, + 1.7578946411421201 + ], + "camera_target": [ + -3.722319228012279, + -8.981829168344376, + 1.1805864479384132 + ], + "camera_roll_rad": 0.015239656559326686, + "camera_pose_world_cv": [ + [ + -0.2327265739440918, + 0.476040780544281, + -0.8480706214904785, + -2.7101902961730957 + ], + [ + 0.9721764922142029, + 0.08995747566223145, + -0.21628838777542114, + -8.723700523376465 + ], + [ + -0.026671886444091797, + -0.8748102784156799, + -0.4837309718132019, + 1.7578946352005005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36256499300646006, + 0.3365296663017408, + 0.34177047115359177 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.019240706388958, + 1.0078485392207435, + 0.9883191097895186 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5338.522120212587, + "intensity": 1.0078485392207435 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.9405441185719865, + 0.9127397905495691, + 0.8650752282254252 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5064.821551391583, + "intensity": 0.9127397905495691 + }, + "point_color_scale": [ + 1.0486390061905968, + 1.0291433578206695, + 0.9957222463293657 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..147796ba1d5b022a82edbe081cd961986acb631e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8701557516741758, + "K": [ + [ + 514.7082990311454, + 0.0, + 333.8340763123497 + ], + [ + 0.0, + 516.3718440173649, + 217.79961544018215 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.188788164161242, + -9.78416099344827, + 1.568333917021128 + ], + "camera_target": [ + -3.7694268712000323, + -8.925928560198134, + 1.1423061370504088 + ], + "camera_roll_rad": -0.012318276317538283, + "camera_pose_world_cv": [ + [ + 0.5225127339363098, + -0.2000735104084015, + 0.8288251161575317, + -5.188787937164307 + ], + [ + -0.8522976636886597, + -0.14976370334625244, + 0.5011583566665649, + -9.784160614013672 + ], + [ + 0.023859500885009766, + -0.9682673215866089, + -0.24877554178237915, + 1.5683338642120361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2494898990262078, + 0.2463097643561312, + 0.2670457443879102 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0713009143778176, + 1.0692848934031545, + 1.065828857446589 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5473.065831364751, + "intensity": 1.0692848934031545 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.5832577294392178, + 0.5689950265355478, + 0.544544678700685 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5141.907417250286, + "intensity": 0.5689950265355478 + }, + "point_color_scale": [ + 0.9847273505398436, + 0.9842285241904687, + 0.9833733933058261 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47d1ce8e08f30f49810575bcdaa2561ee4334efd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.186271111113643, + "K": [ + [ + 358.5771673152902, + 0.0, + 288.57774430577587 + ], + [ + 0.0, + 356.02685349447154, + 232.77816714693918 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8628111524435544, + -8.506810170535969, + 1.5791035150752553 + ], + "camera_target": [ + -3.773455719908481, + -8.945265949326176, + 1.1213930882518635 + ], + "camera_roll_rad": -0.041821421180839445, + "camera_pose_world_cv": [ + [ + -0.4633500576019287, + 0.33415114879608154, + -0.8207617998123169, + -2.8628110885620117 + ], + [ + 0.8829014301300049, + 0.25361132621765137, + -0.39517903327941895, + -8.506810188293457 + ], + [ + 0.07610496878623962, + -0.9077578783035278, + -0.4125332832336426, + 1.5791034698486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23733387235161693, + 0.23626418404070137, + 0.2472406070777054 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0806500950277909, + 1.0493430637336256, + 0.9956738672293425 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5073.787334514757, + "intensity": 1.0493430637336256 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.894249027209456, + 0.9136193378426118, + 0.9446118348556616 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5920.468736525458, + "intensity": 0.9213674620958743 + }, + "point_color_scale": [ + 1.1065687334321628, + 1.1098857334612904, + 1.1151929335078943 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1239d96fa219eef02ee45b1df36c4d40a78764cf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2241177921294677, + "K": [ + [ + 325.4541532736028, + 0.0, + 330.17833112501364 + ], + [ + 0.0, + 341.8862229999145, + 241.39953751118682 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.4791001363335265, + -8.316526654656156, + 1.1567477163554414 + ], + "camera_target": [ + -3.727465344081096, + -8.92502655529223, + 1.147992408637056 + ], + "camera_roll_rad": -0.02107640798616059, + "camera_pose_world_cv": [ + [ + -0.628364086151123, + -0.03354564309120178, + 0.7771956920623779, + -4.479100227355957 + ], + [ + -0.7767771482467651, + -0.027061283588409424, + -0.6291937828063965, + -8.316526412963867 + ], + [ + 0.04213860630989075, + -0.9990707635879517, + -0.009053170680999756, + 1.1567476987838745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32978630542345455, + 0.2982936668196207, + 0.30467497238718233 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9452312340759011, + 0.9927627105413344, + 1.0688130728860277 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6439.565858396917, + "intensity": 1.0117753011275077 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.9689338831692246, + 0.9444564175051128, + 0.9024950477952068 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5129.757313905921, + "intensity": 0.9444564175051128 + }, + "point_color_scale": [ + 1.13305023865607, + 1.1728753051333656, + 1.2365954114970383 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c80a57d3a3d1716116df40595e52a287f1031a53 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0634240260237704, + "K": [ + [ + 405.1116323818532, + 0.0, + 307.07670729618314 + ], + [ + 0.0, + 408.01125407554645, + 255.91398229212467 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.320971278214553, + -10.146459585460237, + 1.2067073817056153 + ], + "camera_target": [ + -3.7837265450220263, + -8.995460202639547, + 1.1419774666341365 + ], + "camera_roll_rad": -0.028703793718438366, + "camera_pose_world_cv": [ + [ + 0.9058916568756104, + 0.030500680208206177, + 0.42240971326828003, + -4.320971488952637 + ], + [ + -0.4196150302886963, + -0.0703093409538269, + 0.9049749970436096, + -10.146459579467773 + ], + [ + 0.05730170011520386, + -0.9970588088035583, + -0.050894081592559814, + 1.2067073583602905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3084248761038564, + 0.3185552110779878, + 0.3299938075195034 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0474707727606303, + 0.9811503928465104, + 0.8674583129937339 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 4534.364144701155, + "intensity": 0.9811503928465104 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.6869190450313492, + 0.7058519585151655, + 0.7361446200892718 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6030.761052542903, + "intensity": 0.7134251239086921 + }, + "point_color_scale": [ + 1.07947931675268, + 1.0478509677861005, + 0.9936309409862502 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..883875cdf62bee86d2f53066b8e62d1be31c1cae --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8377961818362203, + "K": [ + [ + 553.7327230616597, + 0.0, + 349.64039303592597 + ], + [ + 0.0, + 539.02116098755, + 219.64246471422052 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.63723165015345, + -8.403493459493921, + 1.3375904732390476 + ], + "camera_target": [ + -3.7273216292054707, + -8.97505471494301, + 1.1213203200930852 + ], + "camera_roll_rad": 0.05171194007107263, + "camera_pose_world_cv": [ + [ + -0.5463236570358276, + -0.11127585172653198, + 0.8301496505737305, + -4.637231826782227 + ], + [ + -0.831436812877655, + 0.19181585311889648, + -0.5214591026306152, + -8.403493881225586 + ], + [ + -0.10121002793312073, + -0.9751023054122925, + -0.19731229543685913, + 1.3375904560089111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26951637307232035, + 0.29003323759662963, + 0.28854458485637424 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9908634355510305, + 0.9274550820476815, + 0.8187550474705116 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 4523.312676796735, + "intensity": 0.9274550820476815 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.9608439225092031, + 0.9447826394304694, + 0.9172490112954974 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5257.1431866454695, + "intensity": 0.9447826394304694 + }, + "point_color_scale": [ + 1.025368177807299, + 1.031841537096686, + 1.042198911959705 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc08accd0fa430291db9d77fc5b0dcfc0771562a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1967803900544196, + "K": [ + [ + 357.3358773253216, + 0.0, + 297.3722296651607 + ], + [ + 0.0, + 352.0217045956993, + 258.57253568963506 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2324600301748596, + -9.21160870011402, + 1.3246929881498446 + ], + "camera_target": [ + -3.714307909894405, + -8.984542755771473, + 1.0897994406140985 + ], + "camera_roll_rad": -0.013425669405309676, + "camera_pose_world_cv": [ + [ + 0.14730113744735718, + 0.1570219099521637, + -0.9765483140945435, + -2.2324600219726562 + ], + [ + 0.9887360334396362, + 0.003100752830505371, + 0.1496380865573883, + -9.21160888671875 + ], + [ + 0.026524454355239868, + -0.9875903129577637, + -0.15479648113250732, + 1.324692964553833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3629174769251138, + 0.33460200026855363, + 0.3460698659545279 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0266888870857576, + 1.0633070012477241, + 1.1218959839068707 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6179.400155745915, + "intensity": 1.0779542469125107 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.5838325378716026, + 0.5998648691363065, + 0.6255165991598329 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6028.8773965095925, + "intensity": 0.6062778016421881 + }, + "point_color_scale": [ + 0.89320616252104, + 0.9268020341236871, + 0.9805554286879224 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6c5101903ca063d96dba2c3ab5f82e0c78d1c14 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1803588657905248, + "K": [ + [ + 369.47487713958554, + 0.0, + 288.4205760384781 + ], + [ + 0.0, + 358.307596545858, + 219.892069352246 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.90080449154165, + -8.888870859551837, + 1.1824019801329457 + ], + "camera_target": [ + -3.790044800925734, + -9.010937818047987, + 1.0421068142802934 + ], + "camera_roll_rad": -0.027416643620501144, + "camera_pose_world_cv": [ + [ + -0.10228633880615234, + -0.1296270489692688, + 0.9862729907035828, + -4.90080451965332 + ], + [ + -0.9932675957679749, + -0.04089045524597168, + -0.1083860993385315, + -8.888871192932129 + ], + [ + 0.0543789267539978, + -0.9907193779945374, + -0.12457174062728882, + 1.1824020147323608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.275489234820869, + 0.29023596056918527, + 0.30055984467812846 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.1824009656053984, + 1.158091267043861, + 1.1164174980812254 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5200.126045412265, + "intensity": 1.158091267043861 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.933092311127468, + 0.904636214056193, + 0.8558543333625783 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5050.6307771783095, + "intensity": 0.904636214056193 + }, + "point_color_scale": [ + 0.8753031106606989, + 0.8504378393646453, + 0.8078116599999821 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..395a7ffe4977c7b67c77a9ce0ccd6d2ec451641b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2445796404386922, + "K": [ + [ + 343.00562477402985, + 0.0, + 335.6295523787809 + ], + [ + 0.0, + 334.55467308274694, + 232.02685346715398 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6312423219417718, + -9.947868962103914, + 1.5291679405141774 + ], + "camera_target": [ + -3.7614381028902253, + -8.982296507365628, + 1.1665565423792021 + ], + "camera_roll_rad": 0.013376358867255925, + "camera_pose_world_cv": [ + [ + 0.9919236302375793, + 0.020083237439393997, + -0.12523651123046875, + -3.631242275238037 + ], + [ + 0.12433438003063202, + -0.3491213917732239, + 0.9287924766540527, + -9.947869300842285 + ], + [ + -0.025069601833820343, + -0.9368623495101929, + -0.3487987518310547, + 1.529167890548706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3537890761026085, + 0.3528985230102686, + 0.37641930900159487 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9180279655052429, + 0.9271606295020484, + 0.9417728918969372 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5696.2296868830845, + "intensity": 0.9308136951007706 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7456271897644564, + 0.7647255138365601, + 0.7952828323519258 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5994.541517099986, + "intensity": 0.7723648434654015 + }, + "point_color_scale": [ + 0.8302678720757813, + 0.8138524862022528, + 0.7857118247047755 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8a25ffe3a5240670ed7da3ec6f263a2711b2fde --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0111987702222711, + "K": [ + [ + 415.83542635418513, + 0.0, + 332.16528096237835 + ], + [ + 0.0, + 433.5296325092864, + 247.4735881739428 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.437837720757578, + -9.084183032708882, + 1.6358292277051183 + ], + "camera_target": [ + -3.739522882489116, + -8.973903382137886, + 1.1755666285768278 + ], + "camera_roll_rad": -0.033484051253844, + "camera_pose_world_cv": [ + [ + 0.06207066774368286, + 0.336026132106781, + -0.9398052096366882, + -2.437837839126587 + ], + [ + 0.9960742592811584, + 0.038689613342285156, + 0.07962056994438171, + -9.084182739257812 + ], + [ + 0.0631151795387268, + -0.9410578012466431, + -0.33230531215667725, + 1.635829210281372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6272614002227783, + -0.7788087725639343, + 0.0, + -3.7439827919006348 + ], + [ + 0.7788087725639343, + 0.6272614002227783, + 0.0, + -8.962898254394531 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2568000403271445, + 0.2574305452270223, + 0.25517258868698883 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9797677262634471, + 0.9768373884623985, + 0.9718139522320295 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5457.145407126255, + "intensity": 0.9768373884623985 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.6085500324825663, + 0.6265129776396645, + 0.6552536898910217 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6066.924331259412, + "intensity": 0.6336981557025038 + }, + "point_color_scale": [ + 1.1345894357416533, + 1.1136913494388063, + 1.0778660586339261 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..913ebfeb5cfd4991f97a8094015078e26803a4a1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8760427376339255, + "K": [ + [ + 531.7603184161043, + 0.0, + 308.9023967849724 + ], + [ + 0.0, + 512.4202010778437, + 259.3064873696181 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.686019077934451, + -10.056187028665887, + 1.2747416615740974 + ], + "camera_target": [ + -3.852079839182798, + -8.695236133876216, + 1.1249514989410023 + ], + "camera_roll_rad": -0.000812309639182246, + "camera_pose_world_cv": [ + [ + 0.8527330160140991, + -0.04743218421936035, + 0.5201890468597412, + -4.686018943786621 + ], + [ + -0.5223445296287537, + -0.08051663637161255, + 0.8489247560501099, + -10.05618667602539 + ], + [ + 0.001617521047592163, + -0.9956240653991699, + -0.09343510866165161, + 1.2747416496276855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3257878103958367, + 0.32544681598557723, + 0.31661938449343463 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9103765513347664, + 0.8551117141619277, + 0.7603719932942045 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 4576.731541829643, + "intensity": 0.8551117141619277 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7381187113292994, + 0.7401912740369697, + 0.743507374369242 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5555.938081861763, + "intensity": 0.7410202991200378 + }, + "point_color_scale": [ + 0.9431574476325925, + 0.910751381560447, + 0.8551981254367689 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c151d228c983cbfaaa227fcdc7453402cb5edb6c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8100650043770903, + "K": [ + [ + 580.4139318179421, + 0.0, + 295.0622086096948 + ], + [ + 0.0, + 559.7824308372395, + 249.69752816060324 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.678502393792361, + -8.38539926100608, + 1.6099990247681437 + ], + "camera_target": [ + -3.8539798626692776, + -8.690717019218065, + 1.038866260510196 + ], + "camera_roll_rad": 0.013766257139856158, + "camera_pose_world_cv": [ + [ + -0.3611847162246704, + -0.5010880827903748, + 0.7864199876785278, + -4.678502559661865 + ], + [ + -0.9322084784507751, + 0.21490693092346191, + -0.2912084460258484, + -8.385398864746094 + ], + [ + -0.023086071014404297, + -0.8382874131202698, + -0.5447396039962769, + 1.6099990606307983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3804027934774501, + 0.3647073025018885, + 0.3833728733976055 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.139433899703268, + 1.07521059055455, + 0.9651134891567477 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 4646.7012573709035, + "intensity": 1.07521059055455 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7400678394789891, + 0.7056618389648961, + 0.6466801237978798 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 4803.470492637876, + "intensity": 0.7056618389648961 + }, + "point_color_scale": [ + 1.0864487582581535, + 1.1197430132351407, + 1.1730138211983203 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d31e57ce3d1226a01d28c26907c4db7581e90d8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.15785106906542, + "K": [ + [ + 378.4422369597718, + 0.0, + 321.06945163837156 + ], + [ + 0.0, + 367.1780443796492, + 263.0203577807263 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.436077306216857, + -9.700860074902904, + 1.0590922636669833 + ], + "camera_target": [ + -3.8467309267398666, + -8.696692253427562, + 1.0627610067486988 + ], + "camera_roll_rad": -0.017334321649401623, + "camera_pose_world_cv": [ + [ + 0.5796324014663696, + 0.018376082181930542, + -0.8146708011627197, + -2.436077356338501 + ], + [ + 0.8141405582427979, + 0.029465913772583008, + 0.5799197554588318, + -9.700860023498535 + ], + [ + 0.03466162085533142, + -0.9993968605995178, + 0.0021185874938964844, + 1.0590922832489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30012511830255584, + 0.2928726726888509, + 0.2885337135456519 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.1029352998729522, + 1.1524646719351135, + 1.2317116672345716 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6345.011828013256, + "intensity": 1.172276420759978 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7493046639541521, + 0.7239997027889894, + 0.6806197693629963 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5000.691169037718, + "intensity": 0.7239997027889894 + }, + "point_color_scale": [ + 0.918115548602795, + 0.9112738803525972, + 0.8995453062094007 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2ff3cd6b5c17a705016dc3b530da8eced7d8b08 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9151529884810928, + "K": [ + [ + 478.9540322991505, + 0.0, + 295.88204950184445 + ], + [ + 0.0, + 487.37497698584014, + 254.67800501127908 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.892206435256426, + -9.248102524480434, + 0.9830924801460638 + ], + "camera_target": [ + -3.943316556533854, + -8.681832987453701, + 1.052580341173422 + ], + "camera_roll_rad": -0.04643007194619396, + "camera_pose_world_cv": [ + [ + 0.5052493810653687, + 0.10117921233177185, + 0.8570215702056885, + -4.89220666885376 + ], + [ + -0.857996940612793, + -0.04760247468948364, + 0.5114445090293884, + -9.248102188110352 + ], + [ + 0.09254398941993713, + -0.9937288165092468, + 0.0627603530883789, + 0.9830924868583679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24045668383690347, + 0.24026257764801437, + 0.2375058195291944 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.02044662888578, + 0.955239840195791, + 0.8434567738700959 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 4524.825479930573, + "intensity": 0.955239840195791 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.6677204359426037, + 0.6892498833764056, + 0.7236969992704887 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6117.0118977822995, + "intensity": 0.6978616623499263 + }, + "point_color_scale": [ + 0.8182992764059913, + 0.8067338008256992, + 0.7869072712594841 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b65f16421a6476491868871d7d49aed9cf2c63ab --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8444540153808231, + "K": [ + [ + 518.1970649843455, + 0.0, + 329.6174564789923 + ], + [ + 0.0, + 534.2280548102614, + 235.82449971601594 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.44921249041892, + -9.574574243205108, + 1.6226486167266203 + ], + "camera_target": [ + -3.8756981867852676, + -8.706012817036628, + 1.0576083969026602 + ], + "camera_roll_rad": -0.011716589903897685, + "camera_pose_world_cv": [ + [ + 0.8921722769737244, + 0.24323055148124695, + -0.380614697933197, + -3.4492125511169434 + ], + [ + 0.4512418806552887, + -0.44219183921813965, + 0.7751433253288269, + -9.57457447052002 + ], + [ + 0.02023380994796753, + -0.8633106350898743, + -0.5042670965194702, + 1.6226485967636108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24220491481309953, + 0.24953572725442094, + 0.26446653134424447 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.8952413491147081, + 0.91091636039813, + 0.9359963784516049 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5841.8064612186945, + "intensity": 0.9171863649114987 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.8080203810665495, + 0.82920557655814, + 0.8631018893446849 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6005.806614052059, + "intensity": 0.8376796547547762 + }, + "point_color_scale": [ + 0.9777347622691829, + 0.9418544972174381, + 0.8803454714144471 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a20c8d9f500de5726bad41ef67e024db1048046d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8017114978278191, + "K": [ + [ + 547.207675316589, + 0.0, + 345.20248430519666 + ], + [ + 0.0, + 566.3017852470803, + 259.3790407982944 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2414657913547744, + -9.993504355579255, + 1.5854411886462283 + ], + "camera_target": [ + -3.9154028812532733, + -8.666175980352193, + 1.0644432750014834 + ], + "camera_roll_rad": 0.03338067965132151, + "camera_pose_world_cv": [ + [ + 0.8996404409408569, + 0.08973647654056549, + -0.4273107647895813, + -3.2414658069610596 + ], + [ + 0.43206751346588135, + -0.3240931034088135, + 0.8415945768356323, + -9.993504524230957 + ], + [ + -0.06296674907207489, + -0.9417595863342285, + -0.3303394317626953, + 1.5854412317276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32465188216679103, + 0.32213545049165687, + 0.32786642162221585 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.2446379249444866, + 1.1947964679571645, + 1.109353970264613 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 4904.065183317797, + "intensity": 1.1947964679571645 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7707446626070104, + 0.7933344102017218, + 0.8294780063532601 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6063.0753614529785, + "intensity": 0.8023703092396064 + }, + "point_color_scale": [ + 0.8856244085900096, + 0.8557952152470184, + 0.8046594552304623 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed8a2a5af5575f238000330fb21009a5fb24dcf0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8294357364563483, + "K": [ + [ + 548.3400747017794, + 0.0, + 329.38665249458086 + ], + [ + 0.0, + 545.1424942458956, + 242.47150747499668 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8277438945436777, + -9.584181757934969, + 1.4782121553036511 + ], + "camera_target": [ + -3.9377901927623564, + -8.722028179458308, + 1.175922906646734 + ], + "camera_roll_rad": 0.017019924704789385, + "camera_pose_world_cv": [ + [ + 0.9927929639816284, + 0.0078088343143463135, + -0.11958722770214081, + -3.8277440071105957 + ], + [ + 0.11545044928789139, + -0.3299744725227356, + 0.9369035363197327, + -9.584181785583496 + ], + [ + -0.032144609838724136, + -0.9439576268196106, + -0.32849788665771484, + 1.4782121181488037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23189328788497074, + 0.2189124766408105, + 0.22770807406238408 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9240045157277338, + 0.9644503851286266, + 1.029163776170055 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6324.89668198355, + "intensity": 0.9806287328889837 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7973138659887729, + 0.7619018996290883, + 0.7011956715839147 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 4836.023136369581, + "intensity": 0.7619018996290883 + }, + "point_color_scale": [ + 1.137848591380065, + 1.1648761357984585, + 1.2081202068678882 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27df9638cb3e5dc30b8b146a9a9da311af510d6b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.845788031067439, + "K": [ + [ + 508.5033220906159, + 0.0, + 318.3747715613927 + ], + [ + 0.0, + 533.276203602778, + 261.89962039865446 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.124375772192671, + -8.673437623577504, + 1.1518195055522058 + ], + "camera_target": [ + -3.8470778660263045, + -8.732066216274609, + 1.0655702924121064 + ], + "camera_roll_rad": -0.014877150594117386, + "camera_pose_world_cv": [ + [ + -0.04383134841918945, + -0.06856438517570496, + 0.9966833591461182, + -5.124375820159912 + ], + [ + -0.9985978603363037, + -0.0266340970993042, + -0.045747846364974976, + -8.67343807220459 + ], + [ + 0.029682397842407227, + -0.997291088104248, + -0.06730079650878906, + 1.1518194675445557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2573535785577511, + 0.2799026692370484, + 0.2793647190836883 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9555907623869259, + 0.9863410270063417, + 1.0355414503974074 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6115.8421400394745, + "intensity": 0.9986411328541082 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.725674173178159, + 0.7377971570448117, + 0.7571939312314562 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5826.480668948216, + "intensity": 0.7426463505914729 + }, + "point_color_scale": [ + 1.0351971360085148, + 1.01221071254962, + 0.9728054151915146 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..479e7be9f8d339517394c6b03cd0f4dce7bc0200 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9655714772137863, + "K": [ + [ + 436.1332603971186, + 0.0, + 297.88609049311805 + ], + [ + 0.0, + 457.87828025969304, + 251.68576261339078 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.9628045062241375, + -8.885021386505858, + 1.3242521616624017 + ], + "camera_target": [ + -3.8546084651351182, + -8.759758543870038, + 1.1147105433053488 + ], + "camera_roll_rad": -0.039940750222472544, + "camera_pose_world_cv": [ + [ + 0.12660086154937744, + -0.17393988370895386, + 0.9765844345092773, + -4.962804317474365 + ], + [ + -0.9888487458229065, + -0.09996557235717773, + 0.11038586497306824, + -8.885021209716797 + ], + [ + 0.07842433452606201, + -0.9796692132949829, + -0.18465596437454224, + 1.3242521286010742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21136362347103993, + 0.22317476374402567, + 0.21985669917809808 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0311174956477942, + 1.0591848537980233, + 1.1040926268383902 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6024.421689435199, + "intensity": 1.070411797058115 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.5834064592503782, + 0.6046717102144185, + 0.6386961117568829 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6193.607974601392, + "intensity": 0.6131778106000345 + }, + "point_color_scale": [ + 1.0205513978321732, + 0.9949640909835141, + 0.9511001363858129 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9bbb47a73e45be8d857997776942835ec3f3791 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9340070474293778, + "K": [ + [ + 493.4631609721487, + 0.0, + 288.1014028452144 + ], + [ + 0.0, + 475.9997364129839, + 254.29095114425843 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.635863389689738, + -9.531859229335952, + 1.793823790011021 + ], + "camera_target": [ + -3.9387620691672725, + -8.674434513955216, + 1.081195303793709 + ], + "camera_roll_rad": -0.05131900039068172, + "camera_pose_world_cv": [ + [ + 0.8068633675575256, + -0.26059091091156006, + 0.5301545858383179, + -4.635863304138184 + ], + [ + -0.5844290256500244, + -0.4829397201538086, + 0.6520827412605286, + -9.531859397888184 + ], + [ + 0.0861058384180069, + -0.8359794020652771, + -0.5419633388519287, + 1.7938238382339478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2595574789773233, + 0.26480505164076235, + 0.2744537543382574 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9227031095396268, + 0.9644410173771226, + 1.0312216699171162 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6350.807638460751, + "intensity": 0.981136180512121 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.8997144731314353, + 0.8676084058505436, + 0.8125694333690151 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 4971.353549689159, + "intensity": 0.8676084058505436 + }, + "point_color_scale": [ + 0.8545309436700352, + 0.8374053487726766, + 0.8080471860914905 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f097090a32586d1a7d3eaa2882c4ad12c36e11d1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1831349830015865, + "K": [ + [ + 364.2366915045979, + 0.0, + 341.5314744947608 + ], + [ + 0.0, + 357.2341655150602, + 255.75798921621492 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.713207051228706, + -8.726609248192426, + 1.306713151648838 + ], + "camera_target": [ + -3.913178506597218, + -8.716533385099344, + 1.1725071387224537 + ], + "camera_roll_rad": -0.037129941927358065, + "camera_pose_world_cv": [ + [ + 0.02483069896697998, + -0.1640237271785736, + 0.9861438274383545, + -4.713207244873047 + ], + [ + -0.997010350227356, + -0.07626330852508545, + 0.012419551610946655, + -8.726609230041504 + ], + [ + 0.07316946983337402, + -0.983504056930542, + -0.16542702913284302, + 1.3067131042480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3211125533116713, + 0.33182465465058364, + 0.29735151268386745 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9278558205006527, + 0.9054228950315236, + 0.8669664513701593 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5146.054494973263, + "intensity": 0.9054228950315236 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.8555546942736663, + 0.882594182200449, + 0.9258573628833016 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6105.309737111866, + "intensity": 0.8934099773711621 + }, + "point_color_scale": [ + 0.8859425263550771, + 0.9222258384817656, + 0.9802791378844676 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db0dfb05926bc02db183d8c7dbfb2906078895a5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2703349689375727, + "K": [ + [ + 339.675203319842, + 0.0, + 311.6647878508437 + ], + [ + 0.0, + 325.6183074307193, + 229.30496295279963 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9316414463906426, + -8.612757102560579, + 1.0895077393154777 + ], + "camera_target": [ + -3.91588020210743, + -8.723511195600539, + 1.1110345123125824 + ], + "camera_roll_rad": 0.00105940299665621, + "camera_pose_world_cv": [ + [ + -0.11186754703521729, + -0.021356016397476196, + -0.9934937357902527, + -2.9316413402557373 + ], + [ + 0.9937210083007812, + -0.004535257816314697, + -0.11179548501968384, + -8.612756729125977 + ], + [ + -0.002118349075317383, + -0.9997617602348328, + 0.021729469299316406, + 1.0895076990127563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22605540369081215, + 0.21652345517011054, + 0.23559737707362507 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.1357661089879043, + 1.1237098409140902, + 1.103041952787552 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5346.728759699761, + "intensity": 1.1237098409140902 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.8702772082131334, + 0.9047918350045727, + 0.9600152378708756 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 6251.463395302233, + "intensity": 0.9185976857211484 + }, + "point_color_scale": [ + 0.9371763206516806, + 0.9525351155883394, + 0.9771091874869933 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b16e3fcef5fcf13697b1d76c651d11150965a27 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0201623430258058, + "K": [ + [ + 446.48454537098047, + 0.0, + 310.16528874975484 + ], + [ + 0.0, + 428.98103719554183, + 252.6661692836133 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4610670131878587, + -8.476744412577185, + 1.7273308645868535 + ], + "camera_target": [ + -3.858832041904868, + -8.71487528136405, + 1.1122088004282882 + ], + "camera_roll_rad": -0.016312747513757504, + "camera_pose_world_cv": [ + [ + -0.18065392971038818, + 0.38664692640304565, + -0.9043608903884888, + -2.461066961288452 + ], + [ + 0.9830915331840515, + 0.0989609956741333, + -0.1540715992450714, + -8.476744651794434 + ], + [ + 0.029925018548965454, + -0.916903018951416, + -0.3979867696762085, + 1.7273309230804443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3279838871069095, + 0.34128668770651227, + 0.346957831742964 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.0075086036745893, + 1.0481614329897257, + 1.113205959893944 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6263.847566985609, + "intensity": 1.0644225647157803 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.8320412972208402, + 0.8413064582248025, + 0.8561307158311425 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5719.290501758846, + "intensity": 0.8450125226263876 + }, + "point_color_scale": [ + 1.1931973841096513, + 1.158009690505898, + 1.0976879300423212 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..381fb554f6dffa47f36784114ae303cad1e400a9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8061501618182326, + "K": [ + [ + 564.8870660635617, + 0.0, + 336.9803558155017 + ], + [ + 0.0, + 562.8218023138842, + 232.01434478835878 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.645523666502977, + -9.047852816621404, + 1.5085660699077823 + ], + "camera_target": [ + -3.875255033610451, + -8.719280143091398, + 1.1253123823909763 + ], + "camera_roll_rad": -0.005865842372012223, + "camera_pose_world_cv": [ + [ + 0.18487799167633057, + -0.2025439739227295, + 0.9616632461547852, + -5.645523548126221 + ], + [ + -0.9826945066452026, + -0.04952514171600342, + 0.17849037051200867, + -9.047852516174316 + ], + [ + 0.011474400758743286, + -0.9780200719833374, + -0.20819497108459473, + 1.5085660219192505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.34167802333831787, + -0.939816951751709, + 0.0, + -3.893882989883423 + ], + [ + 0.939816951751709, + -0.34167802333831787, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38781969866552984, + 0.37709535598107996, + 0.38320353235517185 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.9766412901641776, + 0.949910235951955, + 0.9040855715881446 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5097.991274776549, + "intensity": 0.949910235951955 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7075257527574709, + 0.6745514260465029, + 0.6180240088277006 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 4801.666571342759, + "intensity": 0.6745514260465029 + }, + "point_color_scale": [ + 0.8238434868403118, + 0.8458831115411872, + 0.8811465110625879 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23807b564cc8b20be899d6e0e2fed694c8e37e7c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0661537622444237, + "K": [ + [ + 387.2235798509517, + 0.0, + 340.4863280233636 + ], + [ + 0.0, + 406.7399101423733, + 238.80222207117865 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.245398227151952, + -8.620718543361429, + 1.8167973049842405 + ], + "camera_target": [ + -3.928210016677341, + -8.681467495623684, + 1.176320915646486 + ], + "camera_roll_rad": -0.03609065320320592, + "camera_pose_world_cv": [ + [ + -0.061603665351867676, + 0.3517463803291321, + -0.9340662956237793, + -2.2453982830047607 + ], + [ + 0.995822012424469, + 0.08486354351043701, + -0.033719033002853394, + -8.620718955993652 + ], + [ + 0.0674075186252594, + -0.9322408437728882, + -0.35550451278686523, + 1.8167972564697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27688289141339945, + 0.2798140505823065, + 0.30340642475789265 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 1.1555376425945654, + 1.181218364221261, + 1.2223075188239738 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 5931.068788744509, + "intensity": 1.1914906528719393 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.7013123027186913, + 0.6784540691837285, + 0.6392685259809353 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5018.69078808903, + "intensity": 0.6784540691837285 + }, + "point_color_scale": [ + 0.9973550894261152, + 0.9717412495681775, + 0.9278318098117131 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a23d624aa171d2ee97ae3001153bef1542018e52 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000064/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 64, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2817023725896572, + "K": [ + [ + 319.50594776457797, + 0.0, + 299.83426700326856 + ], + [ + 0.0, + 321.77288315269163, + 232.89952481798417 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.258836570706048, + -8.795633077079525, + 1.0245137053012565 + ], + "camera_target": [ + -3.9298949368896694, + -8.745527840215107, + 1.0388081681066488 + ], + "camera_roll_rad": 0.027563177562427377, + "camera_pose_world_cv": [ + [ + 0.03821063041687012, + 0.008648216724395752, + 0.9992324113845825, + -5.25883674621582 + ], + [ + -0.9977498650550842, + 0.05546379089355469, + 0.037674009799957275, + -8.795633316040039 + ], + [ + -0.055095285177230835, + -0.9984233975410461, + 0.010748147964477539, + 1.0245137214660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3416781425476074, + -0.9398170709609985, + 0.0, + -3.893882989883423 + ], + [ + 0.9398170709609985, + -0.3416781425476074, + 0.0, + -8.716083526611328 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372062683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25792734738329354, + 0.24392171575908986, + 0.2415767812439329 + ], + "directional_primary": { + "direction": [ + -0.5886212713307231, + 0.05335135939322427, + -0.8066465331158983 + ], + "color": [ + 0.8604863753966329, + 0.8837464420791641, + 0.920962548771214 + ], + "azimuth_rad": 3.0512018025561183, + "elevation_rad": 0.9384560481350955, + "color_temp_k": 6020.912703064398, + "intensity": 0.8930504687521765 + }, + "directional_fill": { + "direction": [ + -0.4841255076144476, + -0.24437185644906106, + -0.8401814605504533 + ], + "color": [ + 0.8599317566895159, + 0.8728828054446364, + 0.893604483452829 + ], + "azimuth_rad": -2.674136619839727, + "elevation_rad": 0.9976177467816176, + "color_temp_k": 5794.991257740165, + "intensity": 0.8780632249466844 + }, + "point_color_scale": [ + 1.032959554021139, + 1.0764381358762931, + 1.1460038668445398 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..702144fa9279bfbefc7b55140df14a7d78b3a289 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1063600279882797, + "K": [ + [ + 406.089462735816, + 0.0, + 329.26486972189434 + ], + [ + 0.0, + 388.67079672631286, + 243.19497914195443 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.09461176269275, + -7.851804532104213, + 1.432432045600334 + ], + "camera_target": [ + -9.052778459704165, + -7.051426344248154, + 0.887458452606392 + ], + "camera_roll_rad": 0.04112810877120983, + "camera_pose_world_cv": [ + [ + 0.5821923017501831, + -0.35287201404571533, + 0.7324845790863037, + -10.094612121582031 + ], + [ + -0.8095014095306396, + -0.1674797534942627, + 0.5627238750457764, + -7.851804733276367 + ], + [ + -0.07589313387870789, + -0.9205607175827026, + -0.3831557035446167, + 1.4324320554733276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30435852778472944, + 0.309410424695234, + 0.32561773722005444 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1896581920473397, + 1.1811605391755935, + 1.1665931342526001 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5397.223927655359, + "intensity": 1.1811605391755935 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6170059818939556, + 0.5886115645463712, + 0.539935420521941 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4810.862106745165, + "intensity": 0.5886115645463712 + }, + "point_color_scale": [ + 0.9135291341462936, + 0.9368852434470963, + 0.974255018328381 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc488bf09ef158cbd1fb25000ef527a6c8644ec4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9249327992493376, + "K": [ + [ + 498.94722349222013, + 0.0, + 330.6806539187721 + ], + [ + 0.0, + 481.42080845670336, + 256.32491781815554 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.591526812695529, + -8.21715369491477, + 1.3934425020935577 + ], + "camera_target": [ + -9.043681979220013, + -7.054829599976411, + 0.9640028945552537 + ], + "camera_roll_rad": -0.011366639249801531, + "camera_pose_world_cv": [ + [ + 0.9290427565574646, + 0.13918794691562653, + -0.342791885137558, + -8.591526985168457 + ], + [ + 0.36934757232666016, + -0.29510122537612915, + 0.881191074848175, + -8.217153549194336 + ], + [ + 0.021492868661880493, + -0.9452735781669617, + -0.32557034492492676, + 1.3934425115585327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3586031178675827, + 0.3575366324941379, + 0.33283083161484966 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1604404572565572, + 1.114643252526854, + 1.036133758704505 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4913.044684593248, + "intensity": 1.114643252526854 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8388774365243655, + 0.8061222789670341, + 0.7499705802973231 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4919.5287309920295, + "intensity": 0.8061222789670341 + }, + "point_color_scale": [ + 1.1039727337387366, + 1.1247403286046942, + 1.1579684803902262 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8aaf839f90853492ef1ae59b36a4124811ba93e4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9888156376181083, + "K": [ + [ + 446.7283550615392, + 0.0, + 347.9560895364262 + ], + [ + 0.0, + 445.2166625019788, + 240.84127483326577 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.186017029711014, + -8.34940509431926, + 1.2918494820208863 + ], + "camera_target": [ + -9.083084060106493, + -7.05232441504485, + 0.9015063812045998 + ], + "camera_roll_rad": -0.01859831778010094, + "camera_pose_world_cv": [ + [ + 0.9970217943191528, + 0.01435580849647522, + 0.07577233016490936, + -9.186017036437988 + ], + [ + -0.0684015229344368, + -0.2891881465911865, + 0.9548253417015076, + -8.349405288696289 + ], + [ + 0.03561974689364433, + -0.9571645855903625, + -0.28734493255615234, + 1.2918494939804077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3064846125614593, + 0.3101593189304152, + 0.30036786679330213 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1316706756273418, + 1.075494184399074, + 0.9791916280077574 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4753.811582710347, + "intensity": 1.075494184399074 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.73176232945432, + 0.7323397078700356, + 0.7332635133351806 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5515.763077825626, + "intensity": 0.7325706592363218 + }, + "point_color_scale": [ + 1.0779637188440958, + 1.0778812222142666, + 1.0777397994202738 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..691bc2e2d5f5aad4b93ca3f1391e1505fc62b7b3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.051736981675304, + "K": [ + [ + 393.70220096386396, + 0.0, + 340.64618923398973 + ], + [ + 0.0, + 413.5217958629832, + 229.25601303447365 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.51259649298433, + -8.08595982029784, + 1.4678551425857018 + ], + "camera_target": [ + -9.014361695750093, + -6.988134778392586, + 0.8782082123320474 + ], + "camera_roll_rad": -0.030056155293611143, + "camera_pose_world_cv": [ + [ + 0.9198723435401917, + -0.1265391856431961, + 0.37124478816986084, + -9.512596130371094 + ], + [ + -0.3884873390197754, + -0.42418795824050903, + 0.8180110454559326, + -8.085959434509277 + ], + [ + 0.053967103362083435, + -0.8966896533966064, + -0.4393576383590698, + 1.4678550958633423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3525723567527457, + 0.3566895250557418, + 0.3457935229420015 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0784337682990817, + 1.117342768122344, + 1.1795971678395638 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6186.888182827983, + "intensity": 1.132906368051649 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6021821844463977, + 0.613416749677509, + 0.6313920540472873 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5863.6307799753195, + "intensity": 0.6179105757699536 + }, + "point_color_scale": [ + 1.1265492171264482, + 1.0863379728116842, + 1.0174044111292315 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c61b3564c3c634370f4b77d802d878f25daa26dc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9497811668754675, + "K": [ + [ + 474.95280633346516, + 0.0, + 300.5475111020361 + ], + [ + 0.0, + 466.8045860871625, + 226.07024060584325 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.918351662008401, + -7.814793387989955, + 1.4747921609446184 + ], + "camera_target": [ + -9.028161080265734, + -7.047688074329237, + 0.9212942360070764 + ], + "camera_roll_rad": 0.01916914319549634, + "camera_pose_world_cv": [ + [ + 0.6399407386779785, + -0.34758085012435913, + 0.6853200197219849, + -9.918352127075195 + ], + [ + -0.7676416039466858, + -0.24892443418502808, + 0.5905617475509644, + -7.814793586730957 + ], + [ + -0.03467497229576111, + -0.9040045738220215, + -0.4261143207550049, + 1.4747921228408813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30382434655505086, + 0.3139243152659292, + 0.318402421135611 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1134016349395397, + 1.1094789057959726, + 1.1027542272641435 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5449.490713638184, + "intensity": 1.1094789057959726 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.770671730011555, + 0.751349374807332, + 0.7182253373143783 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5132.616123696919, + "intensity": 0.751349374807332 + }, + "point_color_scale": [ + 1.041780980119903, + 1.0450169786768744, + 1.0501945763680285 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51458415badef9f9a538636152b07f94cee4ca0a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9214381634429526, + "K": [ + [ + 495.81106172143336, + 0.0, + 349.7260624320829 + ], + [ + 0.0, + 483.53494721948437, + 249.86747702443617 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.889895837033986, + -7.688239889863007, + 1.4675426134528404 + ], + "camera_target": [ + -9.090438898068674, + -7.017208504809389, + 0.9105710693232593 + ], + "camera_roll_rad": -0.04037430070741509, + "camera_pose_world_cv": [ + [ + 0.4598807096481323, + 0.3659352958202362, + -0.8090741634368896, + -7.889895915985107 + ], + [ + 0.884827733039856, + -0.11213034391403198, + 0.4522240161895752, + -7.688240051269531 + ], + [ + 0.07476302981376648, + -0.9238604307174683, + -0.3753563165664673, + 1.4675426483154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22538583563896797, + 0.2245918576584852, + 0.20775728951240546 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9303745652430793, + 0.9380342789399365, + 0.9502898208549079 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5662.782459608528, + "intensity": 0.9410981644186793 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6053275126736922, + 0.6286321908133063, + 0.6659196758366892 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6230.60677955486, + "intensity": 0.6379540620691521 + }, + "point_color_scale": [ + 1.1860559643006596, + 1.190041608350785, + 1.1964186388309854 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1726ac5f2177ef8ab3900ba8bcf195e0a19a07 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9524153007663535, + "K": [ + [ + 471.013479037534, + 0.0, + 329.4707537853992 + ], + [ + 0.0, + 465.2965295474925, + 230.54293288093186 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.042146174744591, + -6.773315844780666, + 1.438795367378765 + ], + "camera_target": [ + -9.056684577865644, + -7.061200709947302, + 0.9584561807466008 + ], + "camera_roll_rad": -0.018451645050657002, + "camera_pose_world_cv": [ + [ + -0.2875082492828369, + 0.38841649889945984, + -0.8754836916923523, + -8.042145729064941 + ], + [ + 0.9571894407272339, + 0.14856839179992676, + -0.24842658638954163, + -6.773315906524658 + ], + [ + 0.03357619047164917, + -0.9094284772872925, + -0.4145027995109558, + 1.4387953281402588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28595031360485434, + 0.29429674083632223, + 0.2882475272174636 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1515520261731365, + 1.1137050736104566, + 1.0488245835030054 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5014.529686802399, + "intensity": 1.1137050736104566 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6033463400670642, + 0.6266250005428232, + 0.6638708573040376 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6232.106484427749, + "intensity": 0.6359364647331268 + }, + "point_color_scale": [ + 1.1166276696532065, + 1.1217828243664816, + 1.1300310719077216 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e8f5ef9661e541ad60bd1ad0931858efb5eef6d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9912927258597682, + "K": [ + [ + 445.69478651803695, + 0.0, + 320.2643152788891 + ], + [ + 0.0, + 443.89951422642184, + 248.478220988554 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.087377814067356, + -7.281951644819535, + 1.2813970359399105 + ], + "camera_target": [ + -9.068454717709594, + -7.071779009832056, + 0.8832721977565885 + ], + "camera_roll_rad": -0.025573874434843786, + "camera_pose_world_cv": [ + [ + 0.21964800357818604, + -0.33924517035484314, + 0.9146952629089355, + -10.087377548217773 + ], + [ + -0.9744099378585815, + -0.12217766046524048, + 0.18867376446723938, + -7.281951427459717 + ], + [ + 0.04774865508079529, + -0.9327300786972046, + -0.35739994049072266, + 1.2813969850540161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3875570057378808, + 0.39447293588432175, + 0.40071333920515795 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1023308522222035, + 1.080687525813652, + 1.0435846805418492 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5213.8947476679405, + "intensity": 1.080687525813652 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8294098682578332, + 0.8590703054513633, + 0.9065270049610114 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6181.117532109494, + "intensity": 0.8709344803287753 + }, + "point_color_scale": [ + 0.9182701023741295, + 0.9389465444976398, + 0.9720288518952565 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..607143fb290d25b72aa7c6156c559d8ea9efd83c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.197835050162124, + "K": [ + [ + 367.60383666906336, + 0.0, + 340.6255969422105 + ], + [ + 0.0, + 351.6231770893576, + 233.49497543796355 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.060481629164773, + -7.072189049001637, + 1.4578734683285801 + ], + "camera_target": [ + -9.073980452105863, + -7.045481969139875, + 0.9792336718877969 + ], + "camera_roll_rad": -0.015307735752388654, + "camera_pose_world_cv": [ + [ + 0.040402770042419434, + -0.4351995587348938, + 0.8994271755218506, + -10.060482025146484 + ], + [ + -0.9988039135932922, + -0.042403578758239746, + 0.024349451065063477, + -7.072188854217529 + ], + [ + 0.027542144060134888, + -0.8993350267410278, + -0.43639206886291504, + 1.4578734636306763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3270296548557342, + 0.32625673825691026, + 0.33108099004654645 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9670467186035427, + 0.9907883562243198, + 1.0287749764175635 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5974.6974582888415, + "intensity": 1.0002850112726307 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7278631879149937, + 0.7416470980420011, + 0.7637013542452128 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5868.967768950748, + "intensity": 0.747160662092804 + }, + "point_color_scale": [ + 0.8548949565824577, + 0.8208587401748769, + 0.762510940619024 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..486811dfe479ad02478322a66fa180dd6513a6ef --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8495463662405124, + "K": [ + [ + 547.5773776818446, + 0.0, + 304.51023119342176 + ], + [ + 0.0, + 530.6096499162405, + 219.3410897373926 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.164606991668132, + -5.993383081969639, + 1.2518964178931697 + ], + "camera_target": [ + -9.026370306897329, + -6.985844566405407, + 0.9687858979624837 + ], + "camera_roll_rad": -0.033796288973795635, + "camera_pose_world_cv": [ + [ + -0.6463116407394409, + -0.1829524040222168, + 0.7408169507980347, + -10.164607048034668 + ], + [ + -0.7601804733276367, + 0.06991136074066162, + -0.6459396481513977, + -5.993382930755615 + ], + [ + 0.06638464331626892, + -0.9806328415870667, + -0.18426138162612915, + 1.2518963813781738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22717256595465113, + 0.23234108644952545, + 0.23912817486905982 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9546931051102144, + 0.986847963421643, + 1.0382957367199288 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6143.283778512989, + "intensity": 0.9997099067462145 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8864877785345028, + 0.8742359455274826, + 0.8532328032297337 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5299.795253546833, + "intensity": 0.8742359455274826 + }, + "point_color_scale": [ + 0.9342987332678523, + 0.9570107837717708, + 0.9933500645780406 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..096d7a9c59a961f9e3d2876c95d386f6b8600ff1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.137567051371877, + "K": [ + [ + 375.07249984253235, + 0.0, + 309.0125651715297 + ], + [ + 0.0, + 375.4378329209103, + 244.3631564476757 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.677053251558162, + -5.99458550518037, + 1.1812274857917267 + ], + "camera_target": [ + -9.005007261085261, + -7.068130332712146, + 0.9891400196500051 + ], + "camera_roll_rad": -0.028610976447441382, + "camera_pose_world_cv": [ + [ + -0.8416769504547119, + -0.12790945172309875, + 0.524613618850708, + -9.677053451538086 + ], + [ + -0.537013053894043, + 0.09654343128204346, + -0.8380313515663147, + -5.9945855140686035 + ], + [ + 0.05654415488243103, + -0.9870758652687073, + -0.14994728565216064, + 1.181227445602417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2384481370779451, + 0.21801459727177705, + 0.21689459685340545 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.2326153153691328, + 1.1832128139891502, + 1.098522811623466 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4903.530783837076, + "intensity": 1.1832128139891502 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8273317610093105, + 0.8374969854817957, + 0.8537613446377722 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5741.579621805873, + "intensity": 0.8415630752707899 + }, + "point_color_scale": [ + 0.8533752765087961, + 0.8486355447672177, + 0.8405102903530834 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbaeaa8e5629fe4a3c8492e7a2a629b08ec27685 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8735652216812706, + "K": [ + [ + 503.79142818295196, + 0.0, + 313.9220355263555 + ], + [ + 0.0, + 514.0771621314057, + 262.3951867850715 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.905524850405044, + -7.0389672861077255, + 1.5518846819709058 + ], + "camera_target": [ + -9.017683730349729, + -7.033816295233965, + 0.9791284878453388 + ], + "camera_roll_rad": 0.04614113827715077, + "camera_pose_world_cv": [ + [ + -0.024036884307861328, + -0.2893385589122772, + 0.9569250345230103, + -10.905525207519531 + ], + [ + -0.995814323425293, + 0.09136223793029785, + 0.0026108622550964355, + -7.038967132568359 + ], + [ + -0.0881822407245636, + -0.9528568387031555, + -0.29032349586486816, + 1.551884651184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27471973060558597, + 0.28724552558488436, + 0.28436043007955636 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.101807292020447, + 1.0745101309400964, + 1.0277149976594957 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5137.081649789725, + "intensity": 1.0745101309400964 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8414677512610483, + 0.8135180712903474, + 0.7656043341977173 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5009.192043140147, + "intensity": 0.8135180712903474 + }, + "point_color_scale": [ + 0.9779433790805508, + 0.9593891060056181, + 0.9275817807343049 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d077b9702d1a0c9803b975572ecda696f98c9e1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9265961548934805, + "K": [ + [ + 486.60142774530965, + 0.0, + 346.32035324339176 + ], + [ + 0.0, + 480.41973130063985, + 232.50225107102264 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.219886009269732, + -7.542205087708565, + 0.9853959288772925 + ], + "camera_target": [ + -9.012193297196593, + -6.990874095188129, + 0.9791877493784076 + ], + "camera_roll_rad": -0.013798127940333207, + "camera_pose_world_cv": [ + [ + 0.4152470827102661, + 0.007206588983535767, + 0.9096801280975342, + -10.21988582611084 + ], + [ + -0.9092901945114136, + -0.027041971683502197, + 0.4152834117412567, + -7.542204856872559 + ], + [ + 0.027592390775680542, + -0.9996083974838257, + -0.004676222801208496, + 0.9853959083557129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28187991700879683, + 0.27403031798024596, + 0.2822810806274252 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9462003411139699, + 0.9846610677927113, + 1.0461982304786979 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6269.179644767444, + "intensity": 1.000045358464208 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7567411587725472, + 0.7790518865516843, + 0.814749050998304 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6066.279245783732, + "intensity": 0.7879761776633393 + }, + "point_color_scale": [ + 1.1783713290012519, + 1.1242946831931901, + 1.0315918618079416 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0f61da415788a4742f8f52c83a3924e4d7d218c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8956962834010281, + "K": [ + [ + 474.82092143374285, + 0.0, + 343.4327403756136 + ], + [ + 0.0, + 499.57968722475596, + 234.06080381728125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.665339652294051, + -8.26059118047478, + 1.3306564047829617 + ], + "camera_target": [ + -9.068878589986316, + -7.016856666350325, + 0.8732054901694458 + ], + "camera_roll_rad": 0.027541813282527777, + "camera_pose_world_cv": [ + [ + 0.9553539752960205, + 0.04939071089029312, + -0.2913062870502472, + -8.665339469909668 + ], + [ + 0.2908577024936676, + -0.3306195139884949, + 0.897826611995697, + -8.260591506958008 + ], + [ + -0.05196727067232132, + -0.9424708485603333, + -0.33022433519363403, + 1.3306564092636108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29510679994916666, + 0.2777547950936561, + 0.3018798316279014 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.027952928236886, + 0.9985472653420387, + 0.9481375575223008 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5079.3079475773, + "intensity": 0.9985472653420387 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.629328420893458, + 0.626230427945416, + 0.6209195828916296 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5429.32786377039, + "intensity": 0.626230427945416 + }, + "point_color_scale": [ + 0.8703316218742662, + 0.8477099904069655, + 0.8089300507487359 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9cd98b43ab95b18a38f1aabc84200138de7a4f5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1533216047852475, + "K": [ + [ + 369.4590966676647, + 0.0, + 295.8091203867987 + ], + [ + 0.0, + 369.00010695326785, + 257.6592401984687 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.278218467871188, + -8.12973405348112, + 0.9366711145556855 + ], + "camera_target": [ + -9.029046922544355, + -7.0072769309187874, + 0.8567617121552528 + ], + "camera_roll_rad": -0.0029818423514574102, + "camera_pose_world_cv": [ + [ + 0.6685722470283508, + -0.031366556882858276, + 0.7429854869842529, + -10.278218269348145 + ], + [ + -0.7436233758926392, + -0.036202192306518555, + 0.6676180362701416, + -8.12973403930664 + ], + [ + 0.0059569478034973145, + -0.9988522529602051, + -0.047528624534606934, + 0.9366711378097534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3283878786608957, + 0.3144990325533291, + 0.3043716413184834 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.10337753292719, + 1.0859412125364019, + 1.056050377580765 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5270.622674209794, + "intensity": 1.0859412125364019 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.9407947863175635, + 0.8988751052199468, + 0.8270127947668895 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4833.775533852084, + "intensity": 0.8988751052199468 + }, + "point_color_scale": [ + 1.1518300898670333, + 1.1344759298570462, + 1.1047259412684969 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2522ee233c79373ee55dad95a43e6832b8002785 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.000894655237396, + "K": [ + [ + 444.7457066316554, + 0.0, + 290.4817146643036 + ], + [ + 0.0, + 438.850351721255, + 253.32900782589604 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.500749692437239, + -5.853234889500007, + 1.534777405542493 + ], + "camera_target": [ + -9.084482208673071, + -7.029282753889232, + 0.8695691765296982 + ], + "camera_roll_rad": -0.03092126405557112, + "camera_pose_world_cv": [ + [ + -0.9311854839324951, + -0.21495461463928223, + 0.2944287061691284, + -9.500749588012695 + ], + [ + -0.36044377088546753, + 0.42207205295562744, + -0.8318266868591309, + -5.853234767913818 + ], + [ + 0.05453488230705261, + -0.8807098865509033, + -0.4705062508583069, + 1.5347774028778076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.2387768030166626, + 0.9710745215415955, + 0.0, + -9.047534942626953 + ], + [ + -0.9710745215415955, + -0.2387768030166626, + -0.0, + -7.025826454162598 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23069299817774094, + 0.21940346549439468, + 0.21841582945655974 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1974715915036573, + 1.1364135773174882, + 1.031742695855484 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4732.447268382986, + "intensity": 1.1364135773174882 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8682435375998152, + 0.8397332050474454, + 0.7908583492433827 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5014.976348933536, + "intensity": 0.8397332050474454 + }, + "point_color_scale": [ + 0.8588136625879507, + 0.8690404543381511, + 0.8854033211384718 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f40f78843435ab1649b080dc414f7b99ab21ed2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9954715481471768, + "K": [ + [ + 441.6984691489478, + 0.0, + 293.87932560784566 + ], + [ + 0.0, + 441.6911211884094, + 231.05584487532442 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.283732439462312, + -6.741498661972611, + 1.4639940575946793 + ], + "camera_target": [ + -7.93900760247436, + -7.54765692629255, + 0.8597806126348128 + ], + "camera_roll_rad": 0.014961889950372287, + "camera_pose_world_cv": [ + [ + -0.7661510705947876, + 0.3401860296726227, + -0.5452395677566528, + -7.2837324142456055 + ], + [ + 0.6421400308609009, + 0.3710825443267822, + -0.6707861423492432, + -6.7414984703063965 + ], + [ + -0.025863200426101685, + -0.8640435934066772, + -0.5027521848678589, + 1.463994026184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2871186831993053, + 0.3177945630013655, + 0.3160283491994785 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1417638427245187, + 1.1282264658663037, + 1.105019534109364 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5328.588405053942, + "intensity": 1.1282264658663037 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8520744654577715, + 0.8844163951618366, + 0.9361634826883406 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6220.8294547089645, + "intensity": 0.8973531670434626 + }, + "point_color_scale": [ + 0.9111850628391285, + 0.9125411684125632, + 0.9147109373300588 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af82d7839f9d2c1dac7f59835ed772ac32941309 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0963067517010865, + "K": [ + [ + 376.7661296630234, + 0.0, + 294.27290763706424 + ], + [ + 0.0, + 393.0770501676259, + 258.250110573372 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.204219454045084, + -7.817050064755728, + 1.025159040619502 + ], + "camera_target": [ + -7.926309134098349, + -7.51382076210126, + 0.9057845446845572 + ], + "camera_roll_rad": 0.024355531395438224, + "camera_pose_world_cv": [ + [ + 0.39348554611206055, + 0.11991357803344727, + -0.9114768505096436, + -7.204219341278076 + ], + [ + 0.9180698394775391, + -0.10316634178161621, + 0.3827592730522156, + -7.817049980163574 + ], + [ + -0.04813578724861145, + -0.9874095320701599, + -0.1506834626197815, + 1.0251590013504028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3131554621561157, + 0.3160063995665851, + 0.3188557479335569 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.04600000701888, + 1.0270669083985131, + 0.9946101679064557 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5236.65509498738, + "intensity": 1.0270669083985131 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.9047093794948157, + 0.9307667688701067, + 0.9724585918705724 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6053.711726629939, + "intensity": 0.9411897246202231 + }, + "point_color_scale": [ + 1.0233995717163806, + 1.0526398507425516, + 1.0994242971844255 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4748dee0515d7f8baf339ff00acaa328d9842698 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8069505686937264, + "K": [ + [ + 542.3053799231229, + 0.0, + 337.65762727049076 + ], + [ + 0.0, + 562.1981229739997, + 224.95510179888683 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.783744051629473, + -6.561959675985007, + 1.008021310691543 + ], + "camera_target": [ + -7.953212814948627, + -7.584506316710956, + 0.9599210549989015 + ], + "camera_roll_rad": 0.010432230816645821, + "camera_pose_world_cv": [ + [ + -0.7765321731567383, + -0.006805598735809326, + 0.6300410032272339, + -8.783743858337402 + ], + [ + -0.6297327280044556, + 0.04147064685821533, + -0.7757042050361633, + -6.561959743499756 + ], + [ + -0.02084904909133911, + -0.9991165995597839, + -0.036488890647888184, + 1.008021354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2386296893943671, + 0.2420537078173328, + 0.23114403018181945 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9028552401879775, + 0.9226501842089552, + 0.9543220946425197 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5925.437809570432, + "intensity": 0.9305681618173463 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7176635660624735, + 0.7191390931436726, + 0.721499936473591 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5541.0022788581055, + "intensity": 0.7197293039761522 + }, + "point_color_scale": [ + 0.884742671806016, + 0.908703477946011, + 0.9470407677700032 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b5f025251ea033ec074707053b9ec3ccfe6c21f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.188087412217436, + "K": [ + [ + 367.9737281322346, + 0.0, + 302.3509414275202 + ], + [ + 0.0, + 355.3301993115123, + 228.4953555244276 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.907391489166503, + -6.758092949709729, + 1.4428848928578724 + ], + "camera_target": [ + -7.927507842749461, + -7.552138711169541, + 0.8814841998584246 + ], + "camera_roll_rad": 0.04645228255266762, + "camera_pose_world_cv": [ + [ + -0.6561800241470337, + -0.2561752200126648, + 0.7097901701927185, + -8.907391548156738 + ], + [ + -0.7498297095298767, + 0.3269977569580078, + -0.575176477432251, + -6.758092880249023 + ], + [ + -0.08475375175476074, + -0.9096410274505615, + -0.4066570997238159, + 1.442884922027588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24382084305831073, + 0.2309488806549834, + 0.23933571768312167 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1522175666183356, + 1.1044503585505279, + 1.0225637161485717 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4882.14634872451, + "intensity": 1.1044503585505279 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8943114064913585, + 0.9136298049097255, + 0.9445392423791125 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5919.346571934995, + "intensity": 0.9213571642770723 + }, + "point_color_scale": [ + 0.8502245723390053, + 0.8124804438231128, + 0.7477762235101545 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24cb216b62f39595478ddd403242f074339f81aa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8308213904494264, + "K": [ + [ + 537.28320441419, + 0.0, + 343.1361013057666 + ], + [ + 0.0, + 544.1199308101374, + 218.0049717528671 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.354826232749978, + -5.926721085251559, + 0.8058852940335658 + ], + "camera_target": [ + -7.945974006945188, + -7.533645304272839, + 0.9409818024189414 + ], + "camera_roll_rad": -0.04415465210737339, + "camera_pose_world_cv": [ + [ + -0.9671134948730469, + -0.06552585959434509, + 0.24576112627983093, + -8.354825973510742 + ], + [ + -0.23867380619049072, + -0.1001390814781189, + -0.965923011302948, + -5.926721096038818 + ], + [ + 0.08790326118469238, + -0.9928135275840759, + 0.08120691776275635, + 0.8058853149414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.270165801404926, + 0.26428383226013985, + 0.25585040060586384 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1180847162384835, + 1.1310895499480524, + 1.151897283883363 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5728.8996071728225, + "intensity": 1.13629148343188 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6221663542671694, + 0.6423577976846593, + 0.6746641071526431 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6120.860280205406, + "intensity": 0.6504343750516552 + }, + "point_color_scale": [ + 1.0815306405479461, + 1.0861036942268498, + 1.0934205801130956 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19b86e4f3c7c1e6f015e05192d52a71a19e1bc27 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2544591632440196, + "K": [ + [ + 327.94796311814815, + 0.0, + 301.47816124992517 + ], + [ + 0.0, + 331.0892488222554, + 228.7729255390122 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.233337430318764, + -8.364342118522618, + 1.6368656050433912 + ], + "camera_target": [ + -7.994292257496142, + -7.4970332460103934, + 0.9585684820560321 + ], + "camera_roll_rad": 0.00733120498965658, + "camera_pose_world_cv": [ + [ + 0.961604118347168, + -0.17408035695552826, + 0.21216392517089844, + -8.23333740234375 + ], + [ + -0.2741905450820923, + -0.576421856880188, + 0.7697775363922119, + -8.364341735839844 + ], + [ + -0.011707209050655365, + -0.7983945608139038, + -0.602020800113678, + 1.6368656158447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2718842422909503, + 0.26168943547199447, + 0.2770303724370171 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.8296183414740406, + 0.8614606546316128, + 0.9124083556837287 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6228.492365796985, + "intensity": 0.8741975798946418 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6312105501679948, + 0.6417100123214236, + 0.6585091517669096 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5825.106143279551, + "intensity": 0.6459097971827951 + }, + "point_color_scale": [ + 0.7572652756126226, + 0.7891624485536267, + 0.8401979252592336 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..450bdfdd40ea9193e6efc33ca38a39bf772a47a2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9003552779195906, + "K": [ + [ + 485.1443949037832, + 0.0, + 324.8787873753392 + ], + [ + 0.0, + 496.6125087774893, + 219.3961512777488 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.3808949593504485, + -6.439976057186284, + 1.3740331106835018 + ], + "camera_target": [ + -7.915626623896575, + -7.544786922083922, + 0.9298043649408767 + ], + "camera_roll_rad": 0.0026418569151296437, + "camera_pose_world_cv": [ + [ + -0.8993170261383057, + 0.15301640331745148, + -0.40965256094932556, + -7.380895137786865 + ], + [ + 0.4372694492340088, + 0.3040199279785156, + -0.8463850021362305, + -6.439976215362549 + ], + [ + -0.00496828556060791, + -0.9402967691421509, + -0.3403193950653076, + 1.3740330934524536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31447489550428764, + 0.30060746455990556, + 0.3103045007660999 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0463377052013856, + 1.0636856430185893, + 1.0914423435261156 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5824.071281053504, + "intensity": 1.070624818145471 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7904071563046853, + 0.812617463909441, + 0.8481539560770504 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6040.724642716272, + "intensity": 0.8215015869513433 + }, + "point_color_scale": [ + 0.9737593532888377, + 0.9527188170371862, + 0.9166493263200695 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a71843112fabb1d614957e8e27ac0b36dc3de4a8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9534231855270445, + "K": [ + [ + 466.75914207558503, + 0.0, + 332.112908580564 + ], + [ + 0.0, + 464.7215452645842, + 232.2751798623041 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.591121023424979, + -6.954895570462634, + 1.490027599682283 + ], + "camera_target": [ + -7.962548500915641, + -7.557260551763078, + 0.9033088148835551 + ], + "camera_roll_rad": -0.04127641548515189, + "camera_pose_world_cv": [ + [ + -0.3209657669067383, + -0.3278173804283142, + 0.8885476589202881, + -9.591120719909668 + ], + [ + -0.943863570690155, + 0.033332109451293945, + -0.3286498188972473, + -6.954895496368408 + ], + [ + 0.07812005281448364, + -0.9441530108451843, + -0.32011324167251587, + 1.4900275468826294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2877935723113793, + 0.28610429171343904, + 0.26857108600617596 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0836579946569462, + 1.1060600452436973, + 1.1419033261824991 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5901.822984310513, + "intensity": 1.1150208654783977 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7619868674689534, + 0.7638081857470275, + 0.7667222949919459 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5547.645018138855, + "intensity": 0.7645367130582571 + }, + "point_color_scale": [ + 1.0149820625528696, + 1.0477797915672062, + 1.100256157990145 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34471dfa5c9ecaa838346dfc74ea0832ae1d1e73 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.224211822022903, + "K": [ + [ + 327.75637402468186, + 0.0, + 326.4503827618791 + ], + [ + 0.0, + 341.8520442102248, + 225.46619504742358 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.347952509982468, + -6.3545076577814426, + 1.191038629119241 + ], + "camera_target": [ + -8.007371556391735, + -7.5655120082460074, + 0.9557801822663108 + ], + "camera_roll_rad": 0.032291429132109944, + "camera_pose_world_cv": [ + [ + -0.6751213073730469, + -0.05236300826072693, + 0.7358462810516357, + -9.347952842712402 + ], + [ + -0.7349257469177246, + 0.13427340984344482, + -0.6647217273712158, + -6.3545074462890625 + ], + [ + -0.06399762630462646, + -0.9895600080490112, + -0.1291334629058838, + 1.1910386085510254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31477008860595845, + 0.34426813768015896, + 0.3384560834042016 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0777744987199822, + 1.0107055356833272, + 0.8957301704776328 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4552.020584083369, + "intensity": 1.0107055356833272 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.5993659414668538, + 0.5899635666313385, + 0.5738452097704552 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5272.325533126868, + "intensity": 0.5899635666313385 + }, + "point_color_scale": [ + 0.8586782534365001, + 0.8438396749833046, + 0.8184021119206838 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9346ef2d13db181c162ff5691478571fa63a7d4e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8094546720896112, + "K": [ + [ + 557.6237514896045, + 0.0, + 289.1742037517379 + ], + [ + 0.0, + 560.2544473430858, + 225.3438283538236 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.085130786478306, + -6.322524800828505, + 1.4327419888165034 + ], + "camera_target": [ + -7.96319949854123, + -7.563301723201742, + 0.9330054237689311 + ], + "camera_roll_rad": -0.036934275222234816, + "camera_pose_world_cv": [ + [ + -0.7255460023880005, + -0.24619801342487335, + 0.6426275968551636, + -9.08513069152832 + ], + [ + -0.6845314502716064, + 0.16223978996276855, + -0.7107006311416626, + -6.3225250244140625 + ], + [ + 0.07071337103843689, + -0.9555444717407227, + -0.2862423062324524, + 1.4327419996261597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38481338035240903, + 0.3784214413152911, + 0.3859707970880439 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0427551818847143, + 1.0904741105758355, + 1.1668243964816296 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6360.1401699968355, + "intensity": 1.109561682052284 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.784003158744292, + 0.7937171921221252, + 0.8092596455266583 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5743.580722414066, + "intensity": 0.7976028054732585 + }, + "point_color_scale": [ + 1.1311299241851733, + 1.1733119486021277, + 1.2408031876692547 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..774812e7a12384c86ee20e043f57f8d0ad0dcee6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.086066509696674, + "K": [ + [ + 408.7909470991, + 0.0, + 338.4099461097827 + ], + [ + 0.0, + 397.6404692003375, + 229.20054833789257 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.077556661599712, + -7.704669115421698, + 0.787571858169722 + ], + "camera_target": [ + -7.983749819219573, + -7.581348674994305, + 0.9816045352893272 + ], + "camera_roll_rad": -0.012635760419976404, + "camera_pose_world_cv": [ + [ + 0.13999634981155396, + -0.20217475295066833, + -0.9692916870117188, + -7.077556610107422 + ], + [ + 0.9898433685302734, + 0.05301475524902344, + 0.13190686702728271, + -7.704668998718262 + ], + [ + 0.02471858263015747, + -0.977913498878479, + 0.2075432538986206, + 0.7875718474388123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36673133261776836, + 0.3890448678660278, + 0.3745812577718867 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9548216608620528, + 0.9644411336838681, + 0.9798322901987726 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5698.690134631997, + "intensity": 0.9682889228125942 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7428054889326384, + 0.7728909330420524, + 0.8210276436171148 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6266.581262335389, + "intensity": 0.7849251106858179 + }, + "point_color_scale": [ + 0.8613936440535892, + 0.8353021823942797, + 0.7905739624068918 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6442345b50a669d27de3aba946c98efb68d444a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8256580225745412, + "K": [ + [ + 537.4706476523598, + 0.0, + 318.7456907678089 + ], + [ + 0.0, + 547.9467343358576, + 260.16176844739476 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.096327701242956, + -7.09615618671479, + 1.0915182171963154 + ], + "camera_target": [ + -7.913148956609712, + -7.528370619722839, + 0.8617254727560074 + ], + "camera_roll_rad": 0.039384040445362326, + "camera_pose_world_cv": [ + [ + -0.3553227186203003, + -0.14104685187339783, + 0.9240409135818481, + -9.096327781677246 + ], + [ + -0.9315329790115356, + 0.13529682159423828, + -0.3375517725944519, + -7.096156120300293 + ], + [ + -0.07740914821624756, + -0.9807143807411194, + -0.17946374416351318, + 1.0915181636810303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.329581385483262, + 0.3378326578430155, + 0.35518463461761535 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.8713914783733852, + 0.8522937035656245, + 0.8195546610380351 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5179.892796045311, + "intensity": 0.8522937035656245 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6921805126708984, + 0.6609996309302212, + 0.6075466908033461 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4826.109808719421, + "intensity": 0.6609996309302212 + }, + "point_color_scale": [ + 1.1339586033962756, + 1.1325231882322992, + 1.1300624765226255 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbd81bd06d9036d92b63c8b12c955b015712f5b2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8045750673540019, + "K": [ + [ + 568.7177180897401, + 0.0, + 291.07964804969464 + ], + [ + 0.0, + 564.0525455173477, + 261.14405192199695 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.71786739678672, + -7.832715999843201, + 1.516386522941854 + ], + "camera_target": [ + -7.927091400967843, + -7.55658900118479, + 0.990425789945842 + ], + "camera_roll_rad": 0.017731838816836556, + "camera_pose_world_cv": [ + [ + 0.14252841472625732, + -0.2807420492172241, + 0.9491415023803711, + -9.717867851257324 + ], + [ + -0.9892048835754395, + -0.007413268089294434, + 0.14635184407234192, + -7.83271598815918 + ], + [ + -0.03405079245567322, + -0.9597547054290771, + -0.2787679433822632, + 1.5163865089416504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28964132353967803, + 0.27807851817702717, + 0.2937231853387543 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1287257114530953, + 1.1498199798054751, + 1.1835708091692827 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5864.241370231683, + "intensity": 1.158257687146427 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6387095098391782, + 0.6219621487748325, + 0.59325238695024 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5115.333480218662, + "intensity": 0.6219621487748325 + }, + "point_color_scale": [ + 1.094681418686133, + 1.0463660646219097, + 0.9635397433689555 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e3704b6a7c3ed68baf5b808b5ce13754773a749 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0179156853687543, + "K": [ + [ + 415.8402612595544, + 0.0, + 333.4516075774383 + ], + [ + 0.0, + 430.1142464377691, + 258.8605592258156 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.873422115336174, + -7.72340988392406, + 1.4561526859289167 + ], + "camera_target": [ + -7.993461016640462, + -7.56878987222171, + 0.9338941699124982 + ], + "camera_roll_rad": -0.04254846802793654, + "camera_pose_world_cv": [ + [ + 0.10095053911209106, + 0.4255133867263794, + -0.8993039131164551, + -6.873422145843506 + ], + [ + 0.9918948411941528, + 0.027058959007263184, + 0.12414756417274475, + -7.723409652709961 + ], + [ + 0.07716056704521179, + -0.9045476913452148, + -0.4193328022956848, + 1.4561526775360107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32704971870126415, + 0.3118751435980045, + 0.3040575798155583 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1514680230315582, + 1.184108206802029, + 1.2363325008347825 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6045.291641377957, + "intensity": 1.1971642803102174 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7300386165553895, + 0.7417362312551501, + 0.7604524147747673 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5813.434493052162, + "intensity": 0.7464152771350544 + }, + "point_color_scale": [ + 1.0543250065610739, + 1.0972850936062304, + 1.1660212328784811 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..820d8ba8af514d9b594e20f46896334945cf1b50 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0846278994218364, + "K": [ + [ + 382.38280031205494, + 0.0, + 317.0338675922001 + ], + [ + 0.0, + 398.28777001429745, + 238.20939033825138 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.533936426551895, + -7.552090056582432, + 1.517109344499111 + ], + "camera_target": [ + -7.999486166806497, + -7.536134449643797, + 0.9417238703193929 + ], + "camera_roll_rad": -0.019368725451037842, + "camera_pose_world_cv": [ + [ + 0.023986220359802246, + -0.35040387511253357, + 0.9362915754318237, + -9.533936500549316 + ], + [ + -0.9990544319152832, + -0.0423734188079834, + 0.00973600149154663, + -7.552090167999268 + ], + [ + 0.03626242280006409, + -0.9356397390365601, + -0.35108888149261475, + 1.5171093940734863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2581738831072318, + 0.26414692003259954, + 0.2864000495590762 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.996446562113179, + 1.042596701957005, + 1.1164369257071272 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6369.890126055129, + "intensity": 1.0610567578945356 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.9087328706485464, + 0.8703468298233099, + 0.8045421884086188 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4869.938519911174, + "intensity": 0.8703468298233099 + }, + "point_color_scale": [ + 1.0366737703474393, + 1.0516213212711605, + 1.0755374027491142 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33cdb50e339c8c7ae6315991d8d83aa93866b861 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8522099150015874, + "K": [ + [ + 549.7947623049066, + 0.0, + 343.67389548409557 + ], + [ + 0.0, + 528.7332289043457, + 219.56953899271554 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.928721267388857, + -6.355575371417885, + 1.2989599056489913 + ], + "camera_target": [ + -7.9961252970347045, + -7.53952524929241, + 0.886049315466523 + ], + "camera_roll_rad": -0.03656329076324709, + "camera_pose_world_cv": [ + [ + -0.7715151309967041, + -0.22046026587486267, + 0.5967930555343628, + -8.92872142791748 + ], + [ + -0.6322969198226929, + 0.16180646419525146, + -0.7576406598091125, + -6.3555755615234375 + ], + [ + 0.07046476006507874, + -0.9618814587593079, + -0.2642323970794678, + 1.2989598512649536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3064950704574585, + 0.9518722891807556, + 0.0, + -7.957681655883789 + ], + [ + -0.9518722891807556, + -0.3064950704574585, + -0.0, + -7.540587425231934 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3146060997398782, + 0.3104217945323106, + 0.32140943584743076 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.851713515893506, + 0.8936547012827962, + 0.9607605979056608 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6421.347742053961, + "intensity": 0.9104311754385124 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8821592913520476, + 0.9116408280378924, + 0.9588112867352441 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6138.520012861005, + "intensity": 0.9234334427122303 + }, + "point_color_scale": [ + 0.9986367968400812, + 0.998359022730637, + 0.9978828385430185 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91cc10c0d1d0e9bdeca4bf744b1ce4eb3f6ea557 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9307494624183733, + "K": [ + [ + 458.0906737313133, + 0.0, + 340.892427368086 + ], + [ + 0.0, + 477.93458574193556, + 236.8836503012223 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.325770835440595, + -8.122092385388932, + 1.585102957950857 + ], + "camera_target": [ + -9.038883130749383, + -7.528629332354639, + 0.9027907494950488 + ], + "camera_roll_rad": 0.03879181780976883, + "camera_pose_world_cv": [ + [ + 0.38698387145996094, + -0.4252099096775055, + 0.8181931972503662, + -10.325770378112793 + ], + [ + -0.919438362121582, + -0.110740065574646, + 0.3773193061351776, + -8.122092247009277 + ], + [ + -0.06983312964439392, + -0.8982945680618286, + -0.4338088631629944, + 1.585102915763855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35434033958715583, + 0.32740329556281406, + 0.3552078063676593 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.957724212965794, + 0.9434229013861444, + 0.9189063672496023 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5283.443405033234, + "intensity": 0.9434229013861444 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7611896130808474, + 0.7622405217992344, + 0.7639219757486537 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5527.559003973099, + "intensity": 0.7626608852865893 + }, + "point_color_scale": [ + 0.961432033096685, + 0.9218693226131203, + 0.8540475332127236 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0160d2e5379ab5c7a3e22ce60b64d0aa636d5f47 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.047167617714544, + "K": [ + [ + 419.53460695075154, + 0.0, + 289.5261428006294 + ], + [ + 0.0, + 415.70656226039284, + 261.0406935582351 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.543800834759747, + -7.11956453654098, + 0.7568423911529468 + ], + "camera_target": [ + -9.009012230592973, + -7.500234266715127, + 0.9368202486821469 + ], + "camera_roll_rad": 0.03313261871996541, + "camera_pose_world_cv": [ + [ + -0.23293673992156982, + 0.125460684299469, + 0.9643651247024536, + -10.543801307678223 + ], + [ + -0.9702637791633606, + 0.037105441093444824, + -0.23918887972831726, + -7.119564533233643 + ], + [ + -0.06579199433326721, + -0.9914044141769409, + 0.11308670043945312, + 0.7568423748016357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3069907987516087, + 0.31300199051784305, + 0.3007648630951865 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9769325352037775, + 0.9338528066319516, + 0.8600018433659643 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4840.983194018737, + "intensity": 0.9338528066319516 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8183928747267507, + 0.8312901128880236, + 0.8519256939460601 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5808.380738946873, + "intensity": 0.8364490081525326 + }, + "point_color_scale": [ + 0.802102599814005, + 0.8295859169130099, + 0.8735592242714177 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..036525930378918f24b1c738684860fe4eced8de --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8959230728540476, + "K": [ + [ + 475.03720803876166, + 0.0, + 351.2502835391497 + ], + [ + 0.0, + 499.4345857378889, + 248.07033837678955 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.980828930752624, + -7.03975105199244, + 0.98712081191905 + ], + "camera_target": [ + -8.99170253310342, + -7.530531262473179, + 0.9575716945768161 + ], + "camera_roll_rad": 0.006837142766092853, + "camera_pose_world_cv": [ + [ + -0.43638479709625244, + 0.029617130756378174, + -0.8992725610733032, + -7.980828762054443 + ], + [ + 0.899656355381012, + -0.0008209943771362305, + -0.4365980327129364, + -7.039751052856445 + ], + [ + -0.013669103384017944, + -0.9995609521865845, + -0.026286959648132324, + 0.9871208071708679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3327498779436254, + 0.350382206860261, + 0.3363802540593915 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.093954905583666, + 1.1373672900839031, + 1.2068271052842827 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6251.903910714704, + "intensity": 1.154732243883998 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6803211353115172, + 0.6655858232983035, + 0.6403252884185086 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5183.730557408101, + "intensity": 0.6655858232983035 + }, + "point_color_scale": [ + 0.8366355704823624, + 0.8672488914196458, + 0.9162302049192991 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6f30fdeb7153e668c37f77fb8cab1d943faa608 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.172553526974145, + "K": [ + [ + 361.70408989400147, + 0.0, + 295.1930130312127 + ], + [ + 0.0, + 361.3496505085482, + 232.49860702755595 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.639159626935054, + -6.532639007397125, + 1.4270592957884727 + ], + "camera_target": [ + -8.985023029789405, + -7.474771790221692, + 0.8543964505136895 + ], + "camera_roll_rad": -0.0070433006091685305, + "camera_pose_world_cv": [ + [ + -0.8177502155303955, + -0.2663114666938782, + 0.5102576613426208, + -9.639159202575684 + ], + [ + -0.5754353404045105, + 0.35886240005493164, + -0.7349095940589905, + -6.532639026641846 + ], + [ + 0.012602552771568298, + -0.8945927023887634, + -0.4467047452926636, + 1.427059292793274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3277163405752581, + 0.3572156217196863, + 0.3414250514366581 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1245656074511117, + 1.1100306428639128, + 1.085113560714429 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5312.939982710771, + "intensity": 1.1100306428639128 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.716117920154615, + 0.703866547507585, + 0.682864194398391 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5251.345464757439, + "intensity": 0.703866547507585 + }, + "point_color_scale": [ + 1.0506206995645258, + 1.0874658665760875, + 1.1464181337945867 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3eeafb86f112d3e72d9a18646b279ee37efc4298 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1075736315627203, + "K": [ + [ + 381.58407842120596, + 0.0, + 302.3141016881779 + ], + [ + 0.0, + 388.14373839863237, + 230.7817866667552 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.825874105660017, + -6.945832116314358, + 1.2384436527623577 + ], + "camera_target": [ + -8.972201373457542, + -7.5065569064430635, + 0.8612815054081067 + ], + "camera_roll_rad": -0.02147088834922356, + "camera_pose_world_cv": [ + [ + -0.5360643863677979, + -0.3128390908241272, + 0.7840707302093506, + -9.825874328613281 + ], + [ + -0.8432161211967468, + 0.15412366390228271, + -0.5150074362754822, + -6.945832252502441 + ], + [ + 0.04027065634727478, + -0.9372181296348572, + -0.3464110493659973, + 1.2384436130523682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24317249409539116, + 0.2614394785406148, + 0.23666717648181013 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0745787686798158, + 1.0804508317560766, + 1.0898461326780942 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5608.46074873357, + "intensity": 1.082799656986581 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7373116012600964, + 0.7344319722758055, + 0.7294954654455923 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5443.987246645909, + "intensity": 0.7344319722758055 + }, + "point_color_scale": [ + 0.8676166163814975, + 0.8529900968757644, + 0.827916063437365 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78ea30830e2a9c1447df24232e5d44f87e1e9fec --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.030469360160279, + "K": [ + [ + 408.89547197436406, + 0.0, + 332.36379743418723 + ], + [ + 0.0, + 423.83995240695043, + 220.35676437438053 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.379909201254275, + -7.733393476129369, + 0.9081830214889747 + ], + "camera_target": [ + -8.957381252118887, + -7.518614832893838, + 0.9964444045623462 + ], + "camera_roll_rad": -0.016444861939545835, + "camera_pose_world_cv": [ + [ + 0.14721989631652832, + 0.06542524695396423, + 0.9869376420974731, + -10.37990951538086 + ], + [ + -0.9885591268539429, + -0.02337825298309326, + 0.14901170134544373, + -7.733393669128418 + ], + [ + 0.032822102308273315, + -0.9975836277008057, + 0.06123518943786621, + 0.9081830382347107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26554544379332173, + 0.2660882740303057, + 0.2733577272939198 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0056295185663329, + 0.97673892199724, + 0.9272121850216523 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5077.448181049282, + "intensity": 0.97673892199724 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.594353394768628, + 0.6022782290371371, + 0.6149579638667517 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5761.784071904199, + "intensity": 0.6054481627445408 + }, + "point_color_scale": [ + 1.0521537297258428, + 1.080727406643967, + 1.1264452897129658 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97ca0b4209b022d136f83a80c5b39495de02a70a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8949108377998363, + "K": [ + [ + 476.5942733260921, + 0.0, + 319.6310832715405 + ], + [ + 0.0, + 500.08275073248757, + 232.01516195174278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.688376371267736, + -6.965342985456985, + 1.2893378921103498 + ], + "camera_target": [ + -9.036395804047675, + -7.531795712943791, + 0.9736458456837866 + ], + "camera_roll_rad": -0.00426126345996955, + "camera_pose_world_cv": [ + [ + -0.6536252498626709, + -0.2647351026535034, + 0.7090060710906982, + -9.688376426696777 + ], + [ + -0.7567762136459351, + 0.21871721744537354, + -0.615997314453125, + -6.965342998504639 + ], + [ + 0.00800439715385437, + -0.9391902685165405, + -0.3433041572570801, + 1.2893378734588623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3201650409169128, + 0.3191865267741183, + 0.33932102580740403 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.168575584630563, + 1.1720296377202375, + 1.177556122663717 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5558.871995019845, + "intensity": 1.1734112589561074 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8060010068592537, + 0.8175397204618017, + 0.8360016622258785 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5780.694290316563, + "intensity": 0.8221552059028209 + }, + "point_color_scale": [ + 0.9193394473837735, + 0.9279490710796758, + 0.9417244689931196 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee04c7164513b88678dd67a7aab09b7ca4a54613 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8450807377462048, + "K": [ + [ + 527.7776864637653, + 0.0, + 332.3047035421473 + ], + [ + 0.0, + 533.7805221078328, + 242.3884489229391 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.496401628025305, + -8.210049087598403, + 1.5026048517061206 + ], + "camera_target": [ + -8.996880835561818, + -7.549034419202803, + 0.8505095148769024 + ], + "camera_roll_rad": -0.028518861183440495, + "camera_pose_world_cv": [ + [ + 0.3832140564918518, + 0.3606249988079071, + -0.8503509759902954, + -7.496401786804199 + ], + [ + 0.9221394062042236, + -0.09657454490661621, + 0.37460967898368835, + -8.21004867553711 + ], + [ + 0.05297127366065979, + -0.9276977777481079, + -0.36955511569976807, + 1.5026048421859741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28496589505300096, + 0.2654554349632126, + 0.2813238063074984 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9156254306555294, + 0.889154171785315, + 0.8437748708649476 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5074.695982988237, + "intensity": 0.889154171785315 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8715224710807524, + 0.8703655560906713, + 0.8683822732505322 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5481.0110167095845, + "intensity": 0.8703655560906713 + }, + "point_color_scale": [ + 1.2019401245860493, + 1.1636279957382742, + 1.09795006057066 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0936644a18906bd6af88f46039b069f59a44d2b2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8798718174253549, + "K": [ + [ + 516.8074489935782, + 0.0, + 298.363409986575 + ], + [ + 0.0, + 509.8764843388863, + 216.83038917301027 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.9490440140494965, + -7.708253270096527, + 1.1089977558171213 + ], + "camera_target": [ + -9.01489226342851, + -7.535460430164407, + 0.9303846550904254 + ], + "camera_roll_rad": 0.01849722252849309, + "camera_pose_world_cv": [ + [ + 0.16587722301483154, + 0.1550685167312622, + -0.9738781452178955, + -7.949044227600098 + ], + [ + 0.9854711294174194, + -0.06260824203491211, + 0.1578829288482666, + -7.708253383636475 + ], + [ + -0.036490172147750854, + -0.9859179258346558, + -0.1632007360458374, + 1.1089977025985718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37448440129839133, + 0.3453486461115809, + 0.3413625448860724 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1119423565119322, + 1.0821376552226034, + 1.0310438815837544 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5106.536705440842, + "intensity": 1.0821376552226034 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6988147934307358, + 0.6830509812980881, + 0.6560273033564061 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5170.3067232950725, + "intensity": 0.6830509812980881 + }, + "point_color_scale": [ + 0.9518647782501158, + 0.9626106074350944, + 0.9798039341310604 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..771a2c6a3d3ce0cad257a92af8d3d86789a159cb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1218255956938594, + "K": [ + [ + 391.19345561243586, + 0.0, + 337.0385784993688 + ], + [ + 0.0, + 382.03064673856466, + 232.00005341923287 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.799780945728385, + -7.741836023565745, + 1.0889904917494202 + ], + "camera_target": [ + -8.953326081605567, + -7.464255500450307, + 0.9417677226863701 + ], + "camera_roll_rad": 0.032235313023016535, + "camera_pose_world_cv": [ + [ + 0.24118173122406006, + 0.10440102219581604, + -0.9648481607437134, + -7.79978084564209 + ], + [ + 0.9683717489242554, + -0.09138715267181396, + 0.2321740984916687, + -7.741836071014404 + ], + [ + -0.0639355480670929, + -0.990327775478363, + -0.12313985824584961, + 1.0889904499053955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33711293937690395, + 0.31216535160983266, + 0.3371473914471305 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9847344549560121, + 0.9855682873301078, + 0.9869024191286608 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5516.915119881999, + "intensity": 0.985901820279746 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6950872464751816, + 0.670257539568103, + 0.6276923277273968 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4970.785365725064, + "intensity": 0.670257539568103 + }, + "point_color_scale": [ + 0.9926628835330897, + 0.9540424532406313, + 0.8878360013107024 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92415bc7fac124f18b449a08b20affba59a7cd77 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8019364103997891, + "K": [ + [ + 580.345027332464, + 0.0, + 317.4399489306877 + ], + [ + 0.0, + 566.1245741207615, + 257.3652799567945 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.419545199348413, + -8.456093698844043, + 1.40857419997803 + ], + "camera_target": [ + -9.04288188689511, + -7.507133599243014, + 0.8957787405733321 + ], + "camera_roll_rad": 0.04797848824271521, + "camera_pose_world_cv": [ + [ + 0.8536192774772644, + 0.14486519992351532, + -0.5003480911254883, + -8.41954517364502 + ], + [ + 0.5135269165039062, + -0.39505326747894287, + 0.7617238163948059, + -8.456093788146973 + ], + [ + -0.08731691539287567, + -0.9071643948554993, + -0.4116172194480896, + 1.4085742235183716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3155848811832352, + 0.2880551531888405, + 0.29074893154349585 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.8368780042044983, + 0.8662053439685511, + 0.9131290875910354 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6168.097228383271, + "intensity": 0.8779362798741721 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6086280853386145, + 0.6086988987452127, + 0.6088122001957699 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5502.326605540011, + "intensity": 0.608727224107852 + }, + "point_color_scale": [ + 1.165084344704127, + 1.1181096556020589, + 1.0375816171413705 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c807ce2248e8b2648e1da9d89b36f7c85804dc5d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2128445568426736, + "K": [ + [ + 346.07721745487714, + 0.0, + 294.8668690827225 + ], + [ + 0.0, + 346.01740449829305, + 219.72358827748772 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.618869455325514, + -7.7560603968415425, + 0.7977648511172831 + ], + "camera_target": [ + -8.996814039647614, + -7.4939003918359335, + 0.9680805974452853 + ], + "camera_roll_rad": -0.00497027394854524, + "camera_pose_world_cv": [ + [ + 0.15853214263916016, + 0.10336267948150635, + 0.9819285869598389, + -10.61886978149414 + ], + [ + -0.9873043298721313, + 0.006636381149291992, + 0.15870153903961182, + -7.756060600280762 + ], + [ + 0.009887397289276123, + -0.9946216344833374, + 0.10310256481170654, + 0.7977648377418518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24288868807408706, + 0.23746100529926545, + 0.24715330958106282 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9279338442597671, + 0.8963209371219609, + 0.8421273820285791 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4996.148153627181, + "intensity": 0.8963209371219609 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7699580121294678, + 0.7490337072688542, + 0.7131634703649455 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5100.927651232371, + "intensity": 0.7490337072688542 + }, + "point_color_scale": [ + 1.118563559675086, + 1.15719924694008, + 1.2190163465640707 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2156b7a6c9047c01069d89864f66a61adacc9602 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2311733018615063, + "K": [ + [ + 343.1792348185247, + 0.0, + 344.9453333838866 + ], + [ + 0.0, + 339.33426818520525, + 252.08272143962336 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.324438202860797, + -7.957040343053238, + 0.9514698523964414 + ], + "camera_target": [ + -9.026718020024294, + -7.483008478414387, + 0.8631878736578323 + ], + "camera_roll_rad": 0.002904524728939449, + "camera_pose_world_cv": [ + [ + 0.2685365676879883, + 0.046509742736816406, + -0.9621460437774658, + -7.324438095092773 + ], + [ + 0.963252067565918, + -0.018981575965881348, + 0.26792773604393005, + -7.957040309906006 + ], + [ + -0.00580182671546936, + -0.9987374544143677, + -0.04989778995513916, + 0.9514698386192322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23450330444849332, + 0.24136732107963055, + 0.24011231676635347 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9894622903316572, + 0.9720516075226991, + 0.9422047227073425 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5244.124655313463, + "intensity": 0.9720516075226991 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.5678561338576129, + 0.5917571376777642, + 0.6299987437900061 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6294.954487830768, + "intensity": 0.6013175392058246 + }, + "point_color_scale": [ + 0.9124346431292307, + 0.9181038926831163, + 0.9271746919693336 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c037c57466df8e9cb092cca524258fd7fcff88b9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2596694511549003, + "K": [ + [ + 332.06173673695224, + 0.0, + 346.8405630559321 + ], + [ + 0.0, + 329.280609756891, + 261.6091081563855 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.484942386717096, + -5.737030347941448, + 1.2437654318501967 + ], + "camera_target": [ + -9.013539678963797, + -7.534655854972338, + 0.8881152112195909 + ], + "camera_roll_rad": 0.014144031513681432, + "camera_pose_world_cv": [ + [ + -0.9682551622390747, + -0.020300231873989105, + 0.24913841485977173, + -9.484942436218262 + ], + [ + -0.24841558933258057, + 0.18891692161560059, + -0.9500527381896973, + -5.737030506134033 + ], + [ + -0.02778017520904541, + -0.9817832708358765, + -0.18796265125274658, + 1.2437654733657837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2684730577968646, + 0.29082134531349313, + 0.2827223870423614 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1512023468970665, + 1.083227665335584, + 0.9666996398016138 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4603.543132690472, + "intensity": 1.083227665335584 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.836065290171837, + 0.8527155508458254, + 0.879355967924207 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5887.49668029058, + "intensity": 0.8593756551154208 + }, + "point_color_scale": [ + 1.215794900174224, + 1.1645249253907792, + 1.0766335400477307 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b018894ebc4bfc7cf73a6bd4d4612dde816d6eb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9488142600826601, + "K": [ + [ + 454.4703486017843, + 0.0, + 340.0123257838806 + ], + [ + 0.0, + 467.3600858296567, + 262.18590509117064 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.00384405709755, + -6.504973488296626, + 1.3827850829114512 + ], + "camera_target": [ + -8.99488701262288, + -7.457364246468799, + 0.8799915668783151 + ], + "camera_roll_rad": -0.05150461295035832, + "camera_pose_world_cv": [ + [ + -0.9942038059234619, + -0.1071896031498909, + 0.00831645354628563, + -9.003844261169434 + ], + [ + -0.05735663324594498, + 0.4633840322494507, + -0.8842993974685669, + -6.504973411560059 + ], + [ + 0.09093399345874786, + -0.8796508312225342, + -0.466846227645874, + 1.3827850818634033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2736466767773929, + 0.2587060658154338, + 0.2659170838899011 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0755220798540441, + 1.102443277998639, + 1.1455171950299907 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5983.667154413505, + "intensity": 1.113211757256477 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6048224627717043, + 0.6300022974918141, + 0.67029003304399 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6286.778579285336, + "intensity": 0.6400742313798581 + }, + "point_color_scale": [ + 0.8541667603422562, + 0.8702546044089509, + 0.8959951549156622 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b11fcdb126c609e9eaef30d9aba20cc583304dc9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1920656155558276, + "K": [ + [ + 356.7663074165065, + 0.0, + 296.98103266566676 + ], + [ + 0.0, + 353.8108577798949, + 222.5351775944086 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.55610964987332, + -7.8858747148249595, + 1.4243987975206602 + ], + "camera_target": [ + -8.974073228239066, + -7.480591738800092, + 0.971185412662591 + ], + "camera_roll_rad": -0.011949525303032532, + "camera_pose_world_cv": [ + [ + 0.2679872512817383, + 0.2889333963394165, + -0.9190758466720581, + -7.556109428405762 + ], + [ + 0.9631516933441162, + -0.057729244232177734, + 0.26269057393074036, + -7.8858747482299805 + ], + [ + 0.022842437028884888, + -0.9556071758270264, + -0.2937573194503784, + 1.4243987798690796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.42914021015167236, + 0.9032378792762756, + 0.0, + -9.002921104431152 + ], + [ + -0.9032378792762756, + -0.42914021015167236, + -0.0, + -7.505489826202393 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3353307675531184, + 0.3562022300498435, + 0.34690696019305123 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.142198621104813, + 1.1335967874845543, + 1.1188507869926825 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5391.598724706213, + "intensity": 1.1335967874845543 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6494336206721766, + 0.6514621224542557, + 0.6547077253055825 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5562.197888156792, + "intensity": 0.6522735231670874 + }, + "point_color_scale": [ + 1.0976389502784845, + 1.1216542181144904, + 1.1600786466521 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b55a553262fb49bf625b9f8743fee0a8412cc3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.261605852404146, + "K": [ + [ + 336.22985957264444, + 0.0, + 345.98910514706614 + ], + [ + 0.0, + 328.6117222231253, + 228.53988763165088 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.871044820722512, + -6.972671491245745, + 1.4673008075932712 + ], + "camera_target": [ + -7.951222270226295, + -6.98864921479774, + 0.9613915065559192 + ], + "camera_roll_rad": 0.01754345160513371, + "camera_pose_world_cv": [ + [ + -0.03425860404968262, + -0.48088952898979187, + 0.8761117458343506, + -8.871045112609863 + ], + [ + -0.9989402294158936, + 0.04343843460083008, + -0.015218496322631836, + -6.9726715087890625 + ], + [ + -0.03073844313621521, + -0.8757045865058899, + -0.4818679094314575, + 1.4673007726669312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220021724700928, + -0.5694846510887146, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694846510887146, + -0.8220021724700928, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34598649928349623, + 0.339341116519249, + 0.3283771042147784 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9086928902105929, + 0.916868893691772, + 0.9299504992616588 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5677.712299102076, + "intensity": 0.9201392950842437 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8525062636982694, + 0.8319173541782234, + 0.7966220807152874 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5146.446516134596, + "intensity": 0.8319173541782234 + }, + "point_color_scale": [ + 1.0599312863329067, + 1.0673236765835215, + 1.0791515009845052 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3c1a6bd8c3b0832665939211cb30e35b645a9f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8057825257824842, + "K": [ + [ + 557.5511546532799, + 0.0, + 315.00594952221354 + ], + [ + 0.0, + 563.1086578626705, + 257.1424280825408 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.375624598725283, + -5.430161158345619, + 1.1872843292896798 + ], + "camera_target": [ + -7.951889613474193, + -6.98823918282851, + 0.8744004613081792 + ], + "camera_roll_rad": 0.001044510454391849, + "camera_pose_world_cv": [ + [ + -0.9650540351867676, + -0.047907665371894836, + 0.25763583183288574, + -8.375624656677246 + ], + [ + -0.26204419136047363, + 0.18411755561828613, + -0.9473298192024231, + -5.430160999298096 + ], + [ + -0.0020508915185928345, + -0.9817361235618591, + -0.19023704528808594, + 1.1872843503952026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3541260543951896, + 0.3687516414614858, + 0.37287048341853357 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0657289503288019, + 1.0448605455160975, + 1.0090861372657474 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5214.679561753703, + "intensity": 1.0448605455160975 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.585052475146448, + 0.5706112427041358, + 0.5458548442316005 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5138.452057784936, + "intensity": 0.5706112427041358 + }, + "point_color_scale": [ + 1.0161294131344785, + 1.000314072297557, + 0.973202059434263 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff0194bbc44e0f407bb359e79000da3f0e766174 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7858479222009384, + "K": [ + [ + 599.4081320750929, + 0.0, + 298.17591431896074 + ], + [ + 0.0, + 579.0429175106809, + 234.40731683137096 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.755799431573873, + -7.38050176557057, + 1.208763507368178 + ], + "camera_target": [ + -7.9529587131825785, + -7.0806156624895635, + 0.8906272792456656 + ], + "camera_roll_rad": 0.0013045342411744168, + "camera_pose_world_cv": [ + [ + 0.3490651845932007, + -0.32691890001296997, + 0.8782240152359009, + -8.755799293518066 + ], + [ + -0.9370952248573303, + -0.11932927370071411, + 0.32804420590400696, + -7.380501747131348 + ], + [ + -0.0024460256099700928, + -0.9374884366989136, + -0.34800785779953003, + 1.2087634801864624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220021724700928, + -0.5694846510887146, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694846510887146, + -0.8220021724700928, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3212014251484551, + 0.33558852249245263, + 0.35161768764172524 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0975933019209816, + 1.1099463367008213, + 1.1297111923485652 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5721.60144802138, + "intensity": 1.1148875506127573 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6137862786869822, + 0.6347162128147759, + 0.6682041074192459 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6150.91956494535, + "intensity": 0.6430881864658934 + }, + "point_color_scale": [ + 0.7931084670855478, + 0.8125385457823003, + 0.8436266716971045 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7a20a50ee8f4fcc5d8fa525b0fd4a1bb11417ce --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.213558079754128, + "K": [ + [ + 352.6026445482381, + 0.0, + 316.1400872345909 + ], + [ + 0.0, + 345.75394078819573, + 226.37374503757385 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.38475366190496, + -7.100146765588478, + 1.498378081893837 + ], + "camera_target": [ + -7.999583135610032, + -7.029222788786437, + 0.9546282162215918 + ], + "camera_roll_rad": -0.035692873918411396, + "camera_pose_world_cv": [ + [ + 0.0770038366317749, + -0.3599380850791931, + 0.9297930598258972, + -9.384753227233887 + ], + [ + -0.9948170781135559, + -0.08984804153442383, + 0.047607481479644775, + -7.100146770477295 + ], + [ + 0.06640440225601196, + -0.9286398887634277, + -0.36499106884002686, + 1.498378038406372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220021724700928, + -0.5694846510887146, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694846510887146, + -0.8220021724700928, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24115434346647419, + 0.22747174069919962, + 0.23328369852044453 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0241117325762492, + 0.9791200777136111, + 0.9019915265205174 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4843.555564594281, + "intensity": 0.9791200777136111 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.9254642901245473, + 0.9426020019456143, + 0.9700223408593217 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5861.000240276275, + "intensity": 0.9494570866740412 + }, + "point_color_scale": [ + 1.2017039164242314, + 1.1912484664595733, + 1.1733248379487313 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b98a8ea86c050e1bf2c24eff03d58b548682b95 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0466802251172391, + "K": [ + [ + 425.55309985933604, + 0.0, + 339.89959283356615 + ], + [ + 0.0, + 415.94062164018226, + 229.53963251687787 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.937096099385032, + -6.761877335020825, + 1.09093563934386 + ], + "camera_target": [ + -7.983767443038261, + -7.001384231451587, + 0.9313034615169723 + ], + "camera_roll_rad": 0.0025460912713267253, + "camera_pose_world_cv": [ + [ + -0.22232890129089355, + 0.14448395371437073, + -0.9642066955566406, + -6.937096118927002 + ], + [ + 0.9749588966369629, + 0.02783823013305664, + -0.22063660621643066, + -6.761877536773682 + ], + [ + -0.005036771297454834, + -0.9891155958175659, + -0.14705497026443481, + 1.0909355878829956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3150819711596111, + 0.3230059335453385, + 0.3342188620590567 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9872942901332417, + 0.995759860650883, + 1.0093047734791094 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5669.456110813943, + "intensity": 0.9991460888579397 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8881611087669765, + 0.8893134311125379, + 0.8911571468654365 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5525.90145091382, + "intensity": 0.8897743600507626 + }, + "point_color_scale": [ + 0.8738984665576055, + 0.8518461115033356, + 0.8140420742674446 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc108c4a3557c50d644c505ddc65a5bebd30f263 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.214350030455293, + "K": [ + [ + 349.43295302643537, + 0.0, + 294.9323159191311 + ], + [ + 0.0, + 345.4618350515538, + 232.9068475783217 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.286551924446632, + -7.948813821927139, + 1.1497910053008216 + ], + "camera_target": [ + -7.916033761863792, + -7.068366098853125, + 0.939054989945762 + ], + "camera_roll_rad": 0.04193802456426006, + "camera_pose_world_cv": [ + [ + 0.9114682078361511, + -0.16048702597618103, + 0.37877386808395386, + -8.286551475524902 + ], + [ + -0.40315350890159607, + -0.16537141799926758, + 0.9000664949417114, + -7.9488139152526855 + ], + [ + -0.08181057870388031, + -0.9730859994888306, + -0.21543169021606445, + 1.1497910022735596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3626277239061594, + 0.38097369695908956, + 0.3661065386898508 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9657537343530007, + 0.9936610697748688, + 1.0383128064498577 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6055.467132798195, + "intensity": 1.004824003943616 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7492004846831137, + 0.7546294944280743, + 0.763315910020011 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5643.472565168543, + "intensity": 0.7568010983260585 + }, + "point_color_scale": [ + 1.0090381352549824, + 1.0211135366213713, + 1.0404341788075935 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef853cb77b1c038063c421137c61fe6dc523c051 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2645969972097895, + "K": [ + [ + 331.39817635808777, + 0.0, + 332.2913583752847 + ], + [ + 0.0, + 327.58197451018765, + 231.8491338431492 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.8007475077120585, + -7.828595814011958, + 1.5844329648342228 + ], + "camera_target": [ + -7.966205130450997, + -6.997758074605107, + 0.8615706021438323 + ], + "camera_roll_rad": 0.02008665748197118, + "camera_pose_world_cv": [ + [ + 0.9850417971611023, + 0.08728419244289398, + -0.14857351779937744, + -7.800747394561768 + ], + [ + 0.16958539187908173, + -0.6439276933670044, + 0.7460548877716064, + -7.8285956382751465 + ], + [ + -0.030551809817552567, + -0.7600911855697632, + -0.6490978598594666, + 1.5844329595565796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2372012719086396, + 0.2404901721857596, + 0.2590218994563165 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.993443493537813, + 0.9443918957291129, + 0.8603034423427698 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4758.00177371084, + "intensity": 0.9443918957291129 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.5819849113101595, + 0.5821506500329579, + 0.5824158319894353 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5505.693366504464, + "intensity": 0.5822169455220773 + }, + "point_color_scale": [ + 0.9036317487606488, + 0.8960005401986523, + 0.882918468378087 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e6d583232b80f6fa4ac52989dc6221347fa692e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2521598264557074, + "K": [ + [ + 333.6967297842664, + 0.0, + 350.6504596491385 + ], + [ + 0.0, + 331.8915535285476, + 261.3405063553949 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.6682038866519, + -8.107555796200575, + 1.1037447682055093 + ], + "camera_target": [ + -7.914158432904415, + -7.008505314665563, + 0.9283656854423414 + ], + "camera_roll_rad": -0.006145428951410188, + "camera_pose_world_cv": [ + [ + 0.8254295587539673, + -0.06366446614265442, + 0.5609036684036255, + -8.668204307556152 + ], + [ + -0.5643736124038696, + -0.1145181655883789, + 0.8175378441810608, + -8.107555389404297 + ], + [ + 0.012185543775558472, + -0.9913790822029114, + -0.13045722246170044, + 1.1037447452545166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3213313263415244, + 0.3283329000167949, + 0.32029972457250383 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0603730513459322, + 1.100041268956251, + 1.1635104171327615 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6210.95821242732, + "intensity": 1.1159085560003787 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6314232273812411, + 0.6422214747675222, + 0.6594986705855721 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5834.031443187017, + "intensity": 0.6465407737220348 + }, + "point_color_scale": [ + 0.909334793959729, + 0.9307791474297097, + 0.9650901129816788 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2fff8ca06b8c3ca359e3dcfb2f75743ea24f434e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1785927676908485, + "K": [ + [ + 368.16280255439824, + 0.0, + 343.7949208286641 + ], + [ + 0.0, + 358.99280543842144, + 220.81605835420686 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.220454232147123, + -6.1159292309233715, + 1.4078962531112513 + ], + "camera_target": [ + -7.92189843680332, + -7.062687911399116, + 0.9405902727799156 + ], + "camera_roll_rad": -0.029238072014099586, + "camera_pose_world_cv": [ + [ + -0.5749366283416748, + -0.25966542959213257, + 0.7759006023406982, + -9.220454216003418 + ], + [ + -0.8162711262702942, + 0.11699163913726807, + -0.5656981468200684, + -6.115929126739502 + ], + [ + 0.056118398904800415, + -0.9585858583450317, + -0.2792201638221741, + 1.4078962802886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220021724700928, + -0.5694846510887146, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694846510887146, + -0.8220021724700928, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2605061080043479, + 0.2402655735473264, + 0.251720943995023 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9826468779237296, + 0.995266395448987, + 1.015457623489399 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5752.311073745323, + "intensity": 1.00031420245909 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6795845678144663, + 0.6508481204789193, + 0.6015856393322673 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4869.2527283938025, + "intensity": 0.6508481204789193 + }, + "point_color_scale": [ + 0.8251673237861861, + 0.8061555895579057, + 0.773564045166568 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a94149f74a901e54e2622a279a8fcf83c3322072 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1165025117894376, + "K": [ + [ + 366.3854877831861, + 0.0, + 338.87707104851347 + ], + [ + 0.0, + 384.29754770797354, + 256.0885693669292 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.087030626981812, + -6.508517706080029, + 1.2116575422673073 + ], + "camera_target": [ + -7.945273287471614, + -7.046340799339322, + 0.9531237037703646 + ], + "camera_roll_rad": -0.0034840644274846608, + "camera_pose_world_cv": [ + [ + -0.5324554443359375, + 0.20587173104286194, + -0.8210411071777344, + -7.087030410766602 + ], + [ + 0.8464313745498657, + 0.13723409175872803, + -0.514510452747345, + -6.508517742156982 + ], + [ + 0.006751537322998047, + -0.9689086079597473, + -0.24732708930969238, + 1.2116575241088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.348580314096524, + 0.3536939250967098, + 0.35970502772696683 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.9099151753666778, + 0.8587865990860074, + 0.771137611176287 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4649.48808777598, + "intensity": 0.8587865990860074 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7921627714980018, + 0.7556717603640287, + 0.6931157412772178 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 4810.150006392149, + "intensity": 0.7556717603640287 + }, + "point_color_scale": [ + 1.0000084361574346, + 1.0404512095723162, + 1.1051596470361267 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de0a399b16d66a43a4f54c18d83c83931b760525 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1958210434586334, + "K": [ + [ + 366.66017017940146, + 0.0, + 313.8513893641254 + ], + [ + 0.0, + 352.3847515166647, + 241.48161036337387 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.926630258888189, + -6.3240744911571, + 0.9687706326202612 + ], + "camera_target": [ + -7.906439547999075, + -7.040845046852201, + 0.9386681178749343 + ], + "camera_roll_rad": -0.03307729769839299, + "camera_pose_world_cv": [ + [ + -0.572318434715271, + -0.05770939588546753, + 0.8179985880851746, + -8.926630020141602 + ], + [ + -0.8173643946647644, + -0.04024529457092285, + -0.5747138857841492, + -6.3240742683410645 + ], + [ + 0.06608706712722778, + -0.9975220561027527, + -0.02413630485534668, + 0.9687706232070923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220021724700928, + -0.5694846510887146, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694846510887146, + -0.8220021724700928, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23048164967991303, + 0.22779321526244048, + 0.2459195875092688 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.2332815451853099, + 1.1776936547194408, + 1.0824001282065223 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4825.705188476908, + "intensity": 1.1776936547194408 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6763600605008727, + 0.6598871357432917, + 0.631647836158867 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5143.382203122051, + "intensity": 0.6598871357432917 + }, + "point_color_scale": [ + 1.212764717765466, + 1.17718300612936, + 1.1161857861817504 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86207decfaaa088508bee3beafb718ee033440b5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1185705672372972, + "K": [ + [ + 401.6463966256667, + 0.0, + 327.8710700942969 + ], + [ + 0.0, + 383.41455117285363, + 258.5264876127203 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.810834063485216, + -6.00630009272462, + 0.8223802590956919 + ], + "camera_target": [ + -7.980937085791815, + -7.03255141369261, + 0.9023286266725324 + ], + "camera_roll_rad": -0.017425610633591132, + "camera_pose_world_cv": [ + [ + -0.9855043888092041, + -0.04689793661236763, + -0.16304005682468414, + -7.810833930969238 + ], + [ + 0.16605569422245026, + -0.06985354423522949, + -0.9836392402648926, + -6.00629997253418 + ], + [ + 0.03474169969558716, + -0.9964543581008911, + 0.0766289234161377, + 0.8223802447319031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220021724700928, + -0.5694846510887146, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694846510887146, + -0.8220021724700928, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3352872254555296, + 0.3383820392905949, + 0.32719404004210967 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0984160978267519, + 1.0528078108745382, + 0.9746221760993147 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 4881.134002112908, + "intensity": 1.0528078108745382 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.6276083273340456, + 0.6406257698611812, + 0.6614536779045985 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5903.121166902211, + "intensity": 0.6458327468720356 + }, + "point_color_scale": [ + 1.104474296646789, + 1.1057801026985092, + 1.1078693923812613 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb0314f52ac5c6b48e972ccf9b0f1b129a313e6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8386648634678906, + "K": [ + [ + 530.8960658011183, + 0.0, + 303.5007257659242 + ], + [ + 0.0, + 538.3917205170353, + 218.64111335431468 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.857090233752247, + -7.163428426058614, + 1.5082944367408564 + ], + "camera_target": [ + -7.96918640128709, + -7.038904489833653, + 0.9228843363187298 + ], + "camera_roll_rad": 0.04834299806019253, + "camera_pose_world_cv": [ + [ + 0.08597111701965332, + -0.5522907376289368, + 0.8292069435119629, + -8.85708999633789 + ], + [ + -0.993013322353363, + 0.020024538040161133, + 0.11629179120063782, + -7.16342830657959 + ], + [ + -0.08083128929138184, + -0.8334112167358398, + -0.5467103719711304, + 1.5082944631576538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35920713901964335, + 0.3436150705272955, + 0.3527052372458272 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.1332293208097997, + 1.1267779591646474, + 1.115718482058672 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5418.207213349481, + "intensity": 1.1267779591646474 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.5579834751284352, + 0.5761846796847758, + 0.6053066069749209 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6123.900303124184, + "intensity": 0.5834651615073121 + }, + "point_color_scale": [ + 0.9217135210314334, + 0.94784331112248, + 0.9896509752681547 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b03d41f76bcc906633eb31a3ccf1df192fc07f2b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7904205833990704, + "K": [ + [ + 589.4986455162425, + 0.0, + 304.76518628604 + ], + [ + 0.0, + 575.320618773986, + 222.67966507707362 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.183599869702319, + -6.691144430730357, + 1.6428652598489155 + ], + "camera_target": [ + -7.977524143771951, + -7.060121114278044, + 0.9975154674720649 + ], + "camera_roll_rad": -0.03474940788974058, + "camera_pose_world_cv": [ + [ + -0.4578065872192383, + 0.5075165629386902, + -0.7299590110778809, + -7.183599948883057 + ], + [ + 0.8872929215431213, + 0.31244468688964844, + -0.33924877643585205, + -6.6911444664001465 + ], + [ + 0.05589735507965088, + -0.8029977083206177, + -0.5933550000190735, + 1.6428653001785278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36668017431011896, + 0.3685357546271214, + 0.3874730501046368 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.8094289226888698, + 0.8427985593625044, + 0.8961899780403194 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 6279.531073814412, + "intensity": 0.8561464140319581 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7322763210914174, + 0.7186879140647102, + 0.6953935020189266 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5229.896528684282, + "intensity": 0.7186879140647102 + }, + "point_color_scale": [ + 0.8606725702832094, + 0.884810040746931, + 0.9234299934888858 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c71e7cd24e405787b7c1ad7c6391cfe23b76876 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.198733695388449, + "K": [ + [ + 368.13946733805597, + 0.0, + 306.5682471994188 + ], + [ + 0.0, + 351.2840889653351, + 251.96965355855937 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.084791346715846, + -7.666884067712015, + 1.4321504152974522 + ], + "camera_target": [ + -7.99562028351622, + -7.038585838005457, + 0.9921523693251028 + ], + "camera_roll_rad": 0.045219650509240455, + "camera_pose_world_cv": [ + [ + 0.471799373626709, + -0.33005955815315247, + 0.8175977468490601, + -9.08479118347168 + ], + [ + -0.8775752782821655, + -0.0861319899559021, + 0.4716387987136841, + -7.666883945465088 + ], + [ + -0.08524748682975769, + -0.9400224685668945, + -0.3302890658378601, + 1.4321503639221191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220021724700928, + -0.5694846510887146, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694846510887146, + -0.8220021724700928, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31095033197148825, + 0.299528727409514, + 0.30105900119272727 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 1.0416414128832079, + 1.064092539853966, + 1.1000143430071794 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5918.445476990723, + "intensity": 1.0730729906422694 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.7257413444011939, + 0.7502110197768362, + 0.7893625003778643 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 6143.9397662275505, + "intensity": 0.7599988899270933 + }, + "point_color_scale": [ + 0.8263515618507237, + 0.8075661531894917, + 0.7753625954845225 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3da3eff364e67f122e448abe4c27c78d4a7247 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000075/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 75, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.007285288046147, + "K": [ + [ + 439.0166488556183, + 0.0, + 336.54372775261527 + ], + [ + 0.0, + 435.5387103190953, + 219.98881895921136 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -9.497167389348105, + -7.491353006382998, + 1.3709647998542533 + ], + "camera_target": [ + -7.920960902462419, + -7.038828225018096, + 0.8985000637046863 + ], + "camera_roll_rad": -0.027175686443568343, + "camera_pose_world_cv": [ + [ + 0.28999805450439453, + -0.2507149875164032, + 0.923603355884552, + -9.497167587280273 + ], + [ + -0.9556025266647339, + -0.1284986138343811, + 0.2651640474796295, + -7.4913530349731445 + ], + [ + 0.05220121145248413, + -0.9594948291778564, + -0.2768481969833374, + 1.370964765548706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8220019340515137, + -0.5694845914840698, + 0.0, + -7.9555559158325195 + ], + [ + 0.5694845914840698, + -0.8220019340515137, + 0.0, + -7.032591819763184 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29018929997184956, + 0.29167125861246207, + 0.2728222425890543 + ], + "directional_primary": { + "direction": [ + -0.13245133764832395, + 0.6198635431327243, + -0.7734505989719801 + ], + "color": [ + 0.8712207346695074, + 0.8505749548623855, + 0.8151821894787479 + ], + "azimuth_rad": 1.7813087626035609, + "elevation_rad": 0.8842670342133649, + "color_temp_k": 5153.246654108182, + "intensity": 0.8505749548623855 + }, + "directional_fill": { + "direction": [ + -0.21970658586403435, + 0.17546466987093778, + -0.9596567947735546 + ], + "color": [ + 0.8357529788746525, + 0.8378509772211837, + 0.8412077745756337 + ], + "azimuth_rad": 2.4676865262725896, + "elevation_rad": 1.2857790525559025, + "color_temp_k": 5550.030354597378, + "intensity": 0.8386901765597962 + }, + "point_color_scale": [ + 1.0667543230409287, + 1.0610448378780524, + 1.0512571490274074 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03335042acee0d640c5cf4943796a0a6889f85ca --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.055462777584457, + "K": [ + [ + 420.5902316283969, + 0.0, + 326.61072847023917 + ], + [ + 0.0, + 411.75305864546624, + 239.11094033586758 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.1580499274506577, + -4.695087653816813, + 1.4627654852950027 + ], + "camera_target": [ + -3.7504044535985415, + -4.393033227673398, + 0.90685653669094 + ], + "camera_roll_rad": 0.005963378091216227, + "camera_pose_world_cv": [ + [ + 0.1901555061340332, + 0.3165113925933838, + -0.9293339252471924, + -2.1580498218536377 + ], + [ + 0.9816892147064209, + -0.07217836380004883, + 0.17628580331802368, + -4.695087432861328 + ], + [ + -0.011281341314315796, + -0.9458387494087219, + -0.3244408369064331, + 1.4627654552459717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3794720747009316, + 0.3692931731041327, + 0.3698398134038485 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9588500516001975, + 0.9898769201653834, + 1.039519909869681 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6119.121028192334, + "intensity": 1.0022876675914578 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.595564633284691, + 0.5933345626915136, + 0.5895115845317809 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5446.306597770759, + "intensity": 0.5933345626915136 + }, + "point_color_scale": [ + 1.0094176441983267, + 1.0092709561283468, + 1.0090194908655243 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a88c87ad0334a97522c20000eba6e70f5f7d7b5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8105332506813607, + "K": [ + [ + 582.5006062942286, + 0.0, + 300.1358806507846 + ], + [ + 0.0, + 559.4207555216055, + 223.26897321104428 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.609690929232338, + -5.046129040757386, + 0.7981085005215374 + ], + "camera_target": [ + -3.7660072041143753, + -4.314023905925981, + 0.8638396242107813 + ], + "camera_roll_rad": 0.036435889539700964, + "camera_pose_world_cv": [ + [ + 0.5305622220039368, + -0.07937160134315491, + -0.8439217805862427, + -2.6096909046173096 + ], + [ + 0.8445206880569458, + -0.03592020273208618, + 0.5343171954154968, + -5.04612922668457 + ], + [ + -0.07272353768348694, + -0.9961978793144226, + 0.0479731559753418, + 0.7981085181236267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3541771091220465, + 0.34680464383608856, + 0.3326917849131872 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0885334384158192, + 1.1286409508548807, + 1.1928129707573791 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6200.761327784355, + "intensity": 1.1446839558305053 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.9466439766933921, + 0.9026239253718435, + 0.8271609802491892 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 4803.300235739866, + "intensity": 0.9026239253718435 + }, + "point_color_scale": [ + 1.046651490758419, + 1.0436520974669317, + 1.0385102803958104 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e561a54cd4c07aca752f40132fb92436cf15162 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2266834006253948, + "K": [ + [ + 324.4685724547782, + 0.0, + 305.73114558944866 + ], + [ + 0.0, + 340.95529189039496, + 225.10260370336422 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8460905030263923, + -5.14454646328058, + 1.3880177869085566 + ], + "camera_target": [ + -3.7258881390683247, + -4.356562175544585, + 0.870656696119332 + ], + "camera_roll_rad": 0.0017020254321398337, + "camera_pose_world_cv": [ + [ + 0.6681829690933228, + 0.296608030796051, + -0.6823160648345947, + -2.84609055519104 + ], + [ + 0.7439904808998108, + -0.2702244520187378, + 0.6111112833023071, + -5.1445465087890625 + ], + [ + -0.0031180083751678467, + -0.9159708023071289, + -0.40123289823532104, + 1.3880177736282349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3005047114931516, + 0.2813630999863076, + 0.2926457596051008 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0230652767929311, + 1.0212271901169159, + 1.0180761843866042 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5474.2874246396395, + "intensity": 1.0212271901169159 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6917995791700432, + 0.6953153315359228, + 0.7009405353213303 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5600.922727297953, + "intensity": 0.6967216324822748 + }, + "point_color_scale": [ + 0.9568529107239575, + 0.9621388426732943, + 0.9705963337922331 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..015b286fe0bf1629879fe126001e4810a35a9bd2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.281154287208517, + "K": [ + [ + 335.72697219194265, + 0.0, + 332.0838119698687 + ], + [ + 0.0, + 321.9569450887903, + 224.81222033132107 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4573681240410976, + -5.247691119003674, + 0.9808284148434934 + ], + "camera_target": [ + -3.711512957980652, + -4.387888396176333, + 0.8294620370446888 + ], + "camera_roll_rad": -0.05207197166515836, + "camera_pose_world_cv": [ + [ + 0.5538898706436157, + 0.14003881812095642, + -0.8207284808158875, + -2.4573681354522705 + ], + [ + 0.8261388540267944, + 0.03003370761871338, + 0.5626657605171204, + -5.2476911544799805 + ], + [ + 0.10344451665878296, + -0.9896904826164246, + -0.09905612468719482, + 0.9808284044265747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.297862593417556, + 0.29228078961838133, + 0.31575475565367056 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0220831066632798, + 0.9573967625851683, + 0.8465058870226915 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4534.78822385813, + "intensity": 0.9573967625851683 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7512238091050065, + 0.7301872463095829, + 0.6941245672317137 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5088.431149451362, + "intensity": 0.7301872463095829 + }, + "point_color_scale": [ + 1.0162890581503747, + 1.007314216730492, + 0.9919287742964074 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d30fee11a5743abcc21d937aa7bc9a695965a26a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8814068554791493, + "K": [ + [ + 495.6702610315198, + 0.0, + 347.2249322841126 + ], + [ + 0.0, + 508.86253700698757, + 252.87754504615776 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.249988686359177, + -3.235101583348108, + 0.9496146061591292 + ], + "camera_target": [ + -3.7679849524525535, + -4.3633691553146345, + 0.8695969657541525 + ], + "camera_roll_rad": 0.04893514471980406, + "camera_pose_world_cv": [ + [ + -0.9176962375640869, + 0.0644126832485199, + 0.3920261263847351, + -4.249988555908203 + ], + [ + -0.38513100147247314, + 0.09794938564300537, + -0.9176491498947144, + -3.2351016998291016 + ], + [ + -0.09750695526599884, + -0.9931046962738037, + -0.06508046388626099, + 0.9496145844459534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2743358598537541, + 0.2780278626327434, + 0.25788552040819235 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9824537641370986, + 0.9507277288587896, + 0.8963402398102598 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5023.281943245254, + "intensity": 0.9507277288587896 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.760534269292818, + 0.7252168064878763, + 0.6646725845365479 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 4804.297448136743, + "intensity": 0.7252168064878763 + }, + "point_color_scale": [ + 0.9424552647487707, + 0.9462512392034113, + 0.952324798330836 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2bfa0623712f9d8616dd0eeea3b977cf8a34dac0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8553679341431143, + "K": [ + [ + 549.6845181221069, + 0.0, + 316.0205145769054 + ], + [ + 0.0, + 526.522679221507, + 262.96597600431073 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0954234743357896, + -3.250684147530929, + 1.355544165386397 + ], + "camera_target": [ + -3.7808057015930574, + -4.347483617495783, + 0.7892288058095653 + ], + "camera_roll_rad": 0.024442076864365905, + "camera_pose_world_cv": [ + [ + -0.836639404296875, + 0.25374412536621094, + -0.4854363203048706, + -3.095423460006714 + ], + [ + 0.545922040939331, + 0.31385111808776855, + -0.7768310904502869, + -3.2506842613220215 + ], + [ + -0.04476161301136017, + -0.9149379134178162, + -0.40110480785369873, + 1.3555442094802856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2849904696795127, + 0.29600723744097857, + 0.2836485105011553 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.8908645526900768, + 0.868201073628679, + 0.8293493952377115 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5127.086401496588, + "intensity": 0.868201073628679 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6917860841631315, + 0.712670948664202, + 0.746086731865915 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6079.310497082846, + "intensity": 0.7210248944646303 + }, + "point_color_scale": [ + 1.059316588793941, + 1.060186591951805, + 1.0615785970043872 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca7be89fb6ed0bf268d4ca5c6e4f15818c32deed --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0125895828326548, + "K": [ + [ + 416.87618516339023, + 0.0, + 349.519775786298 + ], + [ + 0.0, + 432.8190433971935, + 259.99468224949766 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.450151418395844, + -4.569007844065957, + 1.181559985872242 + ], + "camera_target": [ + -3.7613237755760114, + -4.353316889313535, + 0.876559679064305 + ], + "camera_roll_rad": 0.04045484266869914, + "camera_pose_world_cv": [ + [ + 0.17963087558746338, + 0.20690608024597168, + -0.9617290496826172, + -2.4501514434814453 + ], + [ + 0.9805752038955688, + -0.11594420671463013, + 0.15820682048797607, + -4.569007873535156 + ], + [ + -0.07877302169799805, + -0.9714664220809937, + -0.22371405363082886, + 1.1815600395202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3031666335453505, + 0.3276391031532527, + 0.3208839559698029 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.227079230000074, + 1.150631895899759, + 1.019579323156362 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4550.86520132692, + "intensity": 1.150631895899759 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6762713819464061, + 0.6787303860208888, + 0.682664792540061 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5572.354081839092, + "intensity": 0.6797139876506818 + }, + "point_color_scale": [ + 1.1827018397648545, + 1.1315468734715766, + 1.0438526455402433 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b27352dbe1569cab50aafca07ea1999f786791c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8506790337392132, + "K": [ + [ + 537.5466606410549, + 0.0, + 311.648707829378 + ], + [ + 0.0, + 529.8103582598493, + 241.40507156816827 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3026209535575064, + -5.321845243128819, + 0.6607262984545456 + ], + "camera_target": [ + -3.711490310440678, + -4.364529698808369, + 0.8224559095390374 + ], + "camera_roll_rad": 0.044582892187416914, + "camera_pose_world_cv": [ + [ + 0.9106112718582153, + -0.14195148646831512, + -0.38811972737312317, + -3.3026208877563477 + ], + [ + 0.4037877321243286, + 0.10564744472503662, + 0.9087322950363159, + -5.321845054626465 + ], + [ + -0.08799204230308533, + -0.9842197895050049, + 0.15352201461791992, + 0.6607263088226318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38951900577426407, + 0.37750089325316294, + 0.3852913665040859 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1207951592927063, + 1.1093365007577944, + 1.0896930861265166 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5352.438712856294, + "intensity": 1.1093365007577944 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7798764707831801, + 0.8035063860992044, + 0.8413142506048431 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6081.3315098204785, + "intensity": 0.8129583522256141 + }, + "point_color_scale": [ + 0.8579272593060076, + 0.8375753329280847, + 0.8026863162802168 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7e32690ba7dc62dc5c0f76503c09a7719625c87 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1864839913007306, + "K": [ + [ + 366.8671582098979, + 0.0, + 332.3457545380351 + ], + [ + 0.0, + 355.94510483435994, + 243.5800361822135 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0491174485140524, + -5.752596354687041, + 1.4838828218994187 + ], + "camera_target": [ + -3.740684873329531, + -4.319417475582353, + 0.8066581838751452 + ], + "camera_roll_rad": 0.04970161026785479, + "camera_pose_world_cv": [ + [ + 0.9130711555480957, + 0.07996305823326111, + -0.3998836278915405, + -3.0491175651550293 + ], + [ + 0.3974452316761017, + -0.39406466484069824, + 0.8287040591239929, + -5.752596378326416 + ], + [ + -0.09131433069705963, + -0.9155976176261902, + -0.3915899991989136, + 1.4838827848434448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36460700014981445, + 0.37845834687539986, + 0.3822857549304209 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9705035552450383, + 0.9159415328191779, + 0.8224066372319886 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4649.00958707759, + "intensity": 0.9159415328191779 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6484274147665795, + 0.6299032935756764, + 0.598147657248414 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5079.887412201007, + "intensity": 0.6299032935756764 + }, + "point_color_scale": [ + 0.8418036735454891, + 0.8724580981928627, + 0.9215051776286606 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7630b7389ab39147e2dd50d065e462560bfee967 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2137874463384823, + "K": [ + [ + 339.60239780115364, + 0.0, + 323.1312822857915 + ], + [ + 0.0, + 345.66930617880206, + 238.61846379249883 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1018213151834795, + -5.652803800940106, + 1.471343035764021 + ], + "camera_target": [ + -3.7653753534032783, + -4.322510711697799, + 0.8269222679000876 + ], + "camera_roll_rad": -0.031643451152213516, + "camera_pose_world_cv": [ + [ + 0.8818361759185791, + 0.23376664519309998, + -0.4095340371131897, + -3.1018214225769043 + ], + [ + 0.4679720103740692, + -0.3269643187522888, + 0.8210339546203613, + -5.652803897857666 + ], + [ + 0.058027297258377075, + -0.9156678915023804, + -0.3977251648902893, + 1.4713430404663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2915827792465295, + 0.27996658240295236, + 0.29804323477010186 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.017683975696821, + 1.0361155111658356, + 1.065605967916259 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5853.267756885524, + "intensity": 1.0434881253534414 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.8682635193649346, + 0.8420281360732196, + 0.7970531932874226 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5054.894695527073, + "intensity": 0.8420281360732196 + }, + "point_color_scale": [ + 1.1426626708516183, + 1.0933027969868474, + 1.0086858703615262 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..353a0d5b4babf54d72cb0ccbc52484756837f651 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8682168237205293, + "K": [ + [ + 494.3979601397651, + 0.0, + 299.706004177122 + ], + [ + 0.0, + 517.6843274247076, + 235.73959091602842 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.600025507047687, + -5.029270880188919, + 1.2287948668859268 + ], + "camera_target": [ + -3.7702163005403793, + -4.320044922152979, + 0.8501765591964575 + ], + "camera_roll_rad": -0.03004008308902103, + "camera_pose_world_cv": [ + [ + 0.5036830306053162, + 0.25877153873443604, + -0.8242213129997253, + -2.6000254154205322 + ], + [ + 0.8619481325149536, + -0.08662426471710205, + 0.4995415508747101, + -5.029270648956299 + ], + [ + 0.057869553565979004, + -0.9620466232299805, + -0.2666788101196289, + 1.228794813156128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21520503614152595, + 0.22612749280615382, + 0.21025582572539697 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9824333416579575, + 1.0168622917561225, + 1.0719486119131871 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6168.112140312042, + "intensity": 1.0306338717953887 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6976614751180922, + 0.7006403520876157, + 0.7054065552388532 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5584.88861669921, + "intensity": 0.701831902875425 + }, + "point_color_scale": [ + 0.8600742440727971, + 0.8852453954503648, + 0.9255192376544735 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..520f4ea4669b131f96e2dbb5aca47102652c8e8c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1268252745405483, + "K": [ + [ + 365.58879947059035, + 0.0, + 342.99814150195283 + ], + [ + 0.0, + 379.91889609572354, + 222.73701587061183 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.985515030652853, + -5.244160792982056, + 0.6580412517107846 + ], + "camera_target": [ + -3.7182029969597856, + -4.356962527186174, + 0.8743162333346235 + ], + "camera_roll_rad": -0.02981010554982616, + "camera_pose_world_cv": [ + [ + 0.951874852180481, + 0.12250836193561554, + 0.28093773126602173, + -3.9855151176452637 + ], + [ + -0.30094414949417114, + 0.2000589370727539, + 0.9324211478233337, + -5.2441606521606445 + ], + [ + 0.058025285601615906, + -0.9720948338508606, + 0.22729933261871338, + 0.65804123878479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3265635971925582, + 0.3100681090066839, + 0.31674121296659247 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9699493276112795, + 0.9945128529654974, + 1.0338144935322462 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5989.1484523993795, + "intensity": 1.0043382631071847 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.9407267274558019, + 0.9355973510595075, + 0.9268041343801456 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5421.679122350692, + "intensity": 0.9355973510595075 + }, + "point_color_scale": [ + 1.0886269391073806, + 1.117284991808366, + 1.1631378761299425 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9be3dd0a152b5a917b8912b108deff6071dbd1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1275150056398529, + "K": [ + [ + 383.875160453387, + 0.0, + 344.6234502850455 + ], + [ + 0.0, + 379.62888113377073, + 223.62085443561818 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9519806862969613, + -5.643183353053976, + 1.0621987002330813 + ], + "camera_target": [ + -3.7528899025217854, + -4.3122054485041, + 0.8979640822281081 + ], + "camera_roll_rad": -0.019843720841406426, + "camera_pose_world_cv": [ + [ + 0.8540069460868835, + 0.0881645530462265, + -0.512736976146698, + -2.9519805908203125 + ], + [ + 0.5187632441520691, + -0.06956076622009277, + 0.8520834445953369, + -5.64318323135376 + ], + [ + 0.03945709764957428, + -0.9936742782592773, + -0.10514187812805176, + 1.0621987581253052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.294150777530518, + 0.31898573614427106, + 0.31302581000010543 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9725631674645164, + 1.0233321309896086, + 1.1045624726297563 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6472.921262526025, + "intensity": 1.0436397163996456 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6480258821470799, + 0.6273507474487358, + 0.5919076593944316 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5029.196277647956, + "intensity": 0.6273507474487358 + }, + "point_color_scale": [ + 1.107709502034356, + 1.0816203905138, + 1.0368961993357042 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edfae3386e2957cae9b8f156873842ecfa42d571 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8931833844778746, + "K": [ + [ + 518.1703737261345, + 0.0, + 340.3699483868456 + ], + [ + 0.0, + 501.19205495813475, + 225.549127233874 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.112622512616273, + -4.262738159882642, + 1.5742334719545004 + ], + "camera_target": [ + -3.708470837717055, + -4.357909110301469, + 0.8167427079450676 + ], + "camera_roll_rad": -0.02828702456502188, + "camera_pose_world_cv": [ + [ + -0.08360409736633301, + 0.4233784079551697, + -0.9020871520042419, + -2.1126224994659424 + ], + [ + 0.9951881766319275, + 0.08189332485198975, + -0.05379742383956909, + -4.262738227844238 + ], + [ + 0.05109816789627075, + -0.9022440910339355, + -0.42818766832351685, + 1.5742334127426147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23578257559570123, + 0.24461705240555087, + 0.23948366723487394 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.125722603242043, + 1.1592735255347744, + 1.2129550012031447 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6072.202557742718, + "intensity": 1.172693894451867 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6151265129477961, + 0.5986380453143807, + 0.5703721007999542 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5106.524277125555, + "intensity": 0.5986380453143807 + }, + "point_color_scale": [ + 1.0309176987429314, + 1.0374544888018062, + 1.0479133528960065 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3206c4eea62b70d228e131aba58435d1690616e0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9406663106517874, + "K": [ + [ + 451.65256126294463, + 0.0, + 347.4366895306791 + ], + [ + 0.0, + 472.0830842703815, + 230.70662661390466 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.847412236933359, + -5.723952596596482, + 0.7629151657659216 + ], + "camera_target": [ + -3.719809725431145, + -4.317304888606877, + 0.8149855775720641 + ], + "camera_roll_rad": 0.022351072510482184, + "camera_pose_world_cv": [ + [ + 0.8482385873794556, + -0.05453220009803772, + -0.5267994403839111, + -2.847412347793579 + ], + [ + 0.5277276039123535, + 0.0031415224075317383, + 0.8494079113006592, + -5.723952770233154 + ], + [ + -0.04466518759727478, + -0.9985071420669556, + 0.031442880630493164, + 0.7629151940345764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21848930721799234, + 0.2195139509845901, + 0.2389463983728262 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.960222387156177, + 0.9968724416252023, + 1.0555125287756428 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6224.644157150856, + "intensity": 1.0115324634128124 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.9204288031601349, + 0.9179491061300508, + 0.9136981969356207 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5461.409360224489, + "intensity": 0.9179491061300508 + }, + "point_color_scale": [ + 1.216900078833778, + 1.1954259453373348, + 1.158613145057718 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9cbe75757e5aa57391ce6ef6233afd53229d4794 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.844878138543572, + "K": [ + [ + 543.4902882533854, + 0.0, + 338.110583249738 + ], + [ + 0.0, + 533.9251267966154, + 248.29096026327792 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.5754562698826193, + -3.583255345610134, + 0.6813302406274814 + ], + "camera_target": [ + -3.7781683945522277, + -4.390002670791082, + 0.9054246140022821 + ], + "camera_roll_rad": -0.03310046678350777, + "camera_pose_world_cv": [ + [ + -0.5474380254745483, + -0.16356638073921204, + -0.8207055926322937, + -2.575456380844116 + ], + [ + 0.8342888355255127, + -0.030059516429901123, + -0.5505076050758362, + -3.5832552909851074 + ], + [ + 0.06537455320358276, + -0.9860742688179016, + 0.15291738510131836, + 0.6813302636146545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.28944575786590576, + -0.957194447517395, + 0.0, + -3.755298376083374 + ], + [ + 0.957194447517395, + -0.28944575786590576, + 0.0, + -4.3510823249816895 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36754957867223836, + 0.35715474714749545, + 0.37580940778149263 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1549538751235273, + 1.179233665533548, + 1.2180813301895814 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5908.425596322996, + "intensity": 1.1889455816975563 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.901670943017498, + 0.8974611763788729, + 0.8902444335698012 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5432.989275757214, + "intensity": 0.8974611763788729 + }, + "point_color_scale": [ + 1.0394793052564724, + 1.0491087546008457, + 1.0645158735518432 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..030034d1690a58ada0b1ac595eecc5ba8f6bc759 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9380549528335737, + "K": [ + [ + 489.9701467806145, + 0.0, + 351.7077196897226 + ], + [ + 0.0, + 473.6128218229049, + 244.5305219652436 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.077153495615388, + -4.4650312216796095, + 1.258737825310705 + ], + "camera_target": [ + -3.207034320553613, + -4.397418954337624, + 0.9272444807686346 + ], + "camera_roll_rad": -0.04682220367099737, + "camera_pose_world_cv": [ + [ + 0.11023426055908203, + -0.34521618485450745, + 0.9320269823074341, + -4.07715368270874 + ], + [ + -0.9900541305541992, + -0.12061429023742676, + 0.07242265343666077, + -4.465031147003174 + ], + [ + 0.08741429448127747, + -0.9307405948638916, + -0.3550785183906555, + 1.2587378025054932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779436454176903, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779436454176903, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2991449505065775, + 0.27990333238026427, + 0.289940437796744 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.949470895413846, + 0.919555895208397, + 0.8682730377133413 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5035.257021330629, + "intensity": 0.919555895208397 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.5726125909298141, + 0.5771199911536541, + 0.5843318315117981 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5655.716756924587, + "intensity": 0.57892295124319 + }, + "point_color_scale": [ + 0.8531410940262973, + 0.8569567456371704, + 0.8630617882145674 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0897c5f82ffaacc9fa571e09200c2f85023a1aa6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1343908930831794, + "K": [ + [ + 381.3140446248706, + 0.0, + 336.5342416351642 + ], + [ + 0.0, + 376.75493430557066, + 241.755593482598 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.535769183838564, + -2.940817536067592, + 1.186694201207505 + ], + "camera_target": [ + -3.2312418013657487, + -4.415073336532811, + 0.9208641389949452 + ], + "camera_roll_rad": 0.007277558824342403, + "camera_pose_world_cv": [ + [ + -0.9033200740814209, + 0.0818273276090622, + -0.4210905432701111, + -2.53576922416687 + ], + [ + 0.4287267327308655, + 0.13934338092803955, + -0.8926235437393188, + -2.9408175945281982 + ], + [ + -0.014364823698997498, + -0.986857533454895, + -0.16095316410064697, + 1.1866941452026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779436454176903, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779436454176903, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30781937168053225, + 0.3042850623850259, + 0.3054613228576256 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0907418166563525, + 1.0661631749995633, + 1.0240283607307816 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5170.666310304714, + "intensity": 1.0661631749995633 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.9345068227828741, + 0.9101544865704808, + 0.8684076244920924 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5117.76761807682, + "intensity": 0.9101544865704808 + }, + "point_color_scale": [ + 1.028912178996555, + 0.9886345245785608, + 0.919587117004857 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67ecacf14360135aa94da6e6094817571081103c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.26604928828618, + "K": [ + [ + 317.33851499946513, + 0.0, + 314.43141900371995 + ], + [ + 0.0, + 327.08351586022883, + 235.97076157624082 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.2314113832357885, + -4.728691320169561, + 1.2704534266985505 + ], + "camera_target": [ + -3.213262855192658, + -4.369261179854369, + 0.9227421033053935 + ], + "camera_roll_rad": -0.014977690881914883, + "camera_pose_world_cv": [ + [ + 0.341396689414978, + -0.2789500653743744, + 0.8975718021392822, + -4.231411457061768 + ], + [ + -0.9394868612289429, + -0.1302381157875061, + 0.3168635070323944, + -4.728691101074219 + ], + [ + 0.0285089910030365, + -0.9514330625534058, + -0.30653274059295654, + 1.2704534530639648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2754230356718496, + 0.254237653799155, + 0.2525149299277893 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.8367718767208802, + 0.846951900152382, + 0.8632399376427851 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5739.241772588602, + "intensity": 0.8510239095249827 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7300553616443561, + 0.7462825726271509, + 0.7722461101996226 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5931.131327266176, + "intensity": 0.7527734570202689 + }, + "point_color_scale": [ + 1.1329335495630246, + 1.1230282482446587, + 1.1060477316988888 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58eedbcc835726b537df60ef2f5617350bc17de3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.231391086308201, + "K": [ + [ + 325.35235637708286, + 0.0, + 340.1383754264756 + ], + [ + 0.0, + 339.25590155831924, + 224.5409413513056 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8121032701870874, + -5.891465918279298, + 1.145668176751958 + ], + "camera_target": [ + -3.2348867783473314, + -4.391816917474851, + 0.9102444513949615 + ], + "camera_roll_rad": -0.02960589090991522, + "camera_pose_world_cv": [ + [ + 0.9583964347839355, + 0.09742496907711029, + -0.2682994604110718, + -2.812103271484375 + ], + [ + 0.2793787121772766, + -0.12748557329177856, + 0.9516801834106445, + -5.89146614074707 + ], + [ + 0.058513060212135315, + -0.987044095993042, + -0.14940017461776733, + 1.1456681489944458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779436454176903, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779436454176903, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2386197794386098, + 0.24869899943519436, + 0.23037805309148088 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0171412475727115, + 1.0573634127915186, + 1.1217188771416096 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6249.398292037895, + "intensity": 1.0734522788790413 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.8239975634455871, + 0.8540253434691799, + 0.9020697915069287 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6193.4530257620145, + "intensity": 0.8660364554786171 + }, + "point_color_scale": [ + 0.7923085159429032, + 0.8077993164382472, + 0.8325845972307975 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52776632e238eb9b979054d87405c31200dac6c2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1755006466195275, + "K": [ + [ + 349.52429119868714, + 0.0, + 349.1537998552996 + ], + [ + 0.0, + 360.19685308287706, + 241.96969623661164 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.020211919289173, + -3.9723064576421034, + 1.54291006610999 + ], + "camera_target": [ + -3.2134387785957523, + -4.443894591326452, + 0.9245955539259613 + ], + "camera_roll_rad": 0.04743603571157899, + "camera_pose_world_cv": [ + [ + -0.5475043058395386, + -0.42644041776657104, + 0.7199914455413818, + -4.020211696624756 + ], + [ + -0.8330653309822083, + 0.3589963912963867, + -0.4208609461784363, + -3.972306489944458 + ], + [ + -0.07900214195251465, + -0.830223023891449, + -0.5518046617507935, + 1.542910099029541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779436454176903, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779436454176903, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32246949879253406, + 0.2978785158725592, + 0.3018038490511417 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9555528018078074, + 1.00464045928308, + 1.0831807112435163 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6458.485415454072, + "intensity": 1.0242755222731892 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7879469639404326, + 0.7802737898327451, + 0.7671197770767093 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5359.514987693664, + "intensity": 0.7802737898327451 + }, + "point_color_scale": [ + 0.7933570953401405, + 0.8158754414596695, + 0.851904795250916 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6be62607fb1dfb608429789d90f1074eed272070 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7881608481787582, + "K": [ + [ + 560.076359953196, + 0.0, + 317.9904717967743 + ], + [ + 0.0, + 577.1550028057616, + 223.01017126277497 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4811084880682612, + -4.070006548062005, + 0.9997211671791703 + ], + "camera_target": [ + -3.222638591523361, + -4.364001905422561, + 0.779678461939875 + ], + "camera_roll_rad": -0.04773837046206752, + "camera_pose_world_cv": [ + [ + -0.3904484510421753, + 0.21093860268592834, + -0.896133303642273, + -2.4811084270477295 + ], + [ + 0.9160264730453491, + 0.18618202209472656, + -0.35529106855392456, + -4.070006370544434 + ], + [ + 0.09189936518669128, + -0.9596046805381775, + -0.26591992378234863, + 0.9997211694717407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779436454176903, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779436454176903, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.39050643418802505, + 0.35220072565828986, + 0.375251524718384 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.8826313341911918, + 0.9053643865458605, + 0.9417372703133307 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5997.192044082238, + "intensity": 0.914457607487728 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7472581192694159, + 0.7550764804025117, + 0.7675858582154652 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5706.23375606377, + "intensity": 0.7582038248557501 + }, + "point_color_scale": [ + 0.8323766362295199, + 0.8646060404334297, + 0.9161730871596856 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01135f800f23666dfad70eb7dc4bdafbfe00ea25 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.015811333712155, + "K": [ + [ + 412.61179473652317, + 0.0, + 316.93538382676064 + ], + [ + 0.0, + 431.17982292784274, + 233.94343408078572 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0619549746959454, + -4.126357671670793, + 0.5801260393706372 + ], + "camera_target": [ + -3.169818166078601, + -4.401905041887038, + 0.8789158013087512 + ], + "camera_roll_rad": -0.004883477654578396, + "camera_pose_world_cv": [ + [ + -0.23895502090454102, + -0.2480565309524536, + -0.9388124346733093, + -2.061954975128174 + ], + [ + 0.9709848165512085, + -0.0516321063041687, + -0.23350125551223755, + -4.126357555389404 + ], + [ + 0.009448528289794922, + -0.9673687815666199, + 0.25319695472717285, + 0.5801260471343994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779436454176903, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779436454176903, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2382294662510438, + 0.23424798713734898, + 0.24762419184460582 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9648748317085262, + 0.9879540444709024, + 1.0248807848907042 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5962.886944284546, + "intensity": 0.9971857295758528 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6895004619568514, + 0.6963759735901773, + 0.7073767922034987 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5696.688719355352, + "intensity": 0.6991261782435076 + }, + "point_color_scale": [ + 0.9636866290744385, + 1.0006549263294349, + 1.0598042019374294 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16e5048013e5de9b03f4dc66d7eeb5782b40e3ba --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1214097119121729, + "K": [ + [ + 380.175035459374, + 0.0, + 329.37552573043314 + ], + [ + 0.0, + 382.20706361172626, + 217.25940915347581 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3939925905618442, + -3.9165590760987095, + 1.547547900448564 + ], + "camera_target": [ + -3.2135092968964045, + -4.446342072407276, + 0.9030562908947131 + ], + "camera_roll_rad": 0.04868259597143462, + "camera_pose_world_cv": [ + [ + -0.24818181991577148, + 0.33485153317451477, + -0.9089996218681335, + -1.39399254322052 + ], + [ + 0.9643316268920898, + -0.003750622272491455, + -0.26467061042785645, + -3.9165589809417725 + ], + [ + -0.09203463792800903, + -0.9422634840011597, + -0.32197707891464233, + 1.5475479364395142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23596626169498822, + 0.24367617254584192, + 0.24297995261496833 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0415264281480239, + 0.9925297730229018, + 0.9085355070941212 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4794.7796276767, + "intensity": 0.9925297730229018 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6031086331707773, + 0.6220192959738953, + 0.6522763564588839 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6100.735596406722, + "intensity": 0.6295835610951425 + }, + "point_color_scale": [ + 1.1678082370522054, + 1.1479994243367462, + 1.1140414596816735 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc1965b62dafb1624ae7451ce95ed23de163f923 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0710772582686048, + "K": [ + [ + 387.38771166357037, + 0.0, + 302.90895905294076 + ], + [ + 0.0, + 404.4616531838709, + 235.07068572742278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.269786731165911, + -5.937820231092404, + 0.9611276683760923 + ], + "camera_target": [ + -3.255421662005635, + -4.383598737517232, + 0.8996715510553516 + ], + "camera_roll_rad": 0.0073108356883658035, + "camera_pose_world_cv": [ + [ + 0.8446720242500305, + 0.005524188280105591, + -0.5352556705474854, + -2.269786834716797 + ], + [ + 0.5350847244262695, + -0.03601181507110596, + 0.8440306186676025, + -5.9378204345703125 + ], + [ + -0.01461300253868103, + -0.9993362426757812, + -0.03337407112121582, + 0.9611276388168335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23405729879688764, + 0.2221855225641486, + 0.2274632026470854 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.969503837105197, + 0.9134302610924535, + 0.8173041307848933 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4623.029835974246, + "intensity": 0.9134302610924535 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.9526015245913819, + 0.9197158492498396, + 0.8633404058071957 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 4989.195100415832, + "intensity": 0.9197158492498396 + }, + "point_color_scale": [ + 0.8162635414991971, + 0.8216595625847006, + 0.8302931963215063 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d21183400c82834b7fe752e16cda34d2bdc1e5b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1383411349235826, + "K": [ + [ + 391.6474228211987, + 0.0, + 292.92796157035525 + ], + [ + 0.0, + 375.11782446964514, + 224.67769151752987 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.988845067359292, + -5.266651462470741, + 1.003594393780942 + ], + "camera_target": [ + -3.2293872721983363, + -4.436414231994635, + 0.8198188373353361 + ], + "camera_roll_rad": -0.03994523721953818, + "camera_pose_world_cv": [ + [ + 0.5463097095489502, + 0.14561080932617188, + -0.8248292207717896, + -1.9888451099395752 + ], + [ + 0.8338297009468079, + -0.0014216303825378418, + 0.5520200729370117, + -5.266651630401611 + ], + [ + 0.07920745015144348, + -0.9893410205841064, + -0.12219125032424927, + 1.0035943984985352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779436454176903, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779436454176903, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3406951933388607, + 0.34167027562586605, + 0.3373018821030596 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0383905826247837, + 1.0919693793467269, + 1.1776954541018365 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6462.43494713321, + "intensity": 1.1134008980355043 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.819710638023697, + 0.7944233113427007, + 0.7510736084609929 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5045.270740603436, + "intensity": 0.7944233113427007 + }, + "point_color_scale": [ + 1.1663534223757546, + 1.153042939744427, + 1.1302249695192945 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a710bea1b2e9c00a14de3a0efdcee2c2c479c820 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7870486255468342, + "K": [ + [ + 602.322315811475, + 0.0, + 346.52772958444666 + ], + [ + 0.0, + 578.0615364247781, + 258.59646772213625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5759251614410217, + -3.505891112545717, + 1.5612986594841283 + ], + "camera_target": [ + -3.2194977409085612, + -4.418954428435235, + 0.7926195395603463 + ], + "camera_roll_rad": 0.02402909542376519, + "camera_pose_world_cv": [ + [ + -0.9412444829940796, + -0.17939268052577972, + 0.28614264726638794, + -3.57592511177063 + ], + [ + -0.3356044888496399, + 0.5916595458984375, + -0.7330136895179749, + -3.5058910846710205 + ], + [ + -0.03780170530080795, + -0.7859756350517273, + -0.6171008348464966, + 1.5612986087799072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32518870530001487, + 0.3164177953087932, + 0.3039359430391755 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.038636426091928, + 1.0900317844502476, + 1.1722643578235588 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6425.550593825886, + "intensity": 1.1105899277935753 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.8324506301660122, + 0.86166908285051, + 0.9084186071457068 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6169.1071490605045, + "intensity": 0.8733564639243092 + }, + "point_color_scale": [ + 0.8448085570941173, + 0.8474181284555348, + 0.8515934426338028 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e27cc24a0d31c507ed71fff8fbb8493ce507c3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8599227029609633, + "K": [ + [ + 521.6808409887147, + 0.0, + 324.2185350286412 + ], + [ + 0.0, + 523.3612696594496, + 245.75795560650937 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2355913014948112, + -5.2054756761453, + 0.7121893408770007 + ], + "camera_target": [ + -3.2580147765952936, + -4.366428219166253, + 0.825049821412671 + ], + "camera_roll_rad": -0.0421735876783875, + "camera_pose_world_cv": [ + [ + 0.9963891506195068, + 0.08066964149475098, + -0.026476988568902016, + -3.235591411590576 + ], + [ + 0.015397273004055023, + 0.13499248027801514, + 0.9907270669937134, + -5.205475807189941 + ], + [ + 0.08349578827619553, + -0.9875574111938477, + 0.1332629919052124, + 0.7121893167495728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3477509316254712, + 0.3607580700837736, + 0.3813062463915139 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0042581519981189, + 0.9931453547094727, + 0.9740948450717939 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5340.150038231716, + "intensity": 0.9931453547094727 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7921627137011527, + 0.8124874148103389, + 0.8450069365850368 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5995.351517125772, + "intensity": 0.8206172952540134 + }, + "point_color_scale": [ + 1.0170270006174844, + 0.995643519672711, + 0.9589861237673853 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a80a964627ea141ad2c1d1ca73a4a7f358e26ee --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9981017839569745, + "K": [ + [ + 450.3350731226187, + 0.0, + 349.91627620586473 + ], + [ + 0.0, + 440.3098031198586, + 238.3512361575926 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3058538616441315, + -4.489647641082875, + 0.833389990354406 + ], + "camera_target": [ + -3.2398284023888713, + -4.354360797664159, + 0.7955049255844957 + ], + "camera_roll_rad": 0.01971797845691879, + "camera_pose_world_cv": [ + [ + 0.14480865001678467, + 0.03401491045951843, + -0.9888748526573181, + -2.305853843688965 + ], + [ + 0.9886751174926758, + -0.04476433992385864, + 0.14323964715003967, + -4.48964786529541 + ], + [ + -0.0393940806388855, + -0.9984183311462402, + -0.04011201858520508, + 0.8333899974822998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23460049313504117, + 0.24951170081121535, + 0.2532677875609922 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1030803340047266, + 1.0698900558165518, + 1.0129924360653952 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5056.826583552303, + "intensity": 1.0698900558165518 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6794225238621338, + 0.6637597504038714, + 0.6369092816182786 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5162.899254722119, + "intensity": 0.6637597504038714 + }, + "point_color_scale": [ + 0.8246118413541312, + 0.8364585274449663, + 0.8554132251903025 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0e8dbb8480b0f1fe12e4eb16bb4474546ad84cf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0943686418958896, + "K": [ + [ + 394.0419616574939, + 0.0, + 347.9650948893987 + ], + [ + 0.0, + 393.9348527883216, + 231.7703643273687 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2398149333740967, + -3.4487306083852456, + 1.0659745332947237 + ], + "camera_target": [ + -3.1933827332019784, + -4.436504783777577, + 0.8918561789868221 + ], + "camera_roll_rad": -0.049620647846215477, + "camera_pose_world_cv": [ + [ + -0.9931753873825073, + -0.10707161575555801, + 0.04624362289905548, + -3.2398149967193604 + ], + [ + -0.06388633698225021, + 0.1677154302597046, + -0.9837632775306702, + -3.448730707168579 + ], + [ + 0.09757734835147858, + -0.9800037741661072, + -0.17341113090515137, + 1.065974473953247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2534948826670796, + 0.2379845989770539, + 0.24077212255903688 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9330740304822989, + 0.9716439873537125, + 1.0333559183479746 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6281.502424132602, + "intensity": 0.987071970102278 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6530959681012325, + 0.623574136230971, + 0.5729652815962372 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 4823.672309697532, + "intensity": 0.623574136230971 + }, + "point_color_scale": [ + 1.0019177485591284, + 1.03599724431559, + 1.0905244375259286 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd37e5fdda441a70a9080560184776649d80139f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1165389134685222, + "K": [ + [ + 367.78752263110437, + 0.0, + 338.4353131752819 + ], + [ + 0.0, + 384.2819800276778, + 250.58823926428525 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.128299677066792, + -5.491074721668815, + 1.0653330867251882 + ], + "camera_target": [ + -3.2524272348239287, + -4.425470534607801, + 0.7990322524657959 + ], + "camera_roll_rad": 0.04355650078919873, + "camera_pose_world_cv": [ + [ + 0.9919425249099731, + -0.05864942818880081, + -0.1122954934835434, + -3.1282997131347656 + ], + [ + 0.09444505721330643, + -0.24845725297927856, + 0.9640275835990906, + -5.491074562072754 + ], + [ + -0.08444030582904816, + -0.9668657183647156, + -0.2409161925315857, + 1.0653331279754639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2593121987751815, + 0.25362670779030183, + 0.24876168421101857 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1236930886002432, + 1.0608809373578307, + 0.9532029637994094 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4654.177990458587, + "intensity": 1.0608809373578307 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6708914082092696, + 0.6597805022344988, + 0.6407332348491774 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5259.424190812785, + "intensity": 0.6597805022344988 + }, + "point_color_scale": [ + 1.09357447773219, + 1.0727290018102944, + 1.0369939002299018 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..101b9586eff4b82de1b2e1f2df5cfe7fad6fc626 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1089036531996888, + "K": [ + [ + 395.98623764810753, + 0.0, + 299.5587926084068 + ], + [ + 0.0, + 387.5673074250211, + 231.41912876849682 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3144894058275565, + -4.7633028761531815, + 0.8619766432516974 + ], + "camera_target": [ + -3.1955787949469836, + -4.407504620089592, + 0.902582357441077 + ], + "camera_roll_rad": -0.04642730273003852, + "camera_pose_world_cv": [ + [ + 0.37649691104888916, + -0.004699200391769409, + -0.9264059066772461, + -2.3144893646240234 + ], + [ + 0.9217746257781982, + 0.10189342498779297, + 0.3740977644920349, + -4.763302803039551 + ], + [ + 0.09263667464256287, + -0.9947841763496399, + 0.042694091796875, + 0.8619766235351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9997841119766235, + 0.020779432728886604, + 0.0, + -3.2124528884887695 + ], + [ + -0.020779432728886604, + 0.9997841119766235, + -0.0, + -4.396441459655762 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24007362593712403, + 0.23911353538516592, + 0.24251977023510204 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1089239890449123, + 1.1528674250612383, + 1.2231769226873603 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6250.884382352903, + "intensity": 1.170444799467769 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6559461359984775, + 0.6722155704289803, + 0.6982466655177848 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5979.412843819333, + "intensity": 0.6787233442011814 + }, + "point_color_scale": [ + 1.0582246456405038, + 1.032630539803429, + 0.9887549297970153 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..613fb2a0e7592f74294383ab86312d1630480fac --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0728516021846637, + "K": [ + [ + 388.11076974155736, + 0.0, + 347.41277687697743 + ], + [ + 0.0, + 403.6452365990484, + 250.70088997864255 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.302763259565094, + -1.7256300386934476, + 1.2062055165864476 + ], + "camera_target": [ + -3.7719564939172145, + -3.038578056384688, + 0.8064473570295783 + ], + "camera_roll_rad": -0.018623910321802536, + "camera_pose_world_cv": [ + [ + -0.9226653575897217, + -0.1362764835357666, + 0.36071842908859253, + -4.30276346206665 + ], + [ + -0.3839331269264221, + 0.23772525787353516, + -0.8922344446182251, + -1.7256300449371338 + ], + [ + 0.035838693380355835, + -0.9617253541946411, + -0.27166175842285156, + 1.2062054872512817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2389340663836228, + 0.23114721998883203, + 0.2415369116547944 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.172827297613216, + 1.1606051239860078, + 1.1396528263393653 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5349.5590991456, + "intensity": 1.1606051239860078 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6254352644549465, + 0.6276545236012333, + 0.6312053382352925 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5570.616071603088, + "intensity": 0.6285422272597482 + }, + "point_color_scale": [ + 1.1240808125868953, + 1.1265922454152555, + 1.1306105379406322 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ffe5c36578c8272121d05eafec2f2724b3a97cb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.055962478688774, + "K": [ + [ + 430.9667635023113, + 0.0, + 312.1998978668902 + ], + [ + 0.0, + 411.51669662594395, + 216.215016391754 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.2143988639373084, + -3.8641972915466227, + 1.388350201617783 + ], + "camera_target": [ + -3.7611135852112056, + -3.003673836113084, + 0.9246026303257806 + ], + "camera_roll_rad": -0.03255901232110095, + "camera_pose_world_cv": [ + [ + 0.89593505859375, + -0.14258445799350739, + 0.4206780195236206, + -4.2143988609313965 + ], + [ + -0.4402843713760376, + -0.410308837890625, + 0.7986215949058533, + -3.864197254180908 + ], + [ + 0.058736905455589294, + -0.9007310271263123, + -0.43038779497146606, + 1.388350248336792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2659615818821203, + 0.2533862796600202, + 0.2538697561077484 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.95979523276373, + 0.9595339608685961, + 0.9590860661912238 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5496.1101370071465, + "intensity": 0.9595339608685961 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6759016683369072, + 0.7014197367848289, + 0.7422486463015039 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6217.175422881841, + "intensity": 0.7116269641639977 + }, + "point_color_scale": [ + 0.9776098776045813, + 0.9727685476398189, + 0.9644691248430837 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62be33f95d75d30c3c5a3ab98485008ba2010c1a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9669894208797648, + "K": [ + [ + 435.01322396438127, + 0.0, + 322.7294460119081 + ], + [ + 0.0, + 457.089869408831, + 219.1398664386328 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4179556136535383, + -4.2140255511660785, + 1.0845418286786064 + ], + "camera_target": [ + -3.6890778241849023, + -3.012592204572896, + 0.7797248782697374 + ], + "camera_roll_rad": -0.04212637570227963, + "camera_pose_world_cv": [ + [ + 0.9675599932670593, + 0.13478532433509827, + -0.21368341147899628, + -3.4179556369781494 + ], + [ + 0.23907038569450378, + -0.2149907350540161, + 0.9469025135040283, + -4.214025497436523 + ], + [ + 0.08168859779834747, + -0.9672703742980957, + -0.24023956060409546, + 1.0845417976379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24750760173985978, + 0.261502360999818, + 0.2565053513991102 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.996837301124404, + 0.9472815875276266, + 0.8623289356474368 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4752.6628037646715, + "intensity": 0.9472815875276266 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6138131408484965, + 0.6209758496496367, + 0.6324361837314614 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5729.632536766785, + "intensity": 0.6238409331700929 + }, + "point_color_scale": [ + 1.0642125735372867, + 1.088073663170348, + 1.1262514065832463 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0570c9364f90c55cec7e7af28d926975b4153a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0848346015300208, + "K": [ + [ + 417.92153980947785, + 0.0, + 293.31870212482306 + ], + [ + 0.0, + 398.19466963307, + 245.93571891602068 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3484881185241173, + -3.75186421667641, + 1.1314768637564385 + ], + "camera_target": [ + -3.757992409893626, + -2.9976869941220663, + 0.890788612436785 + ], + "camera_roll_rad": -0.03786818784080431, + "camera_pose_world_cv": [ + [ + 0.4604916572570801, + 0.16659468412399292, + -0.8718908429145813, + -2.3484880924224854 + ], + [ + 0.8845050930976868, + -0.003324747085571289, + 0.4665186405181885, + -3.751864194869995 + ], + [ + 0.07482069730758667, + -0.9860198497772217, + -0.14888489246368408, + 1.131476879119873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2675397663402945, + 0.27316580553567243, + 0.27447109418545934 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0270312274244056, + 0.9724579743896029, + 0.8789038263299411 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4698.301704516809, + "intensity": 0.9724579743896029 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.8540187521524959, + 0.8516701344543889, + 0.8476439326862053 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5460.60483977987, + "intensity": 0.8516701344543889 + }, + "point_color_scale": [ + 1.1339953482405152, + 1.0997645132954996, + 1.0410830819611874 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2cbbe67f9983041ef05e53945ad38a753f5da0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9307985271237271, + "K": [ + [ + 457.7770616796693, + 0.0, + 336.3038641395706 + ], + [ + 0.0, + 477.90535058878737, + 225.06739323854 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.506825123225728, + -2.171764256573193, + 1.5405003107371136 + ], + "camera_target": [ + -3.721712842726457, + -3.011465925239069, + 0.842554045689526 + ], + "camera_roll_rad": -0.007112882580875092, + "camera_pose_world_cv": [ + [ + -0.9708945751190186, + 0.1416931301355362, + -0.19309920072555542, + -3.5068252086639404 + ], + [ + 0.23925192654132843, + 0.6110631227493286, + -0.7545599937438965, + -2.171764373779297 + ], + [ + 0.011079803109169006, + -0.7787973880767822, + -0.6271777749061584, + 1.540500283241272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3181743194487543, + 0.3196285852612323, + 0.3134457358862995 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.8909633268499485, + 0.8693226487301816, + 0.8322243433820098 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5144.375370848008, + "intensity": 0.8693226487301816 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.8691031262652714, + 0.8463655003975684, + 0.8073867131957919 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5116.214003844804, + "intensity": 0.8463655003975684 + }, + "point_color_scale": [ + 0.8565352443484324, + 0.8727844544690087, + 0.8987831906619306 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94395a665d9a692d774f20e4f185faaec308c2d8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8898796276338737, + "K": [ + [ + 505.295200745359, + 0.0, + 321.546960929528 + ], + [ + 0.0, + 503.3247860046803, + 241.11616091504283 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4407395640706713, + -2.2041511614023825, + 0.9380787926113427 + ], + "camera_target": [ + -3.6829798880401396, + -3.0130275659751713, + 0.8850879456790299 + ], + "camera_roll_rad": -0.01188797184297443, + "camera_pose_world_cv": [ + [ + -0.958120584487915, + -0.004810333251953125, + -0.28632521629333496, + -3.440739631652832 + ], + [ + 0.2853809595108032, + 0.06680524349212646, + -0.9560831785202026, + -2.204151153564453 + ], + [ + 0.023727089166641235, + -0.9977545738220215, + -0.06263452768325806, + 0.9380788207054138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3518799303618246, + 0.36727457889987336, + 0.36630303859981656 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1059115702809095, + 1.128245275396414, + 1.1639792035812218 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5892.791458147365, + "intensity": 1.137178757442616 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7504912030151335, + 0.7603790280334487, + 0.776199548062753 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5758.730423448842, + "intensity": 0.7643341580407748 + }, + "point_color_scale": [ + 0.9552847727485044, + 0.9795108789988488, + 1.0182726489994 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7171fab01b370ab1ebe39836007a172448b00538 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9482921422975614, + "K": [ + [ + 481.1880053713685, + 0.0, + 322.6664835567087 + ], + [ + 0.0, + 467.6604839588737, + 256.36957651168825 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4578467658497942, + -2.6448386634549608, + 1.5662126462191948 + ], + "camera_target": [ + -3.6991328812246285, + -2.981676314736631, + 0.8200464207672578 + ], + "camera_roll_rad": 0.044529896578615086, + "camera_pose_world_cv": [ + [ + -0.21777844429016113, + 0.5056698322296143, + -0.8347878456115723, + -2.4578468799591064 + ], + [ + 0.97296142578125, + 0.04506087303161621, + -0.22652962803840637, + -2.644838571548462 + ], + [ + -0.07693299651145935, + -0.8615496158599854, + -0.5018104314804077, + 1.5662126541137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3738928535816053, + 0.35970857123575356, + 0.3714449432782239 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.8437693249533534, + 0.8525525427351307, + 0.8666056911859744 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5705.199588058279, + "intensity": 0.8560658298478416 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.8670436471000322, + 0.8400296217795395, + 0.7937198640872665 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5040.594001175724, + "intensity": 0.8400296217795395 + }, + "point_color_scale": [ + 0.9545606583619382, + 0.9332124756209346, + 0.8966155909220712 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a90da9b07e7e6bcda6c883e858ae71aa64130cfa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.298957509357364, + "K": [ + [ + 329.478049675258, + 0.0, + 348.7031823415657 + ], + [ + 0.0, + 316.04636687724474, + 247.52474426045106 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.755816618480395, + -4.26815884041353, + 1.0074111107453279 + ], + "camera_target": [ + -3.723358867127672, + -3.0400636614792558, + 0.9087123503987979 + ], + "camera_roll_rad": -0.002357223259264102, + "camera_pose_world_cv": [ + [ + 0.9996497631072998, + 0.0025970349088311195, + 0.0263353418558836, + -3.755816698074341 + ], + [ + -0.026042494922876358, + -0.0801769495010376, + 0.9964404702186584, + -4.268158912658691 + ], + [ + 0.004699280485510826, + -0.996777355670929, + -0.08008122444152832, + 1.0074111223220825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2790115809972805, + 0.2851343052909527, + 0.26813686635863415 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.159880415689507, + 1.1068203649299144, + 1.0158602779134702 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4815.154699755607, + "intensity": 1.1068203649299144 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.876863355514672, + 0.8488057573559766, + 0.8007070176553559 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5027.780263782533, + "intensity": 0.8488057573559766 + }, + "point_color_scale": [ + 1.0486538841858228, + 1.0101088051550875, + 0.944031526816684 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edefe242962492f67e8d97754509b34a1be221be --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8325255193674975, + "K": [ + [ + 567.7820636030923, + 0.0, + 301.1724505154386 + ], + [ + 0.0, + 542.8667403256867, + 224.162170144829 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.0957448958667815, + -1.8064476829920713, + 1.4878521750086542 + ], + "camera_target": [ + -3.706033574578255, + -2.958633308247082, + 0.842198406857344 + ], + "camera_roll_rad": 0.008664189156998209, + "camera_pose_world_cv": [ + [ + -0.9497413635253906, + -0.13379061222076416, + 0.2830039858818054, + -4.095745086669922 + ], + [ + -0.3126610815525055, + 0.4496328830718994, + -0.8367037773132324, + -1.8064476251602173 + ], + [ + -0.015304818749427795, + -0.8831366300582886, + -0.46886616945266724, + 1.4878522157669067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29504420256784564, + 0.28987356008168624, + 0.2824985546235632 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1809834431780384, + 1.184232162157879, + 1.1894301125256241 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5554.806111342979, + "intensity": 1.1855316497498154 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7813847471573854, + 0.8015575866463511, + 0.8338341298286963 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5998.32444828703, + "intensity": 0.8096267224419373 + }, + "point_color_scale": [ + 1.180184741604019, + 1.127265524261586, + 1.0365468659602728 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2713ddd2bfaca53f990c18ed3aa932c3e4781e92 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2442417669451873, + "K": [ + [ + 342.05926976797656, + 0.0, + 322.29404439421484 + ], + [ + 0.0, + 334.6740316547276, + 246.3372383933632 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1624272044544295, + -4.3067799440484675, + 1.4106863145405684 + ], + "camera_target": [ + -3.7675250826196454, + -2.9854859809412244, + 0.8547626948878957 + ], + "camera_roll_rad": -0.022112011125906352, + "camera_pose_world_cv": [ + [ + 0.9017281532287598, + 0.1888141632080078, + -0.38889020681381226, + -3.1624271869659424 + ], + [ + 0.43032705783843994, + -0.3061174154281616, + 0.8491823673248291, + -4.306779861450195 + ], + [ + 0.04129154980182648, + -0.9330816268920898, + -0.3572865128517151, + 1.4106863737106323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27820294897732306, + 0.273864388472257, + 0.2774672059237794 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.9361842804298826, + 0.8821328992415933, + 0.7894733886330977 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4624.664107791477, + "intensity": 0.8821328992415933 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.913682212503123, + 0.9220220180417316, + 0.9353657069035053 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5680.250369630823, + "intensity": 0.925357940257175 + }, + "point_color_scale": [ + 0.9393481214474012, + 0.8986195233669825, + 0.8287990695148361 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acd7740d31782d4c8643e676ee68fea381ed371d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9911301933550779, + "K": [ + [ + 449.57131097669856, + 0.0, + 306.49833447285164 + ], + [ + 0.0, + 443.98575297811266, + 217.1954005112542 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.868353211414182, + -4.7614419568458235, + 0.9800166418664013 + ], + "camera_target": [ + -3.677210029483665, + -2.997675232951575, + 0.8823397985811186 + ], + "camera_roll_rad": -0.01947417155153773, + "camera_pose_world_cv": [ + [ + 0.9936556220054626, + 0.03279337286949158, + 0.10757821798324585, + -3.8683531284332275 + ], + [ + -0.10553129017353058, + -0.05880779027938843, + 0.9926756620407104, + -4.761442184448242 + ], + [ + 0.038879621773958206, + -0.9977306127548218, + -0.05497395992279053, + 0.9800166487693787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21703227830608637, + 0.22860285675331513, + 0.21256560765015833 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0584919824361596, + 1.1101837938665575, + 1.192890692155194 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6414.203132704013, + "intensity": 1.1308605184387166 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.8726003511234757, + 0.8441960541543497, + 0.7955029736358481 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5019.334793155379, + "intensity": 0.8441960541543497 + }, + "point_color_scale": [ + 0.8364236572418848, + 0.8636816927662675, + 0.90729454960528 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74b6889f1425fb7c1960a1a802c0342f15e407b5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.150562053695198, + "K": [ + [ + 363.28158955235864, + 0.0, + 351.9072447217232 + ], + [ + 0.0, + 370.1164208089076, + 256.4419106138635 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3116661755462546, + -3.5184183895458943, + 0.8911388522447247 + ], + "camera_target": [ + -3.7236336944629955, + -3.0194970531952365, + 0.850053087393049 + ], + "camera_roll_rad": 0.04552592819507183, + "camera_pose_world_cv": [ + [ + 0.33413535356521606, + -0.00454181432723999, + -0.9425142407417297, + -2.311666250228882 + ], + [ + 0.9381324052810669, + -0.09483063220977783, + 0.3330390155315399, + -3.518418312072754 + ], + [ + -0.09089189767837524, + -0.9954831600189209, + -0.027425408363342285, + 0.8911388516426086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3205592971347109, + 0.3041117877720664, + 0.3251710729483765 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0611254525765021, + 1.1179806104617485, + 1.208948863078143 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6496.826997486212, + "intensity": 1.1407226736158471 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6997130741142947, + 0.7205470560506883, + 0.7538814271489181 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6071.670601214951, + "intensity": 0.7288806488252457 + }, + "point_color_scale": [ + 1.0805695735067455, + 1.1028447181840013, + 1.138484949667611 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c76a7b6bf610150f6386ab7f22104fdcf044b6d3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0782222290852568, + "K": [ + [ + 413.0115267437264, + 0.0, + 318.8517667797625 + ], + [ + 0.0, + 401.18886289047146, + 239.54570143677464 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.272826529839326, + -4.612846025702682, + 0.7780626278268598 + ], + "camera_target": [ + -3.758522418286244, + -3.0293961950943373, + 0.877846208295151 + ], + "camera_roll_rad": -0.047512531178106984, + "camera_pose_world_cv": [ + [ + 0.9450455904006958, + 0.1086394339799881, + 0.30836066603660583, + -4.272826671600342 + ], + [ + -0.3129191994667053, + 0.027333736419677734, + 0.9493864178657532, + -4.6128458976745605 + ], + [ + 0.09471216797828674, + -0.9937054514884949, + 0.05982697010040283, + 0.778062641620636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.247083987022068, + 0.2587477641583605, + 0.246175886339562 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.901789192516049, + 0.8673185984479427, + 0.8082261514740459 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 4932.230487162367, + "intensity": 0.8673185984479427 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.6894379580311895, + 0.6737861762677955, + 0.6469545503876915 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5168.148605284932, + "intensity": 0.6737861762677955 + }, + "point_color_scale": [ + 0.8849858792563293, + 0.8577031175378147, + 0.8109326688775039 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2a766485c87c96fc337c480fbe02443211b280a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8890122318507143, + "K": [ + [ + 504.1424750251713, + 0.0, + 312.9215510009676 + ], + [ + 0.0, + 503.88718180743825, + 260.218004262773 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6138157819522316, + -4.181428928839363, + 1.1472823576930944 + ], + "camera_target": [ + -3.753740660376164, + -3.0232478532315676, + 0.8189858309924986 + ], + "camera_roll_rad": 0.05212336821996921, + "camera_pose_world_cv": [ + [ + 0.9907723069190979, + -0.07099204510450363, + -0.11545730382204056, + -3.6138157844543457 + ], + [ + 0.09130594879388809, + -0.27995580434799194, + 0.9556610584259033, + -4.181428909301758 + ], + [ + -0.10016728192567825, + -0.957384467124939, + -0.270890474319458, + 1.147282361984253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2649525764923721, + 0.25251996850079306, + 0.26397202253773694 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.1325753121433368, + 1.1633530123296194, + 1.2125973326276722 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6023.579828373342, + "intensity": 1.1756640924041326 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.7506711720020012, + 0.7576418598892838, + 0.768794960508936 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5683.335393116095, + "intensity": 0.7604301350441969 + }, + "point_color_scale": [ + 0.9176859705128599, + 0.8946921659724127, + 0.855274215331646 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea302e7d74c1d6833a72d1cd3f7f1bbd0b12994 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8485129233525323, + "K": [ + [ + 553.2417678071347, + 0.0, + 342.958114835833 + ], + [ + 0.0, + 531.3406697741802, + 220.06491100349655 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.567273611734885, + -4.331415425344558, + 1.482716333996211 + ], + "camera_target": [ + -3.691300682324973, + -2.9523795710288585, + 0.8990898661400142 + ], + "camera_roll_rad": 0.04039991315129117, + "camera_pose_world_cv": [ + [ + 0.9955387711524963, + -0.04570820927619934, + -0.08254294097423553, + -3.5672736167907715 + ], + [ + 0.058060020208358765, + -0.3928226828575134, + 0.9177796840667725, + -4.33141565322876 + ], + [ + -0.07437480986118317, + -0.9184776544570923, + -0.3884164094924927, + 1.4827163219451904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3459697107315398, + 0.3638598740764943, + 0.3440367762665649 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 0.968359756082505, + 1.005901465337372, + 1.065968200145159 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 6235.449933771744, + "intensity": 1.0209181490393187 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.9079437858023567, + 0.932798988534948, + 0.9725673129070942 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 6027.296487515909, + "intensity": 0.9427410696279845 + }, + "point_color_scale": [ + 0.8293375770996196, + 0.8620273046786618, + 0.9143308688051294 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..249896b5edda200418de8e2e15197610c30239e2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000095/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 95, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8189652150079809, + "K": [ + [ + 539.5675565385204, + 0.0, + 320.7897592800243 + ], + [ + 0.0, + 552.9747345486728, + 249.90880270684028 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.995001761485815, + -3.91806221826254, + 1.4808606091475218 + ], + "camera_target": [ + -3.7052266638545546, + -2.9930498667313197, + 0.8755676627879632 + ], + "camera_roll_rad": 0.026420007567441506, + "camera_pose_world_cv": [ + [ + 0.8068820834159851, + 0.23826314508914948, + -0.5405293703079224, + -2.995001792907715 + ], + [ + 0.5888496041297913, + -0.39704418182373047, + 0.7039973139762878, + -3.918062210083008 + ], + [ + -0.04687748849391937, + -0.8863332867622375, + -0.46066898107528687, + 1.4808605909347534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7904846668243408, + 0.612481951713562, + 0.0, + -3.7220563888549805 + ], + [ + -0.612481951713562, + -0.7904846668243408, + -0.0, + -2.9906368255615234 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6796014308929443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3519851001386509, + 0.35453807746447685, + 0.3556156569124472 + ], + "directional_primary": { + "direction": [ + -0.10378317663082415, + 0.32842167386655197, + -0.9388121507432184 + ], + "color": [ + 1.0530108622388725, + 1.0208165574379477, + 0.9656263206363622 + ], + "azimuth_rad": 1.876871959041904, + "elevation_rad": 1.2191651942618518, + "color_temp_k": 5049.4600507190835, + "intensity": 1.0208165574379477 + }, + "directional_fill": { + "direction": [ + -0.07502505884151904, + -0.42990492117569523, + -0.8997516308930735 + ], + "color": [ + 0.9217778494506618, + 0.9272489547615543, + 0.9360027232589825 + ], + "azimuth_rad": -1.7435718211954927, + "elevation_rad": 1.1192000540058706, + "color_temp_k": 5617.729399079993, + "intensity": 0.9294373968859113 + }, + "point_color_scale": [ + 1.007144058562506, + 1.0095945363949206, + 1.013515300926784 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..799f7f528bc59df4ac01cb3008de4921235bb76b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9038098323169367, + "K": [ + [ + 503.42385991605727, + 0.0, + 292.67200122297373 + ], + [ + 0.0, + 494.4308077957745, + 238.58112795424796 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1881631609905368, + -3.100642131856566, + 1.4163486650302612 + ], + "camera_target": [ + -0.27950124572296603, + -2.3077102755236596, + 0.9942760639170554 + ], + "camera_roll_rad": -0.03837517250251763, + "camera_pose_world_cv": [ + [ + 0.6746439933776855, + -0.1977469027042389, + 0.7111622095108032, + -1.188163161277771 + ], + [ + -0.7345869541168213, + -0.274325430393219, + 0.6205865144729614, + -3.100642204284668 + ], + [ + 0.07237079739570618, + -0.9410854578018188, + -0.33033430576324463, + 1.4163486957550049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36565522069035983, + 0.3634250948267504, + 0.3742463824468158 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.886533118687099, + 0.8639951740912207, + 0.8253586976411438 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5127.346718200557, + "intensity": 0.8639951740912207 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.9416758855761698, + 0.947183964047563, + 0.9559968896017924 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5616.0343956158595, + "intensity": 0.9493871954361204 + }, + "point_color_scale": [ + 1.2018787024952406, + 1.155527237226201, + 1.0760675824792765 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd67daf6989e85b11a31668bcbce17fe4821ce79 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9364499802086227, + "K": [ + [ + 476.20049098419605, + 0.0, + 304.3559355235833 + ], + [ + 0.0, + 474.5569346297559, + 236.60930792076957 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3519034435520645, + -3.58154038344847, + 1.1051161904235582 + ], + "camera_target": [ + -0.20899529292332458, + -2.2727372998418587, + 0.9106440913519123 + ], + "camera_roll_rad": 0.012589658412975963, + "camera_pose_world_cv": [ + [ + 0.7511500716209412, + -0.092100590467453, + 0.6536750793457031, + -1.3519034385681152 + ], + [ + -0.6596571207046509, + -0.06719249486923218, + 0.7485570907592773, + -3.58154034614563 + ], + [ + -0.025020450353622437, + -0.9934800863265991, + -0.11122643947601318, + 1.1051162481307983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33392895888680113, + 0.3202053450934399, + 0.33945882996344 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.8775213313246477, + 0.8513368150790736, + 0.8064490729438037 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5060.61512768108, + "intensity": 0.8513368150790736 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6709799276920647, + 0.6705033436918326, + 0.6696863425485776 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5489.845922582621, + "intensity": 0.6705033436918326 + }, + "point_color_scale": [ + 0.7770969844264155, + 0.8003946734936326, + 0.83767097600118 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4d44b3e376d55c886f9fdd712c59b1c4cc94bc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2978849666483347, + "K": [ + [ + 303.9372018706499, + 0.0, + 302.4832887112915 + ], + [ + 0.0, + 316.3985108362542, + 234.17098031394704 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5193694321294102, + -2.700495017298516, + 1.562992582919874 + ], + "camera_target": [ + -0.2922462634577361, + -2.313273634960786, + 0.9818606357467361 + ], + "camera_roll_rad": -0.023068996878133102, + "camera_pose_world_cv": [ + [ + 0.31870871782302856, + -0.37821805477142334, + 0.8691236972808838, + -1.5193694829940796 + ], + [ + -0.9469202756881714, + -0.1677107810974121, + 0.27425387501716614, + -2.7004950046539307 + ], + [ + 0.04203370213508606, + -0.9103978872299194, + -0.4115931987762451, + 1.5629925727844238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3359287756048763, + 0.33239942359629304, + 0.3148346907653804 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0724525417800703, + 1.1286496545506717, + 1.2185650349836339 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6476.382963105386, + "intensity": 1.1511284996589122 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6973111359663579, + 0.68498843653156, + 0.6638638089290496 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5243.005058237734, + "intensity": 0.68498843653156 + }, + "point_color_scale": [ + 1.145531872902796, + 1.1194866906863787, + 1.0748378068868065 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1ec85ed36ad10333d05af5d104b6e28e837eb2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0143768921069143, + "K": [ + [ + 436.60518220412445, + 0.0, + 320.6708166028617 + ], + [ + 0.0, + 431.9084901803787, + 224.4218455183765 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.36778692878120023, + -3.4782289489014726, + 0.9786633067953541 + ], + "camera_target": [ + -0.21431966953171877, + -2.296801817069401, + 1.0044548011290197 + ], + "camera_roll_rad": -0.045681087055693764, + "camera_pose_world_cv": [ + [ + 0.9872780442237854, + 0.09325145184993744, + 0.12878739833831787, + -0.3677869141101837 + ], + [ + -0.13023854792118073, + 0.009621381759643555, + 0.9914360046386719, + -3.47822904586792 + ], + [ + 0.09121374785900116, + -0.9955960512161255, + 0.021643877029418945, + 0.9786633253097534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2118735052377402, + 0.23224551415965589, + 0.22877092804055366 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.1543285964907406, + 1.1655284473179384, + 1.1834482086414555 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5691.449069005473, + "intensity": 1.1700083876488176 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6507797522704241, + 0.6221047638200506, + 0.5729476407622678 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 4841.521370720956, + "intensity": 0.6221047638200506 + }, + "point_color_scale": [ + 1.1606709183267536, + 1.1671548656579445, + 1.1775291813878501 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a22b8b97f14ddf9de26275133df5dbdce86f850b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1326874822299287, + "K": [ + [ + 374.0863414460259, + 0.0, + 331.98584405901926 + ], + [ + 0.0, + 377.4640198142189, + 251.75519998548404 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5042781048022411, + -3.420380650508608, + 1.2570544510216402 + ], + "camera_target": [ + -0.2930317953736741, + -2.2854019074111678, + 0.9613281114843102 + ], + "camera_roll_rad": -0.012114829775179442, + "camera_pose_world_cv": [ + [ + 0.68666011095047, + -0.1113848090171814, + 0.7183949947357178, + -1.5042780637741089 + ], + [ + -0.7265872359275818, + -0.13757264614105225, + 0.6731603741645813, + -3.4203805923461914 + ], + [ + 0.023851662874221802, + -0.9842090010643005, + -0.17539644241333008, + 1.2570544481277466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2651205806270322, + 0.2906295144063598, + 0.29035615434969736 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.970499986475571, + 0.9348577163779791, + 0.8737566819249645 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4955.344617487665, + "intensity": 0.9348577163779791 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7855530129339339, + 0.816946642975138, + 0.8671764510410649 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6256.925257650991, + "intensity": 0.8295040949916197 + }, + "point_color_scale": [ + 1.0016712262350467, + 1.036582376752241, + 1.0924402175797523 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f926a179e177b8c68ec16c26b86095dc5d890079 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9043774407572874, + "K": [ + [ + 501.72209829620846, + 0.0, + 298.9957713910053 + ], + [ + 0.0, + 494.0738230875579, + 252.8513624433346 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1100792938969724, + -1.807874456309412, + 0.7793414966570699 + ], + "camera_target": [ + -0.27955593299597137, + -2.256815186787417, + 0.9619844471335381 + ], + "camera_roll_rad": -0.034080924942069636, + "camera_pose_world_cv": [ + [ + -0.48580074310302734, + 0.13431203365325928, + 0.8636887073516846, + -1.110079288482666 + ], + [ + -0.8715081214904785, + -0.1500253677368164, + -0.46686840057373047, + -1.8078744411468506 + ], + [ + 0.06686922907829285, + -0.9795166254043579, + 0.18993651866912842, + 0.7793415188789368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3139218621191941, + 0.30030919315899357, + 0.3077267051464782 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0842684005210939, + 1.0250431125408512, + 0.923514047431864 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4674.595163633984, + "intensity": 1.0250431125408512 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.5534465016402014, + 0.5697778873233079, + 0.5959081044162785 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6066.756543152812, + "intensity": 0.5763104415965505 + }, + "point_color_scale": [ + 0.963369328399025, + 0.9230082682545573, + 0.8538178794354699 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..960ae10c6fd973cd624cce1393f72417deab55cc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8413953719360703, + "K": [ + [ + 562.5076636253002, + 0.0, + 306.97941700830006 + ], + [ + 0.0, + 536.4211755004651, + 245.76841948828587 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.28971543789923404, + -3.9699082240228725, + 1.4417097837981885 + ], + "camera_target": [ + -0.2394661616125507, + -2.2780029750675124, + 0.9776934843780594 + ], + "camera_roll_rad": 0.0068321126579198935, + "camera_pose_world_cv": [ + [ + 0.9993587136268616, + -0.021505672484636307, + 0.02863035537302494, + -0.289715439081192 + ], + [ + -0.033294759690761566, + -0.26383471488952637, + 0.9639931321144104, + -3.9699082374572754 + ], + [ + -0.01317763514816761, + -0.9643281102180481, + -0.2643815875053406, + 1.4417097568511963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2312487660869169, + 0.21497561117932226, + 0.2301610778659093 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.2010269517869965, + 1.171630843353311, + 1.1212375146098497 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5141.572762805056, + "intensity": 1.171630843353311 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6206526075967773, + 0.6298954159600358, + 0.6446839093412494 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5791.758749981248, + "intensity": 0.6335925393053392 + }, + "point_color_scale": [ + 1.0363905565613598, + 1.058983745260822, + 1.0951328471799608 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d264629ded53a7c87b526668315d254d139984a2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9226930188981338, + "K": [ + [ + 498.22267320069136, + 0.0, + 350.2683349175691 + ], + [ + 0.0, + 482.7740912788109, + 252.705482243793 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3896161194216479, + -1.9744458909859857, + 1.3609093907657788 + ], + "camera_target": [ + -0.26951636436121484, + -2.3136471390922075, + 1.0131997810704487 + ], + "camera_roll_rad": 0.040956605178924105, + "camera_pose_world_cv": [ + [ + -0.31116366386413574, + -0.24794617295265198, + 0.9174420833587646, + -1.3896161317825317 + ], + [ + -0.9471143484115601, + 0.16057705879211426, + -0.2778300642967224, + -1.9744459390640259 + ], + [ + -0.07843321561813354, + -0.9553731083869934, + -0.2847990393638611, + 1.360909342765808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27300550108551996, + 0.2533960030595424, + 0.2675137340455644 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9558418879963045, + 0.9869236378614635, + 1.0366544376457179 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6122.035377958353, + "intensity": 0.9993563378075271 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6706655849680302, + 0.6410017848246413, + 0.5901495560074032 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 4838.896421960954, + "intensity": 0.6410017848246413 + }, + "point_color_scale": [ + 0.8559359426095209, + 0.8888829342803749, + 0.9415981209537414 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d4b27f6d35974fd66af0abb125a26965f1a7200 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.867973918841533, + "K": [ + [ + 502.7112672024145, + 0.0, + 311.3216194739298 + ], + [ + 0.0, + 517.8491395921103, + 231.8568127472147 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9815375031976925, + -1.685781043117468, + 1.5951624620521514 + ], + "camera_target": [ + -0.21272440391184744, + -2.2748927351158734, + 0.9095750001734324 + ], + "camera_roll_rad": -0.033433562852761306, + "camera_pose_world_cv": [ + [ + -0.29340410232543945, + -0.34783855080604553, + 0.8904619216918945, + -1.9815374612808228 + ], + [ + -0.9539294242858887, + 0.04542350769042969, + -0.29657280445098877, + -1.6857810020446777 + ], + [ + 0.06271156668663025, + -0.9364534616470337, + -0.34514081478118896, + 1.5951625108718872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3531470253257406, + 0.32951276453033546, + 0.3274627891353019 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.83913144137561, + 0.854142554249882, + 0.8781603348487173 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5849.035987680018, + "intensity": 0.8601469993995907 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.548405650782383, + 0.5667240085056837, + 0.5960333808629648 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6138.21320766524, + "intensity": 0.574051351595004 + }, + "point_color_scale": [ + 0.7861414117394014, + 0.8179429846291201, + 0.8688255012526701 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05072cc68fed8061aae8140bf68b35d6ae0b1dde --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9634675066965246, + "K": [ + [ + 440.3032573387572, + 0.0, + 303.11602877739386 + ], + [ + 0.0, + 459.0520769705745, + 222.55373695428688 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4729172193651443, + -3.5357381080619454, + 1.3861262405783368 + ], + "camera_target": [ + -0.23306109110628886, + -2.245800798547327, + 0.9156299769081233 + ], + "camera_roll_rad": -0.03480242339884719, + "camera_pose_world_cv": [ + [ + 0.9850592017173767, + 0.006818331778049469, + 0.1720811277627945, + -0.47291722893714905 + ], + [ + -0.15928751230239868, + -0.3437722325325012, + 0.9254449605941772, + -3.535737991333008 + ], + [ + 0.06546671688556671, + -0.9390283823013306, + -0.33754992485046387, + 1.3861262798309326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32138104249783567, + 0.34118614559616195, + 0.32290700075411405 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.8996513756988155, + 0.8642917891483712, + 0.8036753550618956 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4915.548131935436, + "intensity": 0.8642917891483712 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7095070287156409, + 0.6766988438068762, + 0.6204562411061366 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 4807.3900448790255, + "intensity": 0.6766988438068762 + }, + "point_color_scale": [ + 1.2219034785064666, + 1.1907303975390682, + 1.1372908301663853 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57a4d2a9af0f5f5d249422bfdcb628d7b782b342 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0827512793725058, + "K": [ + [ + 385.80234499370175, + 0.0, + 316.3724902377452 + ], + [ + 0.0, + 399.13447926352524, + 237.2299381505705 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9351033459055216, + -1.7411261526346724, + 1.0126057483914421 + ], + "camera_target": [ + -0.28065117212409924, + -2.300631174134143, + 0.9319961144970729 + ], + "camera_roll_rad": 0.046441830934414494, + "camera_pose_world_cv": [ + [ + -0.653587818145752, + -0.010274708271026611, + 0.7567811012268066, + -0.9351033568382263 + ], + [ + -0.7511959671974182, + 0.13080930709838867, + -0.6469881534576416, + -1.7411261796951294 + ], + [ + -0.09234631061553955, + -0.9913543462753296, + -0.09321355819702148, + 1.0126057863235474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3165592239972232, + 0.32137863104042413, + 0.32357569064556124 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.1439246682368527, + 1.0739508106664335, + 0.9539956262600008 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4569.206404248664, + "intensity": 1.0739508106664335 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6689337084672066, + 0.6862279551527992, + 0.7138987498497477 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5999.007577703378, + "intensity": 0.6931456538270363 + }, + "point_color_scale": [ + 0.900516699104662, + 0.937016010794837, + 0.9954149094991169 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..101b341063797ca0fe065606fb3c8c066f53ce70 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2651967626659184, + "K": [ + [ + 311.8038984705851, + 0.0, + 328.81454832412044 + ], + [ + 0.0, + 327.37600195508844, + 259.74047243458483 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5448175835265754, + -3.1571094105251825, + 1.3871724921046344 + ], + "camera_target": [ + -0.25070800039845886, + -2.2507404656627528, + 0.9746571014166745 + ], + "camera_roll_rad": 0.012718520395393784, + "camera_pose_world_cv": [ + [ + 0.5682229995727539, + -0.22144627571105957, + 0.7925176620483398, + -1.544817566871643 + ], + [ + -0.8225065469741821, + -0.12404459714889526, + 0.5550639033317566, + -3.157109498977661 + ], + [ + -0.024609297513961792, + -0.9672510027885437, + -0.2526260018348694, + 1.3871724605560303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26651561831513737, + 0.27161752882604245, + 0.2973190895956863 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9603308809339764, + 0.9737705919924289, + 0.9952741296859526 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5774.518907684756, + "intensity": 0.9791464764158098 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.9144292373260713, + 0.9260358959225665, + 0.944606549676959 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5749.423573364842, + "intensity": 0.9306785593611645 + }, + "point_color_scale": [ + 1.0593681230797034, + 1.0767883081799698, + 1.1046606043403961 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6e3b1e18b5e95b5554079be7bf46b5d385dad94 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2589893686614009, + "K": [ + [ + 343.7091715333435, + 0.0, + 294.32400871408294 + ], + [ + 0.0, + 329.51595119826015, + 238.6765318581339 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7035799307867299, + -2.228202125960044, + 1.475271345020495 + ], + "camera_target": [ + -0.21128365153244325, + -2.2832810593765975, + 1.0195980868744616 + ], + "camera_roll_rad": -0.02023592755244817, + "camera_pose_world_cv": [ + [ + -0.025052905082702637, + -0.29291215538978577, + 0.9558111429214478, + -1.7035799026489258 + ], + [ + -0.9989368915557861, + -0.029677212238311768, + -0.03527796268463135, + -2.2282021045684814 + ], + [ + 0.038699179887771606, + -0.9556787014007568, + -0.29185718297958374, + 1.4752713441848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2319502538872845, + 0.21361767912748103, + 0.23229896703207417 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.2641598057089687, + 1.1820630051000436, + 1.0413256326276004 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4507.8266283521, + "intensity": 1.1820630051000436 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.927777450786993, + 0.9307764252251819, + 0.935574784326284 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5564.357330873743, + "intensity": 0.9319760150004575 + }, + "point_color_scale": [ + 0.9643496417595379, + 0.9862707627836828, + 1.0213445564223145 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..600c51e4f247ac7afa8db717e7c69524fe89aa40 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.22016608421093, + "K": [ + [ + 338.3601879250366, + 0.0, + 323.5083542077788 + ], + [ + 0.0, + 343.3267763200946, + 226.11770894210278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.834980724969696, + -3.1336614801080644, + 1.2803119551868267 + ], + "camera_target": [ + -0.26388640674886427, + -2.336088140830066, + 0.925957262884189 + ], + "camera_roll_rad": -0.028899445763904245, + "camera_pose_world_cv": [ + [ + 0.8231266140937805, + -0.150496706366539, + 0.547552227973938, + -0.8349807262420654 + ], + [ + -0.5652529001235962, + -0.309403657913208, + 0.7646952271461487, + -3.1336615085601807 + ], + [ + 0.05433061718940735, + -0.9389464259147644, + -0.33974701166152954, + 1.280311942100525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24016799904656766, + 0.2521121841534929, + 0.2391118164014224 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0002665551794616, + 0.9782744450549332, + 0.940573684841456 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5178.849832613858, + "intensity": 0.9782744450549332 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6634503205489782, + 0.6366252405811714, + 0.5906393892077881 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 4898.051783555279, + "intensity": 0.6366252405811714 + }, + "point_color_scale": [ + 1.1442141022284784, + 1.109727928987247, + 1.0506087748594222 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cbd6345bf82cea7fe98a5926effd633f80438ec --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.879620727566579, + "K": [ + [ + 528.8972124105832, + 0.0, + 313.2065020551519 + ], + [ + 0.0, + 510.0426528644633, + 237.82736183006523 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6449949548758884, + -3.5326635985976527, + 1.1587081028265818 + ], + "camera_target": [ + -0.2320715995553063, + -2.3097634193298155, + 0.9221350934474922 + ], + "camera_roll_rad": -0.03248315792112197, + "camera_pose_world_cv": [ + [ + 0.659216046333313, + -0.05228149890899658, + 0.7501338720321655, + -1.6449949741363525 + ], + [ + -0.7491902112960815, + -0.13111025094985962, + 0.6492488980293274, + -3.532663583755493 + ], + [ + 0.06440651416778564, + -0.9899882674217224, + -0.12559878826141357, + 1.158708095550537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2690201094519957, + 0.261507345606989, + 0.29040669654986434 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0268433800782566, + 1.0096310093811294, + 0.9801240881860543 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5256.454578282335, + "intensity": 1.0096310093811294 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.9202204925715933, + 0.9274129061116764, + 0.9389207677758091 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5654.627364227275, + "intensity": 0.9302898715277096 + }, + "point_color_scale": [ + 0.9910235588226051, + 0.9877789679913107, + 0.9822168122805204 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c3043fbc5155ef1341931cfe7a11f3e01253dc7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8529102889193869, + "K": [ + [ + 549.7737912494682, + 0.0, + 298.71243025052996 + ], + [ + 0.0, + 528.2416555221316, + 229.430399079613 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2121452838226427, + -3.6153941835088217, + 1.1817205156101165 + ], + "camera_target": [ + -0.26272240507083233, + -2.2956202004711255, + 0.9486743105303057 + ], + "camera_roll_rad": -0.034557620697841004, + "camera_pose_world_cv": [ + [ + 0.8155560493469238, + -0.026602745056152344, + 0.578066349029541, + -1.2121453285217285 + ], + [ + -0.5746260285377502, + -0.15523874759674072, + 0.803558349609375, + -3.615394115447998 + ], + [ + 0.06836149096488953, + -0.9875187873840332, + -0.14189255237579346, + 1.181720495223999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.04695934057235718, + -0.9988968372344971, + 0.0, + -0.25416481494903564 + ], + [ + 0.9988968372344971, + 0.04695934057235718, + 0.0, + -2.292177438735962 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2841570543227624, + 0.2694544564563231, + 0.27540575731147593 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0370874728164308, + 1.089657540282977, + 1.1737696482294506 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6446.623761318506, + "intensity": 1.1106855672695952 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.8273100751323711, + 0.7934259002594135, + 0.7353387433343433 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 4889.9119742826815, + "intensity": 0.7934259002594135 + }, + "point_color_scale": [ + 0.8785149808395283, + 0.8820996630558899, + 0.8878351546020687 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c19fb3af2e1378ff6903339013ae513c16edb7e3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2522686809331351, + "K": [ + [ + 333.96159920311777, + 0.0, + 321.469151906253 + ], + [ + 0.0, + 331.85351356527303, + 255.5696510773388 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.706851953490827, + -1.9093185225120675, + 1.5337520667002664 + ], + "camera_target": [ + -1.6269614144342637, + -2.3281513017077446, + 0.8826880189652584 + ], + "camera_roll_rad": 0.041293153824251666, + "camera_pose_world_cv": [ + [ + -0.3980562686920166, + -0.42545387148857117, + 0.8127365112304688, + -2.7068519592285156 + ], + [ + -0.9145383834838867, + 0.25349104404449463, + -0.3152177035808563, + -1.9093185663223267 + ], + [ + -0.07191061973571777, + -0.8687529563903809, + -0.4899972677230835, + 1.5337520837783813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21848659126089584, + 0.23356884638846384, + 0.2182694560469643 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.050729160826678, + 1.067004493132521, + 1.0930450248218704 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5803.215846544257, + "intensity": 1.0735146260548585 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7857320667111514, + 0.7903799385105168, + 0.7978165333895014 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5617.33507912655, + "intensity": 0.7922390872302629 + }, + "point_color_scale": [ + 0.8852883577730059, + 0.8479518309296726, + 0.7839463563411013 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1648873f1bc3ff1c21285369bd65099fc06cebd3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9929628685535751, + "K": [ + [ + 428.55859967584075, + 0.0, + 294.22092745133426 + ], + [ + 0.0, + 443.01484613386225, + 260.5619150550857 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3087498311421117, + -1.6701483110336546, + 1.1918036647146586 + ], + "camera_target": [ + -1.60896692693554, + -2.272333469497227, + 1.0270247990143284 + ], + "camera_roll_rad": 0.004042837329865816, + "camera_pose_world_cv": [ + [ + -0.3346177339553833, + -0.08307084441184998, + 0.938685417175293, + -3.3087499141693115 + ], + [ + -0.9423195123672485, + 0.03800761699676514, + -0.3325496315956116, + -1.670148253440857 + ], + [ + -0.008052021265029907, + -0.995818555355072, + -0.09099733829498291, + 1.1918036937713623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35928095481918904, + 0.3528754071637235, + 0.3415385445256812 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0455389194409297, + 1.0922252209203305, + 1.1669233032873716 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6340.513319696234, + "intensity": 1.1108997415120907 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.8754132546187401, + 0.8809139591662963, + 0.8897150864423864 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5624.575152166473, + "intensity": 0.8831142409853189 + }, + "point_color_scale": [ + 1.2054711456190281, + 1.1654475605388275, + 1.09683570040134 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b94fe4fc71b653f7cc11bbea1f431a11da69f2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.216736633416462, + "K": [ + [ + 331.21521592698997, + 0.0, + 345.9331765667967 + ], + [ + 0.0, + 344.58356240908614, + 239.12892264362915 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0116859992354765, + -2.2806206186002163, + 1.4339019668347457 + ], + "camera_target": [ + -1.6570130046695686, + -2.29732247148586, + 0.8889394258552032 + ], + "camera_roll_rad": 0.03724346984082866, + "camera_pose_world_cv": [ + [ + -0.040064096450805664, + -0.37121134996414185, + 0.9276836514472961, + -3.011686086654663 + ], + [ + -0.9968089461326599, + 0.07900035381317139, + -0.011437535285949707, + -2.280620574951172 + ], + [ + -0.06904160976409912, + -0.9251816272735596, + -0.3731918931007385, + 1.4339020252227783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38242439933480943, + 0.36351055912344316, + 0.37291907402424535 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0997315425640972, + 1.0581821193520011, + 0.9869545367026938 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4939.07274760255, + "intensity": 1.0581821193520011 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.8213463312652157, + 0.808874467838808, + 0.7874941305363947 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5279.731609039221, + "intensity": 0.808874467838808 + }, + "point_color_scale": [ + 0.854377404919698, + 0.8787380141891822, + 0.9177149890203566 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef6f9ec0e38f5597168dd8904f0afede108d7868 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9991984135827193, + "K": [ + [ + 459.62361183559517, + 0.0, + 308.52537891493716 + ], + [ + 0.0, + 439.7358545147708, + 244.5513683883242 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9123806305248863, + -1.232027348615645, + 1.5579734807170715 + ], + "camera_target": [ + -1.573040280468595, + -2.3275155041252256, + 0.9918448190674466 + ], + "camera_roll_rad": -0.05101959901517301, + "camera_pose_world_cv": [ + [ + -0.6053098440170288, + -0.30394190549850464, + 0.7356760501861572, + -2.9123806953430176 + ], + [ + -0.7900806069374084, + 0.11700749397277832, + -0.6017323732376099, + -1.232027292251587 + ], + [ + 0.09681206941604614, + -0.9454779624938965, + -0.3109644651412964, + 1.5579735040664673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23624570183074467, + 0.24856247499116507, + 0.24838449819196368 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9515976066755443, + 0.9593570823695964, + 0.9717722434800797 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5661.242413371256, + "intensity": 0.9624608726472172 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7986562887608455, + 0.8298051473476584, + 0.8796433210865594 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6239.645361552048, + "intensity": 0.8422646907823836 + }, + "point_color_scale": [ + 0.9615678830823258, + 0.9908904987913224, + 1.0378066839257172 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a472fefa70ab3a061ff856b0adb7d90a1bba83cb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0660447986773245, + "K": [ + [ + 421.4284014920873, + 0.0, + 289.964585518284 + ], + [ + 0.0, + 406.79054595474344, + 237.78882550379316 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.7091935529872733, + -1.906653851821111, + 0.8662987724909681 + ], + "camera_target": [ + -1.640375195061061, + -2.331114412911448, + 0.9895091462168301 + ], + "camera_roll_rad": -0.0481245270881135, + "camera_pose_world_cv": [ + [ + -0.37689709663391113, + 0.06307849287986755, + 0.9241048097610474, + -2.709193468093872 + ], + [ + -0.9213132858276367, + -0.12845158576965332, + -0.3669905364513397, + -1.906653881072998 + ], + [ + 0.09555360674858093, + -0.9897077083587646, + 0.10652816295623779, + 0.8662987947463989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25040605578148956, + 0.23574249165412367, + 0.2544789359569043 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.1436001293399245, + 1.1317205374206298, + 1.1113555227018392 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5350.043848831519, + "intensity": 1.1317205374206298 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.5985407105275619, + 0.5948355352758126, + 0.5884838062728136 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5411.015613752047, + "intensity": 0.5948355352758126 + }, + "point_color_scale": [ + 1.0174627367633662, + 0.9757968369161067, + 0.9043695800350905 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9ddae331739303e18dda092df1555c5b2b9211 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8346459386763438, + "K": [ + [ + 521.1041472044346, + 0.0, + 339.92129985493835 + ], + [ + 0.0, + 541.3141446715861, + 242.2275567867744 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.7959861208458623, + -2.392669680806135, + 1.316773942425073 + ], + "camera_target": [ + -1.6204963826557828, + -2.23783306297191, + 0.9937646762117835 + ], + "camera_roll_rad": -0.0370119257344643, + "camera_pose_world_cv": [ + [ + 0.14950835704803467, + -0.25023072957992554, + 0.9565730094909668, + -2.7959861755371094 + ], + [ + -0.9861823916435242, + -0.10755562782287598, + 0.12600067257881165, + -2.392669677734375 + ], + [ + 0.0713556706905365, + -0.9621936082839966, + -0.2628535032272339, + 1.3167738914489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.315707051917509, + 0.3139858880134411, + 0.33607718400360215 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9522152624560866, + 0.9752725844171716, + 1.0121642995549078 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5968.408878494572, + "intensity": 0.9844955132016057 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7573406653570985, + 0.7818484096068079, + 0.8210608004063432 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6119.154868613545, + "intensity": 0.7916515073066918 + }, + "point_color_scale": [ + 1.1882661412077844, + 1.1884118835614006, + 1.1886450713271863 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f82caa50121c1a6083bea7bb7bd67cbf2aca35a9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.106603915489592, + "K": [ + [ + 388.0754430755662, + 0.0, + 312.61717640649346 + ], + [ + 0.0, + 388.5647951955823, + 248.24144371919687 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3870244004553216, + -2.883273098656686, + 1.6696022285830034 + ], + "camera_target": [ + -1.6470824551859253, + -2.2971113065353066, + 1.0187995080167653 + ], + "camera_roll_rad": 0.0010347273762606676, + "camera_pose_world_cv": [ + [ + 0.6200248003005981, + -0.44620177149772644, + 0.6453474164009094, + -2.387024402618408 + ], + [ + -0.7845803499221802, + -0.3508288264274597, + 0.5112267136573792, + -2.883273124694824 + ], + [ + -0.001703798770904541, + -0.8233001828193665, + -0.5676037073135376, + 1.6696022748947144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24128530098674575, + 0.25650761734689226, + 0.23342075377724836 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.1590570303029728, + 1.182457956787203, + 1.219899439161971 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5892.692844985112, + "intensity": 1.1918183273808949 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.53505202096398, + 0.5541059908396956, + 0.5845923426408405 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6178.406067110316, + "intensity": 0.5617275787899818 + }, + "point_color_scale": [ + 1.16425008316695, + 1.1498888634288185, + 1.1252696295920215 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce99f3c8e4e4383d700587c0d6fbb34c752bb431 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0189438256891947, + "K": [ + [ + 430.69026306953134, + 0.0, + 336.8483121208895 + ], + [ + 0.0, + 429.595089147642, + 218.7853605952689 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3570262759692984, + -2.8786935288757465, + 1.3379302412207805 + ], + "camera_target": [ + -1.569172645849541, + -2.28705403104502, + 0.9787392022598291 + ], + "camera_roll_rad": -0.026411433853753444, + "camera_pose_world_cv": [ + [ + 0.32311946153640747, + -0.16103464365005493, + 0.9325565099716187, + -3.3570263385772705 + ], + [ + -0.9449359774589539, + -0.10890412330627441, + 0.3086031377315521, + -2.8786935806274414 + ], + [ + 0.05186343193054199, + -0.9809218645095825, + -0.18735647201538086, + 1.3379302024841309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24169433700425402, + 0.26063080117622467, + 0.2650272966713251 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0676288367066058, + 1.0934643156366197, + 1.1348010819246421 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5968.119475815362, + "intensity": 1.1037985072086254 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7241010740820693, + 0.6912688915535952, + 0.6349851500762113 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 4821.492425437989, + "intensity": 0.6912688915535952 + }, + "point_color_scale": [ + 0.7998907699935606, + 0.8208927474532132, + 0.8544959113886578 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..741f6a5edf855eb9305eee9d4e7ce9265900f715 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9487974239763315, + "K": [ + [ + 468.7611375106362, + 0.0, + 306.4633748563733 + ], + [ + 0.0, + 467.3697676421658, + 242.34755365290187 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.563507204470642, + -2.8570960377782435, + 0.8829700211028655 + ], + "camera_target": [ + -1.587013163954111, + -2.2555414938308957, + 1.0225718530412942 + ], + "camera_roll_rad": -0.044250250040705666, + "camera_pose_world_cv": [ + [ + 0.513353705406189, + 0.14882934093475342, + 0.8451732397079468, + -2.563507318496704 + ], + [ + -0.8536803722381592, + -0.012125849723815918, + 0.520656168460846, + -2.857095956802368 + ], + [ + 0.08773738145828247, + -0.9887885451316833, + 0.12082779407501221, + 0.8829700350761414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25463635545632607, + 0.2561239058784157, + 0.24267158228831304 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9968740912709433, + 0.942521119978023, + 0.8493445977615881 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4676.176531207709, + "intensity": 0.942521119978023 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7814355432136075, + 0.7822595427193855, + 0.7835779419286303 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5521.058291279708, + "intensity": 0.7825891425216968 + }, + "point_color_scale": [ + 0.9549615170318253, + 0.981533778576958, + 1.0240493970491704 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e327979ead10437fe7a72e072ab2bb1caf0ee89 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2251508191347522, + "K": [ + [ + 340.85461359930827, + 0.0, + 323.61230351987507 + ], + [ + 0.0, + 341.510980428065, + 242.62335961788483 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.580585976710487, + -2.3213848859367228, + 1.2830585349104924 + ], + "camera_target": [ + -1.5703578639762883, + -2.3314517161584605, + 0.938956698210498 + ], + "camera_roll_rad": 0.005873976985486355, + "camera_pose_world_cv": [ + [ + -0.01375114917755127, + -0.3222573399543762, + 0.9465522766113281, + -2.5805859565734863 + ], + [ + -0.9998436570167542, + 0.014959573745727539, + -0.00943225622177124, + -2.321384906768799 + ], + [ + -0.011120349168777466, + -0.9465339779853821, + -0.3224126100540161, + 1.283058524131775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33280390345002764, + 0.35464999564567407, + 0.32273718557673453 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9531844198013496, + 0.9036139357063575, + 0.8186359629720854 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4716.3137986223755, + "intensity": 0.9036139357063575 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.9201942685713714, + 0.9279766739616008, + 0.9404285225859678 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5667.167694459133, + "intensity": 0.9310896361176926 + }, + "point_color_scale": [ + 1.2222657079842116, + 1.1764418032820916, + 1.097886538078457 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..715ca5a04e9144b85467bb42505b4ce5f10792e8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7950132663840933, + "K": [ + [ + 596.2718553853986, + 0.0, + 290.72863803929255 + ], + [ + 0.0, + 571.6228669443866, + 236.3425804922833 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.817644350191742, + -3.0216998761578573, + 1.0100375120670964 + ], + "camera_target": [ + -1.6367102756650727, + -2.2460871739242765, + 0.9671895074033947 + ], + "camera_roll_rad": 0.023870327793226453, + "camera_pose_world_cv": [ + [ + 0.547130823135376, + -0.051506221294403076, + 0.8354610204696655, + -2.8176443576812744 + ], + [ + -0.8356869220733643, + 0.023266911506652832, + 0.5487133264541626, + -3.021699905395508 + ], + [ + -0.047700583934783936, + -0.9984017610549927, + -0.030312955379486084, + 1.0100375413894653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30078726092738084, + 0.30070385980137737, + 0.3165338733122925 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.8812777767411143, + 0.8887669552049374, + 0.9007496407470545 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5667.963497022903, + "intensity": 0.8917626265904668 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7381182766265971, + 0.7478554602159694, + 0.763434953958965 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5759.05365527602, + "intensity": 0.7517503336517183 + }, + "point_color_scale": [ + 0.8401336027006014, + 0.8281737712398863, + 0.8076712030215176 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcaea372ce67c7f9e92633f7ad550c90eb035773 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1693257306704479, + "K": [ + [ + 366.8356498412244, + 0.0, + 311.1335177205835 + ], + [ + 0.0, + 362.61812129930223, + 249.60629546248327 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4710531816942494, + -2.584870155322855, + 0.9649379637100314 + ], + "camera_target": [ + -1.5694955769397694, + -2.298640051821033, + 0.8816842390037096 + ], + "camera_roll_rad": 0.024635101605813073, + "camera_pose_world_cv": [ + [ + 0.29811668395996094, + -0.09836730360984802, + 0.9494473934173584, + -2.471053123474121 + ], + [ + -0.9532678127288818, + 0.020442843437194824, + 0.3014342784881592, + -2.5848701000213623 + ], + [ + -0.04906061291694641, + -0.9949402809143066, + -0.0876760482788086, + 0.9649379849433899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35062857829713556, + 0.3469093400148469, + 0.3226238506052127 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0140482460797298, + 1.0412446006746858, + 1.0847587680266155 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6016.980446414402, + "intensity": 1.0521231425126683 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6335737086296032, + 0.612703568605329, + 0.5769261857065734 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5013.394612392604, + "intensity": 0.612703568605329 + }, + "point_color_scale": [ + 0.8998596155730622, + 0.8761125999982713, + 0.8354034304414868 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..226f12741b087e522c817728d8c500b7a96663f5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8728770651060508, + "K": [ + [ + 529.313836592502, + 0.0, + 291.9357543770949 + ], + [ + 0.0, + 514.5389621345048, + 248.25885019687794 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2375574141368375, + -1.6644159584203657, + 1.3083452133103193 + ], + "camera_target": [ + -1.5877714741047968, + -2.241479599889306, + 0.9718177869220157 + ], + "camera_roll_rad": 0.03302919801780699, + "camera_pose_world_cv": [ + [ + -0.6804020404815674, + -0.22558480501174927, + 0.6972551345825195, + -2.2375574111938477 + ], + [ + -0.730249285697937, + 0.28862154483795166, + -0.6192201375961304, + -1.664415955543518 + ], + [ + -0.06155619025230408, + -0.9304885864257812, + -0.3611118197441101, + 1.3083451986312866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26817785327813615, + 0.27969720318055524, + 0.2725472199233031 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.2135925951956452, + 1.155034598641045, + 1.054649461690302 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4775.742208149354, + "intensity": 1.155034598641045 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.8918165960488051, + 0.9272200281261191, + 0.983865519449822 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6252.159157623502, + "intensity": 0.9413814009570449 + }, + "point_color_scale": [ + 0.9519754069800608, + 0.9297597782146545, + 0.8916758431882434 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..702d664baeb6b0e76d5dbcce4144c5ae62475977 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0096050741234972, + "K": [ + [ + 419.0875360011675, + 0.0, + 335.6662442219895 + ], + [ + 0.0, + 434.3460762038027, + 223.196694148191 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4715136775766715, + -1.4728980594577528, + 1.314326048356801 + ], + "camera_target": [ + -1.5685409834919393, + -2.3194270779020383, + 0.9508272390971603 + ], + "camera_roll_rad": 0.031330870683825895, + "camera_pose_world_cv": [ + [ + -0.6954686641693115, + -0.16233906149864197, + 0.6999783515930176, + -2.4715137481689453 + ], + [ + -0.7160402536392212, + 0.23802733421325684, + -0.656223714351654, + -1.472898006439209 + ], + [ + -0.060083240270614624, + -0.9575955271720886, + -0.28178173303604126, + 1.3143260478973389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3543292336790137, + 0.36928411009536577, + 0.3639820256544725 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9152910576582098, + 0.9457274075420712, + 0.9944255673562494 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6135.479444705914, + "intensity": 0.9579019474956157 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.801989300000535, + 0.7915994141112145, + 0.7737881811580934 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5312.497408878633, + "intensity": 0.7915994141112145 + }, + "point_color_scale": [ + 1.1181867296892418, + 1.1574194558398583, + 1.2201918176808448 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..565fd0fcd8c0eb46c33cbba82b254fef83fb064f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.993314644523463, + "K": [ + [ + 459.98249141545546, + 0.0, + 346.12005156705567 + ], + [ + 0.0, + 442.8288594218041, + 254.95838618689373 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5663167940825673, + -1.8129694753455794, + 1.4855817621588723 + ], + "camera_target": [ + -1.57548014528107, + -2.327554985164547, + 0.8853197166316843 + ], + "camera_roll_rad": -0.04118478436995939, + "camera_pose_world_cv": [ + [ + -0.48704397678375244, + 0.37833505868911743, + -0.7871790528297424, + -0.5663167834281921 + ], + [ + 0.8703464865684509, + 0.28527355194091797, + -0.4013928174972534, + -1.812969446182251 + ], + [ + 0.07270032167434692, + -0.8806143999099731, + -0.4682232141494751, + 1.4855817556381226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2662043166748586, + 0.24772876333393004, + 0.2603933013011649 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.8166242378012775, + 0.8564135224771227, + 0.9200763779584753 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6412.253837609465, + "intensity": 0.8723292363474608 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.8889954842703125, + 0.8632870400006057, + 0.8192154212525371 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5074.575462679272, + "intensity": 0.8632870400006057 + }, + "point_color_scale": [ + 0.8613272005002179, + 0.8421343349910457, + 0.809232279832465 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..274d95856b13ee2f26194c2ffbb79f568cef0371 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2775031638285153, + "K": [ + [ + 316.2510278620428, + 0.0, + 340.29779071682316 + ], + [ + 0.0, + 323.1865547165304, + 229.12088727394718 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.5425385977201467, + -3.653774485637743, + 1.480593066314478 + ], + "camera_target": [ + -1.5822302673064794, + -2.313963636139189, + 0.9864990484991023 + ], + "camera_roll_rad": 0.047508997689848786, + "camera_pose_world_cv": [ + [ + 0.7932498455047607, + -0.24362289905548096, + 0.5580345988273621, + -2.542538642883301 + ], + [ + -0.60207599401474, + -0.17704170942306519, + 0.778563380241394, + -3.6537744998931885 + ], + [ + -0.0908803939819336, + -0.953574538230896, + -0.28711777925491333, + 1.4805930852890015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8846702575683594, + 0.46621742844581604, + 0.0, + -1.6130887269973755 + ], + [ + -0.46621742844581604, + -0.8846702575683594, + -0.0, + -2.2849442958831787 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3603422981680586, + 0.380642878632178, + 0.36251812298401326 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0493197947825914, + 1.1013411445483277, + 1.1845753041735059 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6427.173094399066, + "intensity": 1.1221496844546222 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.8569631828720826, + 0.8443381722848267, + 0.8226952969923877 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5286.392111568756, + "intensity": 0.8443381722848267 + }, + "point_color_scale": [ + 1.2384710994391903, + 1.1858034247869906, + 1.0955159825260767 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4be07dac619a19fd72f4cc1b9a5e024b72016be --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9075843525250605, + "K": [ + [ + 502.8973607261235, + 0.0, + 347.9117916223862 + ], + [ + 0.0, + 492.06471589395204, + 243.2340504077178 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.737413407888432, + -4.447160890810332, + 0.9840458641681418 + ], + "camera_target": [ + -0.3120889956530105, + -2.9772028892177866, + 0.9291754321312427 + ], + "camera_roll_rad": -0.01965277046667592, + "camera_pose_world_cv": [ + [ + 0.9602468609809875, + 0.027794934809207916, + 0.27776509523391724, + -0.7374134063720703 + ], + [ + -0.27637630701065063, + -0.04531747102737427, + 0.9599804282188416, + -4.447160720825195 + ], + [ + 0.03927018493413925, + -0.9985858798027039, + -0.03583407402038574, + 0.9840458631515503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3339036049095705, + 0.36874207254183927, + 0.3335389823275278 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.8721637112596236, + 0.8600476197908918, + 0.8392771772730662 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5298.747165855811, + "intensity": 0.8600476197908918 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.5672961056715881, + 0.5698131506800914, + 0.5738404226936968 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5588.1905030165135, + "intensity": 0.5708199686834928 + }, + "point_color_scale": [ + 0.9845426468491425, + 1.0017823936205976, + 1.0293659884549258 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f55481c833ed36d190bdd0a0e73b320cc46a333 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9395014439123042, + "K": [ + [ + 452.4386552944654, + 0.0, + 327.68139342744274 + ], + [ + 0.0, + 472.76449285215955, + 223.51893730580844 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.148947016907808, + -3.5156792864132482, + 0.8070223572269952 + ], + "camera_target": [ + -0.24988762054113683, + -2.878172188838606, + 1.019838043596438 + ], + "camera_roll_rad": 0.018490701182753908, + "camera_pose_world_cv": [ + [ + 0.5837466716766357, + 0.13316386938095093, + 0.8009414672851562, + -1.14894700050354 + ], + [ + -0.8111238479614258, + 0.13974881172180176, + 0.5679333806037903, + -3.515679359436035 + ], + [ + -0.036302417516708374, + -0.9811919331550598, + 0.1895902156829834, + 0.8070223331451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3560278987212646, + 0.3779658585802008, + 0.3634786508176996 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9139867231454392, + 0.9309556704821113, + 0.9581059862207866 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5861.910306413312, + "intensity": 0.9377432494167801 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.5729658844916813, + 0.5671511727624676, + 0.5571830955123872 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5353.535857093031, + "intensity": 0.5671511727624676 + }, + "point_color_scale": [ + 0.9114391292665611, + 0.9395069914547096, + 0.9844155709557477 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42861fe5edcd8eb3c6ee048c6b4a4b653d1a24b0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8716196922802756, + "K": [ + [ + 526.5600144999895, + 0.0, + 318.98101368427484 + ], + [ + 0.0, + 515.3845072509317, + 227.1147155070452 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5009578505310385, + -4.412573608255031, + 1.439614681821456 + ], + "camera_target": [ + -0.2538503020899694, + -2.965802814428256, + 0.8965093898392875 + ], + "camera_roll_rad": 0.013827851158651927, + "camera_pose_world_cv": [ + [ + 0.9837327599525452, + -0.08566255867481232, + 0.15789806842803955, + -0.5009578466415405 + ], + [ + -0.17775635421276093, + -0.3372955322265625, + 0.9244644641876221, + -4.41257381439209 + ], + [ + -0.02593366801738739, + -0.9374933242797852, + -0.3470357060432434, + 1.4396146535873413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3082952022384817, + 0.31865214958099913, + 0.3215607794450724 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.036473003659656, + 1.041889450628973, + 1.0505557657798803 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5603.75778342745, + "intensity": 1.0440560294166998 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.5828711827735852, + 0.5990716059934564, + 0.6249922831452505 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6035.0631896783, + "intensity": 0.6055517752814049 + }, + "point_color_scale": [ + 0.8271603528743057, + 0.8592911232056146, + 0.9107003557357091 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3eebd1b3ff5f55b64856ca25f1d40250788f5840 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1041539472544555, + "K": [ + [ + 394.52800952034465, + 0.0, + 334.10436195674043 + ], + [ + 0.0, + 389.6315379231956, + 255.93639976900846 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2084597489928557, + -3.8331411117622283, + 1.496790420437455 + ], + "camera_target": [ + -0.2525707416470898, + -2.973569610616307, + 0.8995921616333641 + ], + "camera_roll_rad": 0.027530022796021625, + "camera_pose_world_cv": [ + [ + 0.6503978967666626, + -0.34959983825683594, + 0.6743608713150024, + -1.208459734916687 + ], + [ + -0.7579523324966431, + -0.2403630018234253, + 0.6064107418060303, + -3.8331410884857178 + ], + [ + -0.049909621477127075, + -0.9055416584014893, + -0.42131155729293823, + 1.4967904090881348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31453063723900015, + 0.29405451571516394, + 0.31600549427840063 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0839240220814306, + 1.0844646869436885, + 1.0853297507233013 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5509.969104017511, + "intensity": 1.0846809528885917 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7916931432132339, + 0.7574754407733117, + 0.6988165223048738 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 4854.666442952564, + "intensity": 0.7574754407733117 + }, + "point_color_scale": [ + 1.0037881724035767, + 0.9610111204900498, + 0.8876790314954325 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f2f995f7efacae764e82e23b8de157834cc3a4a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0586415682630663, + "K": [ + [ + 422.8143356322552, + 0.0, + 339.60082373038904 + ], + [ + 0.0, + 410.25291392811266, + 258.7760918099736 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7815062343926161, + -3.7571760461686337, + 1.519195100956773 + ], + "camera_target": [ + -0.23821156450554976, + -2.9416638383256184, + 1.0145351653618047 + ], + "camera_roll_rad": -0.0031137530831787177, + "camera_pose_world_cv": [ + [ + 0.8337940573692322, + -0.24866074323654175, + 0.492904931306839, + -0.7815062403678894 + ], + [ + -0.5520477890968323, + -0.38448452949523926, + 0.7398748397827148, + -3.757176160812378 + ], + [ + 0.005536437034606934, + -0.8890103101730347, + -0.4578535556793213, + 1.5191950798034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2642133209842916, + 0.24572680504324895, + 0.2573260735418794 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0356764282107447, + 1.0014790473407147, + 0.9428549658492346 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5012.187485373524, + "intensity": 1.0014790473407147 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.9139177063830284, + 0.8948481829644397, + 0.8621575713897162 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5195.566501325151, + "intensity": 0.8948481829644397 + }, + "point_color_scale": [ + 1.0857250458655507, + 1.0841761589946732, + 1.0815209243588833 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97e464252ff5d83480f392864e9da80f198e3bc7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.134127162163424, + "K": [ + [ + 360.2538597548411, + 0.0, + 317.0396541238472 + ], + [ + 0.0, + 376.8645944992946, + 227.39555818203738 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7353108202129104, + -3.656605729772685, + 1.2000272753108348 + ], + "camera_target": [ + -0.2542947162902927, + -2.952684690789182, + 0.8874354744156762 + ], + "camera_roll_rad": -0.04409138578297391, + "camera_pose_world_cv": [ + [ + 0.8395390510559082, + -0.12074808776378632, + 0.5297113060951233, + -0.7353107929229736 + ], + [ + -0.5369703769683838, + -0.3327997922897339, + 0.7751818895339966, + -3.6566057205200195 + ], + [ + 0.08268605172634125, + -0.935234785079956, + -0.3442366123199463, + 1.2000272274017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26063517795618263, + 0.26619470155592523, + 0.27028546535852166 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.8461664220470493, + 0.8665921485684354, + 0.899273311002653 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5967.000538811504, + "intensity": 0.8747624391769897 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.8550445685430035, + 0.8626680888135522, + 0.8748657212464301 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5676.120277057021, + "intensity": 0.8657174969217716 + }, + "point_color_scale": [ + 0.8396995476911512, + 0.8727847223770681, + 0.925721001874535 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2bdfab0bc2e964d6f065bca0ab2af68ff9e0d2fa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2497830349041474, + "K": [ + [ + 333.80198253347413, + 0.0, + 319.58014250216206 + ], + [ + 0.0, + 332.72357031579014, + 244.67338179647584 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.706387044770902, + -3.0351474772023215, + 1.3766745281404194 + ], + "camera_target": [ + -0.24271238613123514, + -2.911542603948933, + 1.0189627688336595 + ], + "camera_roll_rad": 0.038734249198205756, + "camera_pose_world_cv": [ + [ + 0.06564974784851074, + -0.2415771186351776, + 0.9681583046913147, + -1.7063870429992676 + ], + [ + -0.9950054883956909, + 0.0572657585144043, + 0.0817592442035675, + -3.0351474285125732 + ], + [ + -0.07519346475601196, + -0.9686903953552246, + -0.23661112785339355, + 1.3766745328903198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34585451936592554, + 0.3454878705316608, + 0.3311031456710623 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.070205461225907, + 1.050125131870338, + 1.015701710117934 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5226.830794511334, + "intensity": 1.050125131870338 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6776204097612711, + 0.6864331889388894, + 0.7005336356230787 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5755.458313055374, + "intensity": 0.6899583006099368 + }, + "point_color_scale": [ + 0.9432048120660831, + 0.9279025348629455, + 0.9016700596575667 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51aaa6e924ee0a0e431b57835a4393f1a86f5aac --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0842507437015092, + "K": [ + [ + 400.3793705519463, + 0.0, + 301.8544834700235 + ], + [ + 0.0, + 398.4577264722739, + 239.00959676773564 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1141710942547696, + -4.427952065236121, + 0.9169509042174339 + ], + "camera_target": [ + -0.24125849309296787, + -2.9459369412033527, + 0.9503754069116033 + ], + "camera_roll_rad": -0.044200576972847135, + "camera_pose_world_cv": [ + [ + 0.8574095964431763, + 0.08589336276054382, + 0.5074160695075989, + -1.1141711473464966 + ], + [ + -0.5070081949234009, + -0.028130412101745605, + 0.8614820241928101, + -4.427952289581299 + ], + [ + 0.08826939761638641, + -0.9959070682525635, + 0.019429326057434082, + 0.9169508814811707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24661391355760584, + 0.2577952965919254, + 0.23538666690416568 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.2612140908930525, + 1.1848191368100727, + 1.0538563583821077 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4578.883474284519, + "intensity": 1.1848191368100727 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.645029901480863, + 0.6523308963721741, + 0.6640124881982717 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5722.8456457698685, + "intensity": 0.6552512943286984 + }, + "point_color_scale": [ + 1.0264745107709263, + 1.0643940682356205, + 1.1250653601791316 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3f8c65030c885b01888bd09f7c3c9b1d88d7668 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.095677147175602, + "K": [ + [ + 384.5372532814551, + 0.0, + 324.2072503926123 + ], + [ + 0.0, + 393.3554127467064, + 233.25104980579755 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4030350429499483, + -4.139854556637476, + 1.010881561687021 + ], + "camera_target": [ + -0.2873117793845916, + -2.9281002615771974, + 0.9256028453863645 + ], + "camera_roll_rad": -0.006564365559238193, + "camera_pose_world_cv": [ + [ + 0.9954721927642822, + 0.006425533443689346, + 0.09483568370342255, + -0.403035044670105 + ], + [ + -0.09414660930633545, + -0.07081162929534912, + 0.9930368661880493, + -4.139854431152344 + ], + [ + 0.013096269220113754, + -0.9974690675735474, + -0.06988608837127686, + 1.0108815431594849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28656056247809286, + 0.27349230753156734, + 0.2786071780264013 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9225358579374481, + 0.9632601755232274, + 1.0284190836604745 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6331.490411656433, + "intensity": 0.9795499025575392 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7637845444299312, + 0.7718040081076132, + 0.7846351499919045 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5706.950752082146, + "intensity": 0.775011793578686 + }, + "point_color_scale": [ + 1.2173060562035154, + 1.162519412986259, + 1.0685994531852485 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac8aada4f53def086a18fb013e1e988131faad6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2013615765758205, + "K": [ + [ + 357.9863872549411, + 0.0, + 296.9915971735603 + ], + [ + 0.0, + 350.2950574987772, + 246.46136597187558 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9116220992766847, + -2.1187694841732965, + 1.2915276690319066 + ], + "camera_target": [ + -0.23845898556388295, + -2.9262106967699526, + 0.9355973874253115 + ], + "camera_roll_rad": 0.020675252828336627, + "camera_pose_world_cv": [ + [ + -0.7759156227111816, + -0.17343159019947052, + 0.6065280437469482, + -0.9116221070289612 + ], + [ + -0.6296202540397644, + 0.27258288860321045, + -0.7275141477584839, + -2.118769407272339 + ], + [ + -0.03915521502494812, + -0.9463720321655273, + -0.3206974267959595, + 1.2915276288986206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3746797716141213, + 0.35220232805010876, + 0.3584657213317798 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0274574987278013, + 1.0273560678514742, + 1.0271821863491988 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5498.589571265207, + "intensity": 1.0273560678514742 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.7313443012917499, + 0.7320213200217033, + 0.7331045499896286 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5518.490400333865, + "intensity": 0.7322921275136846 + }, + "point_color_scale": [ + 0.7975624148045157, + 0.7994719257267248, + 0.8025271432022592 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f01100126d896371617a0ee3c360a80d13f107a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.046922662302981, + "K": [ + [ + 396.8225641421148, + 0.0, + 309.03880594588804 + ], + [ + 0.0, + 415.82417190510233, + 240.9875814278881 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.000113452341914, + -3.8433757760008693, + 1.3846124667454243 + ], + "camera_target": [ + -0.25517830206784264, + -2.9116675129564085, + 0.8923444481148132 + ], + "camera_roll_rad": 0.013246320625118407, + "camera_pose_world_cv": [ + [ + 0.7744609117507935, + -0.2588188648223877, + 0.5772547721862793, + -1.0001134872436523 + ], + [ + -0.6321477293968201, + -0.2812918424606323, + 0.7219863533973694, + -3.8433756828308105 + ], + [ + -0.024486511945724487, + -0.9240605235099792, + -0.3814612627029419, + 1.3846124410629272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3081096205544708, + 0.308341533778389, + 0.314449935023422 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.0756503829596706, + 1.044227612073751, + 0.9903600048407465 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5070.116015175817, + "intensity": 1.044227612073751 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.9670273998883802, + 0.9355254187589516, + 0.881522022537074 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5018.956628195118, + "intensity": 0.9355254187589516 + }, + "point_color_scale": [ + 1.019536080798456, + 0.9862312674560265, + 0.9291373017261475 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..30011979e475ff1faac8b06ab39defc7bf90e778 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9804478753923815, + "K": [ + [ + 437.57531410435143, + 0.0, + 303.2703168195279 + ], + [ + 0.0, + 449.71120421037995, + 244.02678997012123 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1191927836797952, + -3.665612859266341, + 0.8846309698145546 + ], + "camera_target": [ + -0.24568425580831316, + -2.8847467811567524, + 0.9727397393769164 + ], + "camera_roll_rad": -0.05123276907611217, + "camera_pose_world_cv": [ + [ + 0.6572515368461609, + 0.12378391623497009, + 0.7434366345405579, + -1.1191928386688232 + ], + [ + -0.7467374801635742, + -0.026542723178863525, + 0.6645892262458801, + -3.6656129360198975 + ], + [ + 0.10199832916259766, + -0.9919542670249939, + 0.07498884201049805, + 0.8846309781074524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26530265699110894, + 0.29306998630347764, + 0.2880246174269501 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.1682209696201398, + 1.1839900652609174, + 1.2092206182861618 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5764.960532044737, + "intensity": 1.1902977035172286 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6400835382292104, + 0.629390059640922, + 0.611058382060999 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5257.282503127162, + "intensity": 0.629390059640922 + }, + "point_color_scale": [ + 1.107052158266071, + 1.0857453728762034, + 1.0492194550650018 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16c659a4b5980f68b4c61bc6420a8761aeede89a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1228562101634214, + "K": [ + [ + 384.1430359978503, + 0.0, + 290.8394881697268 + ], + [ + 0.0, + 381.59396549513264, + 263.22694486858364 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.894039426462725, + -4.719578838665602, + 1.0050090827115539 + ], + "camera_target": [ + -0.21856541489281622, + -2.9008409844047836, + 0.9800650929735024 + ], + "camera_roll_rad": 0.034520740446097015, + "camera_pose_world_cv": [ + [ + 0.9348927140235901, + -0.06913575530052185, + 0.3481319546699524, + -0.8940394520759583 + ], + [ + -0.3481626808643341, + 0.011995673179626465, + 0.9373574256896973, + -4.719578742980957 + ], + [ + -0.06898097693920135, + -0.997535228729248, + -0.012855827808380127, + 1.0050090551376343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26296480252473226, + 0.2469145375263863, + 0.2604302660459914 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.91440322067088, + 0.8981063622149036, + 0.8701688905760867 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5240.7742852609945, + "intensity": 0.8981063622149036 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.79884470219123, + 0.8280468407133963, + 0.8747702623488623 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 6195.514478253306, + "intensity": 0.8397276961222628 + }, + "point_color_scale": [ + 1.0953431884793439, + 1.063910287252663, + 1.01002531372121 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2786e09cdfb60b826310db74cd03b8ba94f260f2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1571067631185927, + "K": [ + [ + 371.57600946951516, + 0.0, + 337.3541872873623 + ], + [ + 0.0, + 367.47658757846756, + 221.5640515702589 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3447639290647688, + -4.38761428931044, + 1.0105138517423298 + ], + "camera_target": [ + -0.23974546893679036, + -2.9185985832846546, + 1.0102722679057246 + ], + "camera_roll_rad": -0.014848445045571472, + "camera_pose_world_cv": [ + [ + 0.9970149397850037, + 0.029605232179164886, + 0.07130708545446396, + -0.34476393461227417 + ], + [ + -0.07127078622579575, + -0.002280890941619873, + 0.9974544644355774, + -4.3876142501831055 + ], + [ + 0.0296925138682127, + -0.9995591044425964, + -0.0001640915870666504, + 1.0105139017105103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26752604447456935, + 0.2816966966940808, + 0.2803491559805013 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.130765701599929, + 1.1652631422503605, + 1.2204590472910508 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 6085.167483694767, + "intensity": 1.179062118510533 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.9692356218137629, + 0.9491842141967681, + 0.9148103725676344 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5198.215924834798, + "intensity": 0.9491842141967681 + }, + "point_color_scale": [ + 0.9869998644398806, + 1.0017534407895368, + 1.0253591629489864 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..819c1986e6a0af649d826596503d670935a7d805 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1050954955582588, + "K": [ + [ + 401.74140171957237, + 0.0, + 311.540858005856 + ], + [ + 0.0, + 389.2210761740642, + 242.0502100651543 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1245695588837392, + -2.5063105386086684, + 1.4789234192169012 + ], + "camera_target": [ + -0.23788744968302244, + -2.9243020477780712, + 1.0268592556199867 + ], + "camera_roll_rad": 0.04357867316974601, + "camera_pose_world_cv": [ + [ + -0.45776116847991943, + -0.34024301171302795, + 0.8213949203491211, + -1.1245695352554321 + ], + [ + -0.8855544328689575, + 0.25662875175476074, + -0.387214720249176, + -2.50631046295166 + ], + [ + -0.07904639840126038, + -0.9046416878700256, + -0.4187782406806946, + 1.4789234399795532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37490730532874433, + 0.3935756549228969, + 0.3942557640440949 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 0.9233263367203274, + 0.9033487455637345, + 0.8691014464381468 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 5184.070896448971, + "intensity": 0.9033487455637345 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6186596811801311, + 0.6262192066898533, + 0.6383144475054088 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5740.273640128413, + "intensity": 0.6292430168937422 + }, + "point_color_scale": [ + 1.048494743453492, + 1.083182614230168, + 1.1386832074728497 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8206a2d1752fcb18b40738977f9418d9200e78f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000115/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 115, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1460850587447575, + "K": [ + [ + 385.9455277297171, + 0.0, + 315.11628744640234 + ], + [ + 0.0, + 371.93763018183887, + 217.60983839204638 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3187824543933917, + -4.05921876487203, + 1.608447527700506 + ], + "camera_target": [ + -0.29363506362685027, + -2.96700244763672, + 0.8957150362011508 + ], + "camera_roll_rad": 0.006411429941369652, + "camera_pose_world_cv": [ + [ + 0.7253090143203735, + -0.3033623695373535, + 0.617979109287262, + -1.3187824487686157 + ], + [ + -0.6883261203765869, + -0.30447304248809814, + 0.6584097146987915, + -4.059218883514404 + ], + [ + -0.011578738689422607, + -0.9029216766357422, + -0.4296492338180542, + 1.608447551727295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9662507772445679, + 0.2576031982898712, + 0.0, + -0.26812446117401123 + ], + [ + -0.2576031982898712, + -0.9662507772445679, + -0.0, + -2.92745041847229 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7802747488021851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3399181166504781, + 0.353544912151238, + 0.3516965751702681 + ], + "directional_primary": { + "direction": [ + -0.715759361508035, + 0.020622317015773918, + -0.6980424445938161 + ], + "color": [ + 1.1428889318119109, + 1.0952947679398908, + 1.0137047727307134 + ], + "azimuth_rad": 3.1127888200211205, + "elevation_rad": 0.7726600409480437, + "color_temp_k": 4879.238679262587, + "intensity": 1.0952947679398908 + }, + "directional_fill": { + "direction": [ + -0.19633708864920196, + -0.06249637262189289, + -0.9785427681148438 + ], + "color": [ + 0.6285910743733304, + 0.625451318583159, + 0.6200688800857226 + ], + "azimuth_rad": -2.8334220272786963, + "elevation_rad": 1.3632660471117557, + "color_temp_k": 5428.285938789111, + "intensity": 0.625451318583159 + }, + "point_color_scale": [ + 1.1806079815521098, + 1.1274330147788705, + 1.036275928881889 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc1265867dc09120d09bc5dba7529f8bf1f9dd1c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0064104827143545, + "K": [ + [ + 452.1332287555576, + 0.0, + 305.1530654134915 + ], + [ + 0.0, + 435.98976438685094, + 238.1353697378178 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9028377638184772, + -2.6775818446216357, + 0.8516995687523469 + ], + "camera_target": [ + -4.684542405372941, + -2.2784446402563185, + 0.8022378734632559 + ], + "camera_roll_rad": -0.04930793564587547, + "camera_pose_world_cv": [ + [ + 0.44760608673095703, + 0.09463918209075928, + -0.8892087340354919, + -3.9028377532958984 + ], + [ + 0.888811469078064, + 0.062225341796875, + 0.45402881503105164, + -2.677581787109375 + ], + [ + 0.09830021858215332, + -0.9935649633407593, + -0.05626404285430908, + 0.8516995906829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2849498153956262, + 0.298480116995538, + 0.2942109750199092 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.103332738330435, + 1.1548903757964977, + 1.237382595742198 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6377.193507380413, + "intensity": 1.1755134307829227 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.680751097634371, + 0.6809149720062558, + 0.6811771710012712 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5504.812894543954, + "intensity": 0.6809805217550097 + }, + "point_color_scale": [ + 1.053692457975634, + 1.013578648177633, + 0.9448121170953457 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d47d4f0c1f33807d65bf6d87db8638ea2ce2bcf7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3009810156870671, + "K": [ + [ + 301.7269873182511, + 0.0, + 331.8215559502488 + ], + [ + 0.0, + 315.38334894450975, + 252.36172638258097 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.540605945273783, + -2.1002538418501513, + 0.9392539406975149 + ], + "camera_target": [ + -4.731905796927363, + -2.340955222359533, + 0.8687746434889534 + ], + "camera_roll_rad": 0.049693570140704926, + "camera_pose_world_cv": [ + [ + -0.19143962860107422, + 0.07611677050590515, + -0.9785486459732056, + -3.5406060218811035 + ], + [ + 0.9764931201934814, + -0.08584922552108765, + -0.19771519303321838, + -2.1002538204193115 + ], + [ + -0.09905722737312317, + -0.9933964014053345, + -0.057892441749572754, + 0.9392539262771606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22357253928687146, + 0.23633826089844884, + 0.23108371595983776 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.910571593978411, + 0.9208005517388921, + 0.9371668841556617 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5721.192447748871, + "intensity": 0.9248921348430845 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6562700852269462, + 0.6599359564308344, + 0.6658013503570555 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5610.851479550673, + "intensity": 0.6614023049123896 + }, + "point_color_scale": [ + 0.8640797171408524, + 0.854300444728544, + 0.8375359777360154 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..992e322c32bdd7043e80e0927a764559faba0969 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8560712538906453, + "K": [ + [ + 543.7194771520836, + 0.0, + 303.1118661923915 + ], + [ + 0.0, + 526.0324535906258, + 249.9403813465474 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6446558168167575, + -3.7704352844491256, + 1.0398663395824075 + ], + "camera_target": [ + -4.713031208415926, + -2.2882018928930488, + 0.8249792307407694 + ], + "camera_roll_rad": -0.006370960727255209, + "camera_pose_world_cv": [ + [ + 0.8102952241897583, + 0.07862874865531921, + -0.5807229280471802, + -3.644655704498291 + ], + [ + 0.5858851671218872, + -0.08729660511016846, + 0.8056784868240356, + -3.770435333251953 + ], + [ + 0.012654393911361694, + -0.9930744171142578, + -0.11680346727371216, + 1.039866328239441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2699978042199974, + 0.2801674953581252, + 0.2688038799038041 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.1776992722293833, + 1.1111053484198936, + 0.9969443361750545 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 4643.787967486703, + "intensity": 1.1111053484198936 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.5434552066511611, + 0.5582027609079012, + 0.5817988477186853 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 6022.868557106488, + "intensity": 0.5641017826105972 + }, + "point_color_scale": [ + 0.9796805428780411, + 1.0136145137391182, + 1.067908867116842 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc1c495feb2f00632567dcd05957549bd559fde0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8345282893621272, + "K": [ + [ + 553.2782625191651, + 0.0, + 310.36286187536217 + ], + [ + 0.0, + 541.400094243139, + 222.51925200006093 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3694459659397578, + -3.320620243610003, + 1.4195132427468151 + ], + "camera_target": [ + -4.659406782207849, + -2.2581338655154135, + 0.8620536378614516 + ], + "camera_roll_rad": 0.0355170330816848, + "camera_pose_world_cv": [ + [ + 0.6514983177185059, + 0.19850754737854004, + -0.7322189807891846, + -3.369446039199829 + ], + [ + 0.7556566596031189, + -0.25545215606689453, + 0.6030980348587036, + -3.32062029838562 + ], + [ + -0.06732740998268127, + -0.9462234973907471, + -0.3164302110671997, + 1.41951322555542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36972467889514904, + 0.35135919856906367, + 0.3534231535644355 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.0238299840182228, + 1.0528826845534038, + 1.0993670054096933 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6045.844956058509, + "intensity": 1.0645037647674762 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6530444012642636, + 0.6231005904927366, + 0.5717683434558334 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 4813.483678503249, + "intensity": 0.6231005904927366 + }, + "point_color_scale": [ + 0.8915343680039173, + 0.9081180017046118, + 0.934651815625723 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be7a5465dd15a5c55ca93cc37111131a4a3bf893 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8069033172273219, + "K": [ + [ + 581.4984344140162, + 0.0, + 307.89314849059826 + ], + [ + 0.0, + 562.2349089700955, + 220.94687457455285 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2147389945016367, + -2.3656094868421285, + 0.6042517450731875 + ], + "camera_target": [ + -4.702336616049358, + -2.29315788747722, + 0.8643711972562145 + ], + "camera_roll_rad": 0.025888876374310435, + "camera_pose_world_cv": [ + [ + 0.039687156677246094, + -0.17413115501403809, + -0.9839224815368652, + -3.2147390842437744 + ], + [ + 0.997910737991333, + -0.04333508014678955, + 0.04792073369026184, + -2.3656094074249268 + ], + [ + -0.05098286271095276, + -0.9837685823440552, + 0.17204749584197998, + 0.6042517423629761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3560744402866687, + 0.35520696114033107, + 0.3345095435215547 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.7934355492875436, + 0.8346840470677411, + 0.9006816435160572 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6469.203477001913, + "intensity": 0.8511834461798201 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.5531700448598443, + 0.5666339364148386, + 0.5881761629028295 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5970.749396441539, + "intensity": 0.5720194930368363 + }, + "point_color_scale": [ + 1.1252062000199918, + 1.092163387798961, + 1.0355185668486224 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e904a1403ce985d44d1336fb6bf69ec9177ad91 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8598389903856231, + "K": [ + [ + 545.610256080162, + 0.0, + 339.6267044184759 + ], + [ + 0.0, + 523.4190901584328, + 262.6282390395129 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.597900015576423, + -1.8092920944277653, + 0.8989903706668033 + ], + "camera_target": [ + -4.639375259017871, + -2.352624694400308, + 0.8833794940853628 + ], + "camera_roll_rad": -0.03553873009930834, + "camera_pose_world_cv": [ + [ + -0.4622042179107666, + -0.02109655737876892, + -0.8865225911140442, + -3.597899913787842 + ], + [ + 0.8839257955551147, + 0.06909501552581787, + -0.46249452233314514, + -1.8092920780181885 + ], + [ + 0.07101130485534668, + -0.9973870515823364, + -0.01328819990158081, + 0.8989903926849365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3172780204951566, + 0.3333468270009238, + 0.3254620167226802 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.9712110677897147, + 0.9503488347530189, + 0.9145850066901118 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5186.397363130686, + "intensity": 0.9503488347530189 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.7957899446992895, + 0.8043696850465629, + 0.8180972696022006 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5712.421974581492, + "intensity": 0.8078015811854724 + }, + "point_color_scale": [ + 1.2003048714550417, + 1.1870449668459158, + 1.1643137018017 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2549d0edcc42d74e499be2c68c744b4ad8f09a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9614655985953987, + "K": [ + [ + 479.5490667455415, + 0.0, + 340.8094889462085 + ], + [ + 0.0, + 460.17332739512324, + 220.5383729918549 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.900214571318659, + -2.4857700791729087, + 0.601111159121832 + ], + "camera_target": [ + -4.6935574699058416, + -2.343419161553065, + 0.8271840150412946 + ], + "camera_roll_rad": 0.011212054041074615, + "camera_pose_world_cv": [ + [ + 0.1706066131591797, + -0.2697092592716217, + -0.947708010673523, + -3.900214672088623 + ], + [ + 0.9851027727127075, + 0.025614142417907715, + 0.17004898190498352, + -2.4857699871063232 + ], + [ + -0.02158910036087036, + -0.9626011848449707, + 0.2700612545013428, + 0.6011111736297607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2916605718068747, + 0.2639346936416065, + 0.2738383126996487 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.8800646877065107, + 0.91833394975694, + 0.9795647690376272 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6319.7848042194155, + "intensity": 0.9336416545771118 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.7386236258307731, + 0.7094786343512838, + 0.6595157918150165 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 4913.150726496141, + "intensity": 0.7094786343512838 + }, + "point_color_scale": [ + 0.8774029828914217, + 0.8986086598524405, + 0.9325377429900706 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..184a98727dc76cc3c7246ec1ed8cdb47ea3287fc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0521540168279222, + "K": [ + [ + 398.38246453085577, + 0.0, + 341.21095495556426 + ], + [ + 0.0, + 413.3232539607842, + 258.78309148115943 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.202879299282185, + -3.0978423124898224, + 1.2648201257035045 + ], + "camera_target": [ + -4.734311479061692, + -2.255149175029834, + 0.9077967080542075 + ], + "camera_roll_rad": 0.048451551701219536, + "camera_pose_world_cv": [ + [ + 0.8592913150787354, + 0.09727011620998383, + -0.5021522641181946, + -4.202879428863525 + ], + [ + 0.5033118724822998, + -0.33562028408050537, + 0.7962639331817627, + -3.097842216491699 + ], + [ + -0.09107981622219086, + -0.9369618892669678, + -0.33735281229019165, + 1.2648200988769531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3487261886026482, + 0.3790841814019525, + 0.3800109924250191 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.0182203286088478, + 1.0634212329064967, + 1.1357426797827355 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6335.891588551911, + "intensity": 1.0815015946255564 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6691394682917752, + 0.6732710846322797, + 0.6798816707770867 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5622.432095648836, + "intensity": 0.6749237311684815 + }, + "point_color_scale": [ + 1.1121410100709899, + 1.0875810639004895, + 1.0454782990367746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7ac63e040ec61de75498fa4cceee2e59987ec22 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8771403057539587, + "K": [ + [ + 496.0602897031468, + 0.0, + 306.3388379008221 + ], + [ + 0.0, + 511.6889468092223, + 246.93087147698418 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.697336860438996, + -2.3206617573117714, + 1.4735743050212098 + ], + "camera_target": [ + -4.640641733980889, + -2.3206397605861144, + 0.8876652010312971 + ], + "camera_roll_rad": -0.04707063033892752, + "camera_pose_world_cv": [ + [ + -0.0495753288269043, + 0.5252948999404907, + -0.8494750261306763, + -3.6973369121551514 + ], + [ + 0.9955732822418213, + 0.09399020671844482, + 1.96993350982666e-05, + -2.320661783218384 + ], + [ + 0.07985261082649231, + -0.8457134962081909, + -0.527629017829895, + 1.4735742807388306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3574021598008248, + 0.3836501001921385, + 0.35986334015071986 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.01893858467206, + 1.0113505463994317, + 0.9983424807892116 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5392.8160496498895, + "intensity": 1.0113505463994317 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6912779034587151, + 0.6753514474090616, + 0.6480489513239417 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5163.1075544707855, + "intensity": 0.6753514474090616 + }, + "point_color_scale": [ + 1.1246251468740114, + 1.1173175071174417, + 1.104790124677608 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28abd086c0bdac450a156fd2b691bff504c2132b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9314244311329855, + "K": [ + [ + 454.5393044681856, + 0.0, + 307.4210738313011 + ], + [ + 0.0, + 477.5326568013446, + 226.82289594824732 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.928998405150325, + -1.8481987865917573, + 0.9664126327512474 + ], + "camera_target": [ + -4.676559147254418, + -2.33160904577405, + 0.8393889153700314 + ], + "camera_roll_rad": 0.015038594323442858, + "camera_pose_world_cv": [ + [ + -0.5391968488693237, + 0.134890615940094, + -0.8313069343566895, + -3.9289984703063965 + ], + [ + 0.8416533470153809, + 0.05141472816467285, + -0.5375649333000183, + -1.8481987714767456 + ], + [ + -0.02977105975151062, + -0.9895256161689758, + -0.14125382900238037, + 0.9664126038551331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2461061793680377, + 0.2526474934543909, + 0.2676183278741406 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.8884954248875112, + 0.8713730064961291, + 0.8420202892537599 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5219.286717403232, + "intensity": 0.8713730064961291 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.7668792894256347, + 0.7475311437814346, + 0.714362894105663 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5130.246735629994, + "intensity": 0.7475311437814346 + }, + "point_color_scale": [ + 1.1108038721384708, + 1.120792743654568, + 1.1367749380803234 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82efb1251885472d986a63cc25bb4ddd03fc8a66 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8267025781253398, + "K": [ + [ + 549.2087083818005, + 0.0, + 300.1823387877065 + ], + [ + 0.0, + 547.1689333282123, + 226.7115567618444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9968698919274512, + -2.5058646924802956, + 0.646408422615124 + ], + "camera_target": [ + -4.709642297987709, + -2.3388979654244, + 0.8629692835213 + ], + "camera_roll_rad": -0.011021196213879016, + "camera_pose_world_cv": [ + [ + 0.0997387170791626, + -0.12209981679916382, + -0.9874938130378723, + -2.9968698024749756 + ], + [ + 0.9947734475135803, + 0.034047842025756836, + 0.09626418352127075, + -2.5058646202087402 + ], + [ + 0.02186816930770874, + -0.9919337630271912, + 0.12485766410827637, + 0.6464084386825562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34145755442767184, + 0.33730022066757753, + 0.35416629120269494 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.0465257581666696, + 1.0153477423588209, + 0.9618997152596516 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5061.332332515289, + "intensity": 1.0153477423588209 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.902643305107241, + 0.927073742169838, + 0.9661624414699933 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 6021.5465343748865, + "intensity": 0.9368459169948768 + }, + "point_color_scale": [ + 1.0937218450791257, + 1.1088207941065287, + 1.1329791125503736 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf3847c096621b188433864c7cdd50862db2b4a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9195609385288182, + "K": [ + [ + 474.4744591305067, + 0.0, + 321.0414694591177 + ], + [ + 0.0, + 484.6767623843093, + 222.6829980007596 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.293795289297636, + -3.060073325159862, + 1.1519899138377547 + ], + "camera_target": [ + -4.6533471375815445, + -2.3244237648571198, + 0.8661699014945272 + ], + "camera_roll_rad": -0.04230029639833852, + "camera_pose_world_cv": [ + [ + 0.8829904198646545, + 0.22011548280715942, + -0.41458067297935486, + -4.293795108795166 + ], + [ + 0.4625616669654846, + -0.25792717933654785, + 0.8482396602630615, + -3.0600733757019043 + ], + [ + 0.0797789990901947, + -0.9407565593719482, + -0.3295641541481018, + 1.1519899368286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3222630439558487, + 0.30005363676320423, + 0.31866860088814286 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.8900043910263367, + 0.8823382160678626, + 0.8691962018533356 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5375.878905473323, + "intensity": 0.8823382160678626 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.5827995563946755, + 0.5761157018640012, + 0.5646576655257023 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5334.263090133533, + "intensity": 0.5761157018640012 + }, + "point_color_scale": [ + 1.0628558742679086, + 1.0169479054417152, + 0.9382485303110981 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33a11add6686f822061fb0deaaf403b785cb6bb8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9898726865448302, + "K": [ + [ + 452.9833614094878, + 0.0, + 329.56765950144194 + ], + [ + 0.0, + 444.6538558950222, + 221.10311096629084 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.075766682834929, + -3.0888353974535017, + 1.3853575399512044 + ], + "camera_target": [ + -4.6542212899344255, + -2.3443768528587787, + 0.8142175172699074 + ], + "camera_roll_rad": 0.04608760745622004, + "camera_pose_world_cv": [ + [ + 0.4506564140319824, + 0.2408541440963745, + -0.8595918416976929, + -3.0757668018341064 + ], + [ + 0.8884009122848511, + -0.2153642773628235, + 0.40541595220565796, + -3.0888354778289795 + ], + [ + -0.08747926354408264, + -0.9463654160499573, + -0.31103038787841797, + 1.3853574991226196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27608178079453055, + 0.2935722608320266, + 0.26978445605869306 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.8932619145097168, + 0.9058836476167919, + 0.9260784205881121 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5777.116807493394, + "intensity": 0.9109323408596219 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6890302465738851, + 0.68676117987756, + 0.6828713512552885 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5452.79983862118, + "intensity": 0.68676117987756 + }, + "point_color_scale": [ + 0.8551879778693621, + 0.8196259367726402, + 0.7586624377496884 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f166f7601de49a554836f9f5fd4e05e60f25848 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8813414641354603, + "K": [ + [ + 500.14631865997865, + 0.0, + 333.62707821039834 + ], + [ + 0.0, + 508.9056630105096, + 252.80623961404942 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8582315268115575, + -3.70684407895526, + 0.8799251804283689 + ], + "camera_target": [ + -4.652852485697306, + -2.307585121927402, + 0.9000934895730925 + ], + "camera_roll_rad": 0.04717794596733928, + "camera_pose_world_cv": [ + [ + 0.8651155233383179, + -0.08808830380439758, + -0.4937768280506134, + -3.858231544494629 + ], + [ + 0.4926457703113556, + -0.035675883293151855, + 0.8694983124732971, + -3.7068440914154053 + ], + [ + -0.09420856833457947, + -0.9954735636711121, + 0.012532591819763184, + 0.8799251914024353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31785686838537386, + 0.31172309677372667, + 0.30214652036416245 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.2045265368317524, + 1.1380958299509847, + 1.024214618155383 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 4666.1421882746445, + "intensity": 1.1380958299509847 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.8862935296671397, + 0.8875316707280164, + 0.8895126964254192 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5527.885214355989, + "intensity": 0.8880269271523671 + }, + "point_color_scale": [ + 1.0704871577015673, + 1.0425766274739174, + 0.9947300042265178 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76eef6ca531909861fae3fe560d15887903f0074 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9389916017387216, + "K": [ + [ + 469.1330819021663, + 0.0, + 295.6129643542778 + ], + [ + 0.0, + 473.0632258475957, + 223.6082032968565 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6368438497064246, + -2.778504184876006, + 1.2234396246397732 + ], + "camera_target": [ + -4.661900390488775, + -2.336742535960805, + 0.7737683319658405 + ], + "camera_roll_rad": -0.046156470170693825, + "camera_pose_world_cv": [ + [ + 0.36245524883270264, + 0.37818729877471924, + -0.8518218994140625, + -3.6368439197540283 + ], + [ + 0.9280706644058228, + -0.0626068115234375, + 0.3671037256717682, + -2.7785041332244873 + ], + [ + 0.08550414443016052, + -0.9236096143722534, + -0.37367677688598633, + 1.2234395742416382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31847555605179967, + 0.3082734867644878, + 0.32759414229964695 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.9536310537825857, + 0.956782321165068, + 0.9618243489770395 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5565.785522108076, + "intensity": 0.9580428281180609 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.687599252895025, + 0.6624947309770677, + 0.6194584076891407 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 4958.658294730188, + "intensity": 0.6624947309770677 + }, + "point_color_scale": [ + 1.0569251468696619, + 1.081666632823443, + 1.1212530103494924 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19855a254b2b82335763a9b2dd4b883a7db578aa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.03657075031308, + "K": [ + [ + 421.9601315236626, + 0.0, + 289.7051875980794 + ], + [ + 0.0, + 420.84048684008394, + 225.85461143058612 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1084365179038285, + -2.1082622453257223, + 1.3252986101829958 + ], + "camera_target": [ + -4.671355494433449, + -2.306671337186447, + 0.8484880841845193 + ], + "camera_roll_rad": -0.04764938769684104, + "camera_pose_world_cv": [ + [ + -0.1527099609375, + 0.27407851815223694, + -0.9495056867599487, + -3.1084365844726562 + ], + [ + 0.9840657711029053, + 0.13071203231811523, + -0.1205376386642456, + -2.108262300491333 + ], + [ + 0.09107497334480286, + -0.9527831077575684, + -0.2896721363067627, + 1.3252986669540405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9843024015426636, + -0.17649014294147491, + 0.0, + -4.687936305999756 + ], + [ + 0.17649014294147491, + 0.9843024015426636, + 0.0, + -2.304598331451416 + ], + [ + 0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21230356943006484, + 0.23787619947929006, + 0.21275021159476826 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.8191304649305817, + 0.8530915534047536, + 0.9074292949634288 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6283.708996516982, + "intensity": 0.8666759887944224 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6204365221401473, + 0.6227612276547801, + 0.6264807564781927 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5574.546693960486, + "intensity": 0.6236911098606333 + }, + "point_color_scale": [ + 1.1996530925722582, + 1.1803811947007694, + 1.147343655492503 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d5dedc3ef1e9ecf8e8fe5443118f09a012a4438 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2642395381614309, + "K": [ + [ + 343.00660017838106, + 0.0, + 295.6840626794877 + ], + [ + 0.0, + 327.70481396555704, + 226.88123640706868 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.859620587806559, + -3.6251240196455354, + 1.2361038127620154 + ], + "camera_target": [ + -4.637556771018388, + -2.007110733504366, + 0.7881685092962483 + ], + "camera_roll_rad": -0.045583115460750584, + "camera_pose_world_cv": [ + [ + 0.9898729920387268, + 0.05437926948070526, + 0.1311274617910385, + -4.859620571136475 + ], + [ + -0.11154866218566895, + -0.27333754301071167, + 0.9554284811019897, + -3.625123977661133 + ], + [ + 0.08779756724834442, + -0.960379958152771, + -0.26450347900390625, + 1.2361037731170654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2347179579556817, + 0.23413792021546367, + 0.23714265104808507 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.9133654429343284, + 0.9403876144072463, + 0.9836230887639148 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6068.172232676763, + "intensity": 0.9511964829964134 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.9690548809079942, + 0.938810171299673, + 0.8869620976854081 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5039.771411380506, + "intensity": 0.938810171299673 + }, + "point_color_scale": [ + 0.7970775519493457, + 0.8045100453711607, + 0.8164020348460647 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4a342acb9218b389b532acf23c0165e36e2813 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2113448055788842, + "K": [ + [ + 358.1488353091768, + 0.0, + 325.33123526275176 + ], + [ + 0.0, + 346.57206250364266, + 224.2329088045341 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3729624660413826, + -2.7798134943952046, + 1.0665736132643353 + ], + "camera_target": [ + -4.658193117698987, + -2.043999770621843, + 0.7949618780801708 + ], + "camera_roll_rad": -0.03300898720170513, + "camera_pose_world_cv": [ + [ + 0.4854394793510437, + 0.18898847699165344, + -0.8535994291305542, + -3.372962474822998 + ], + [ + 0.871859073638916, + -0.03218197822570801, + 0.48869866132736206, + -2.779813528060913 + ], + [ + 0.06488779187202454, + -0.9814519286155701, + -0.18039363622665405, + 1.0665736198425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33542227736931546, + 0.3219843723730094, + 0.3058512607403005 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.94077427245674, + 0.9203640494962065, + 0.8853750958495776 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5183.196433105454, + "intensity": 0.9203640494962065 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.7825968471567237, + 0.7503923602451965, + 0.6951846683968642 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 4886.901942090971, + "intensity": 0.7503923602451965 + }, + "point_color_scale": [ + 1.003023154640085, + 1.0220430095131887, + 1.052474777310155 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a872e6d9170daabbbea0740e3d0ca40b8e69535 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8113871412848557, + "K": [ + [ + 559.0589782264917, + 0.0, + 341.204900731351 + ], + [ + 0.0, + 558.7622222673247, + 257.94922489523066 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.163045609865005, + -3.080085557869382, + 1.1831628468015758 + ], + "camera_target": [ + -4.720411648371344, + -2.00058506642781, + 0.8457789168466856 + ], + "camera_roll_rad": 0.032847664383573325, + "camera_pose_world_cv": [ + [ + 0.9163259267807007, + -0.16590151190757751, + 0.3644496202468872, + -5.163045406341553 + ], + [ + -0.3954361379146576, + -0.23156285285949707, + 0.8888245820999146, + -3.080085515975952 + ], + [ + -0.06306430697441101, + -0.9585695266723633, + -0.2777904272079468, + 1.183162808418274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.348653319654634, + 0.34404118225829955, + 0.3263178474558391 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.038338441913387, + 1.040297617829338, + 1.0434322992948597 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5537.63732838473, + "intensity": 1.0410812881957183 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6907478533082029, + 0.7096752033155667, + 0.7399589633273488 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 6027.778369634499, + "intensity": 0.7172461433185122 + }, + "point_color_scale": [ + 0.8794467681888702, + 0.8944959224275494, + 0.9185745692094357 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3525ab1cc8d288524932a89ced6b1e7d8fd8ceb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.908981955695958, + "K": [ + [ + 489.5114000544228, + 0.0, + 341.4290879844873 + ], + [ + 0.0, + 491.19325523297886, + 245.39960864371005 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.387184810503211, + -3.1637754422991575, + 0.7964909852054548 + ], + "camera_target": [ + -4.637875710692906, + -2.0572907822307336, + 0.8905085802702735 + ], + "camera_roll_rad": 0.015624622973269803, + "camera_pose_world_cv": [ + [ + 0.9742354154586792, + -0.0487116277217865, + -0.2202102243900299, + -4.3871846199035645 + ], + [ + 0.22337374091148376, + 0.0736016035079956, + 0.971950113773346, + -3.1637754440307617 + ], + [ + -0.031137429177761078, + -0.9960973858833313, + 0.08258628845214844, + 0.7964909672737122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3278862215941783, + 0.3308279737250593, + 0.3423234604661483 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.0516955828881793, + 1.080831704135701, + 1.1274494981317358 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6033.391131361347, + "intensity": 1.0924861526347096 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.639646244453638, + 0.6514515210859607, + 0.6703399636976769 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5859.821731971706, + "intensity": 0.6561736317388898 + }, + "point_color_scale": [ + 1.0697919731467302, + 1.0201297900335684, + 0.9349946189824344 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..387ceb5b08b29b6ece211ab09f0b338f52b4549e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.824663822824847, + "K": [ + [ + 565.546229207239, + 0.0, + 341.4989615878269 + ], + [ + 0.0, + 548.6887641135089, + 220.56459245476032 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.167789984909177, + -3.5495061102906647, + 1.5407251622005558 + ], + "camera_target": [ + -4.64105033819565, + -1.9823310294651235, + 0.847151861711681 + ], + "camera_roll_rad": 0.045109520503931216, + "camera_pose_world_cv": [ + [ + 0.9635694026947021, + 0.026065297424793243, + -0.26618534326553345, + -4.167789936065674 + ], + [ + 0.2542674243450165, + -0.39797085523605347, + 0.8814575672149658, + -3.549506187438965 + ], + [ + -0.08295856416225433, + -0.9170278310775757, + -0.39010006189346313, + 1.5407251119613647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38968257799656875, + 0.38385117574969063, + 0.3800092518437932 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.2652598091015017, + 1.1829718832966871, + 1.041906867631291 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 4506.2808644820425, + "intensity": 1.1829718832966871 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.8990390943868055, + 0.8700401232817379, + 0.8203276013873362 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5023.848378136774, + "intensity": 0.8700401232817379 + }, + "point_color_scale": [ + 1.1363377797306082, + 1.1312436691950183, + 1.122510908276864 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24d536c3155f77fabe0eff34689aba0f9c154f7b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8203198872944465, + "K": [ + [ + 536.7601351405675, + 0.0, + 348.9319311928463 + ], + [ + 0.0, + 551.9507860419833, + 254.99846251896412 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8616134769467827, + -2.0502437521505805, + 0.7700417556622889 + ], + "camera_target": [ + -4.6724049535163426, + -2.0493702023515605, + 0.8907654335598338 + ], + "camera_roll_rad": 0.017469833224224657, + "camera_pose_world_cv": [ + [ + -0.0018417835235595703, + -0.06649753451347351, + -0.9977849721908569, + -2.8616135120391846 + ], + [ + 0.999390721321106, + -0.03490042686462402, + 0.0004813671112060547, + -2.050243854522705 + ], + [ + -0.03485521674156189, + -0.9971761107444763, + 0.06652140617370605, + 0.7700417637825012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28215434386724186, + 0.2943238166359192, + 0.2961117833245463 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.95643341077788, + 1.0044281176810952, + 1.08121964872624 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6437.739113357289, + "intensity": 1.0236260004423814 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.8027246905178632, + 0.7669125778161187, + 0.7055203846131279 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 4832.907524503285, + "intensity": 0.7669125778161187 + }, + "point_color_scale": [ + 0.8269482822857327, + 0.8009162802701315, + 0.7562899911005296 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0226e3b8f4138699858b80328abc7b46c7ea6a06 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9961292215125714, + "K": [ + [ + 450.5182609101514, + 0.0, + 351.0233161088905 + ], + [ + 0.0, + 441.34510522317294, + 251.79524921773864 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.88451233395467, + -2.564372596368547, + 0.6912612040934416 + ], + "camera_target": [ + -4.708114826268009, + -2.0577612933396603, + 0.770399899620554 + ], + "camera_roll_rad": -0.014990069381968674, + "camera_pose_world_cv": [ + [ + 0.268757164478302, + -0.03221076726913452, + -0.9626692533493042, + -2.884512424468994 + ], + [ + 0.962742269039154, + 0.040059447288513184, + 0.26743724942207336, + -2.5643725395202637 + ], + [ + 0.02994951605796814, + -0.9986780881881714, + 0.04177701473236084, + 0.6912612318992615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28140122287740543, + 0.31048081368537733, + 0.30500300062925445 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.1040712856016262, + 1.081754710625165, + 1.0434977249512318 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5205.286040524658, + "intensity": 1.081754710625165 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.9033215377362556, + 0.9193456488979229, + 0.9449842267565908 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5846.184597086418, + "intensity": 0.9257552933625899 + }, + "point_color_scale": [ + 0.9691332025181795, + 0.9449621734995151, + 0.9035261237532334 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81ee0d4eb8e886af013005f30eb3d2a7bc4ddb61 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1463810673396022, + "K": [ + [ + 365.2174436818608, + 0.0, + 311.9877026582058 + ], + [ + 0.0, + 371.8168261939793, + 244.7769998370246 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.620725185559338, + -2.369761376655811, + 1.1376049470979575 + ], + "camera_target": [ + -4.685737615944911, + -1.995674630305472, + 0.8326984063284859 + ], + "camera_roll_rad": 0.008465808409807825, + "camera_pose_world_cv": [ + [ + 0.33551979064941406, + 0.2403872311115265, + -0.9108461141586304, + -3.620725154876709 + ], + [ + 0.9418914318084717, + -0.10238105058670044, + 0.31993573904037476, + -2.3697614669799805 + ], + [ + -0.01634499430656433, + -0.9652628302574158, + -0.26076948642730713, + 1.1376049518585205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2559353298576068, + 0.2803339301925967, + 0.2522462218557572 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.2231154660749062, + 1.1794360604447864, + 1.1045570793645814 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 4970.940791172358, + "intensity": 1.1794360604447864 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.7387006307486814, + 0.7665452615273517, + 0.8110966707732242 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 6216.091947560051, + "intensity": 0.7776831138388198 + }, + "point_color_scale": [ + 1.0078722218846476, + 1.0020760536750448, + 0.9921397653157253 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..791b8ab3696f45345c3977454e319a9780f00972 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0345080167175744, + "K": [ + [ + 439.06047950702373, + 0.0, + 311.4647501098337 + ], + [ + 0.0, + 421.85093423560306, + 237.54434675257303 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.697540164818963, + -3.5389162427591945, + 0.8499518749584084 + ], + "camera_target": [ + -4.682776861170689, + -2.050585479496864, + 0.8965935033122663 + ], + "camera_roll_rad": 0.05203315917713963, + "camera_pose_world_cv": [ + [ + 0.9945733547210693, + -0.10356451570987701, + 0.009913932532072067, + -4.697540283203125 + ], + [ + -0.006611693650484085, + 0.0321807861328125, + 0.9994603395462036, + -3.5389163494110107 + ], + [ + -0.10382765531539917, + -0.9941021203994751, + 0.03132140636444092, + 0.8499518632888794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24918036929113263, + 0.2432023215169514, + 0.23959199831234693 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.0632253017900104, + 1.096868554440645, + 1.1506977586816602 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6106.006830948871, + "intensity": 1.1103258555008988 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.8671540109639874, + 0.8473883253059605, + 0.813504292749343 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5166.779763728913, + "intensity": 0.8473883253059605 + }, + "point_color_scale": [ + 0.9255675343097188, + 0.94533934258175, + 0.9769742358170003 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccf05e74525bc6503bcdb00c3c425fba78110762 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.038865567141438, + "K": [ + [ + 422.51322813686454, + 0.0, + 332.8367829763994 + ], + [ + 0.0, + 419.72063754938483, + 230.9840332662143 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4382122246413918, + -1.782828595736092, + 0.8811266367041143 + ], + "camera_target": [ + -4.650212597266795, + -2.015577097654953, + 0.8520180198329979 + ], + "camera_roll_rad": -0.016577825994391178, + "camera_pose_world_cv": [ + [ + -0.18925487995147705, + 0.016891926527023315, + -0.981782853603363, + -3.4382121562957764 + ], + [ + 0.9813687801361084, + 0.03699922561645508, + -0.1885383427143097, + -1.7828285694122314 + ], + [ + 0.033140361309051514, + -0.9991726875305176, + -0.02357935905456543, + 0.8811266422271729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3140123802384579, + 0.3113197718191601, + 0.29451269620806647 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.9789859771096022, + 0.9238394080973751, + 0.8293024326478428 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 4647.245590693545, + "intensity": 0.9238394080973751 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.9544249221178871, + 0.9389243280458074, + 0.9123518810650991 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5264.158780896169, + "intensity": 0.9389243280458074 + }, + "point_color_scale": [ + 0.9035730184842986, + 0.9252653798024755, + 0.9599731579115587 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32b7a238e62bc21498532059526be956ad534971 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1761732266198532, + "K": [ + [ + 370.53096980666595, + 0.0, + 297.55615140491807 + ], + [ + 0.0, + 359.9344806416044, + 246.0139884391501 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.052816118599801, + -3.639025641108222, + 1.1878945060659234 + ], + "camera_target": [ + -4.695167753316007, + -2.0811773697398595, + 0.8406108231022729 + ], + "camera_roll_rad": -0.02916639551446656, + "camera_pose_world_cv": [ + [ + 0.975756824016571, + 0.009394310414791107, + 0.21865594387054443, + -5.052815914154053 + ], + [ + -0.2113126516342163, + -0.21962881088256836, + 0.9524233937263489, + -3.6390256881713867 + ], + [ + 0.05697052925825119, + -0.9755383133888245, + -0.21231919527053833, + 1.1878944635391235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2759653653480682, + 0.2817971832264932, + 0.28060838110074654 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.2217469666688634, + 1.1787177344386275, + 1.1049533363296522 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 4978.498287066537, + "intensity": 1.1787177344386275 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.7930150095577405, + 0.763581297150127, + 0.7131235044513607 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 4949.329616384801, + "intensity": 0.763581297150127 + }, + "point_color_scale": [ + 1.2577932418356326, + 1.1995703518755607, + 1.0997596833725807 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..564e61b368e1f172d4a75256241a09f057c6300e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.090671500468841, + "K": [ + [ + 380.32038921001066, + 0.0, + 307.16217886493473 + ], + [ + 0.0, + 395.5787906967005, + 220.23769985966345 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.651406424173324, + -3.147699444507478, + 1.464657968763817 + ], + "camera_target": [ + -4.716634325001563, + -2.0639617811297564, + 0.8973462588628567 + ], + "camera_roll_rad": 0.010883423797280772, + "camera_pose_world_cv": [ + [ + 0.998562753200531, + 0.0060913581401109695, + -0.05324805527925491, + -4.651406288146973 + ], + [ + 0.05000340938568115, + -0.4634794592857361, + 0.8846957087516785, + -3.1476993560791016 + ], + [ + -0.0192903820425272, + -0.8860867619514465, + -0.46311789751052856, + 1.4646580219268799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2953238067744911, + 0.2951092725947277, + 0.26923239458258313 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.9286519168961752, + 0.9284155097589077, + 0.928010240380735 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5496.362356312871, + "intensity": 0.9284155097589077 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.6993462945183238, + 0.676534894972997, + 0.6374296386095797 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5018.314371094165, + "intensity": 0.676534894972997 + }, + "point_color_scale": [ + 0.8118188459844472, + 0.8400919500327633, + 0.885328916510069 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5381118d0e46de7c7ff09a204b962155211520 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9519306807935081, + "K": [ + [ + 449.9832133265499, + 0.0, + 298.60003488849617 + ], + [ + 0.0, + 465.57339868478925, + 229.14195707201338 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.96315191769808, + -3.1382464379748125, + 0.9353998939241525 + ], + "camera_target": [ + -4.6931431050533705, + -2.0343924016529895, + 0.7816019372429363 + ], + "camera_roll_rad": -0.04993193264695032, + "camera_pose_world_cv": [ + [ + 0.969700276851654, + 0.06513568013906479, + 0.23545429110527039, + -4.963151931762695 + ], + [ + -0.2234289050102234, + -0.15331411361694336, + 0.9625873565673828, + -3.138246536254883 + ], + [ + 0.0987972617149353, + -0.9860285520553589, + -0.13411551713943481, + 0.9353998899459839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27715029517794265, + 0.29206775905877835, + 0.29584247393659846 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.945550976796663, + 0.9300298886910013, + 0.9034223090812958 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5261.588490029111, + "intensity": 0.9300298886910013 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.8804313595365889, + 0.9084122674960067, + 0.953181720231075 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 6108.542128343442, + "intensity": 0.9196046306797737 + }, + "point_color_scale": [ + 0.7865692145974175, + 0.8021311462182907, + 0.827030236811688 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cafa7e3d167190fc4435c4635a2cddf4f56784b3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1187464909758564, + "K": [ + [ + 378.2980573344028, + 0.0, + 325.4235685358731 + ], + [ + 0.0, + 383.33957175332074, + 250.4645773404266 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7336313758956274, + -3.5842158160206194, + 0.6485336665736124 + ], + "camera_target": [ + -4.71982703919368, + -2.0091468248638407, + 0.8145307749041637 + ], + "camera_roll_rad": -0.005046514956385022, + "camera_pose_world_cv": [ + [ + 0.8480014801025391, + -0.03865908086299896, + -0.5285820960998535, + -3.7336313724517822 + ], + [ + 0.5298985838890076, + 0.08076179027557373, + 0.8442069292068481, + -3.5842158794403076 + ], + [ + 0.010052889585494995, + -0.9959836006164551, + 0.08897149562835693, + 0.6485336422920227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27714973981299323, + 0.2827873372239992, + 0.2859909181024905 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.1179624713184633, + 1.0617238244995564, + 0.9653147156671447 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 4743.297341802813, + "intensity": 1.0617238244995564 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.8265787184373797, + 0.8423646129103078, + 0.8676220440669928 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5872.010972769067, + "intensity": 0.8486789706994791 + }, + "point_color_scale": [ + 0.8687458477477191, + 0.8919835657282071, + 0.9291639144969879 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14f7ab6b4dae28d18f9843cccb5069b2c77771bc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2455005679775684, + "K": [ + [ + 347.95635698185356, + 0.0, + 341.5911920749811 + ], + [ + 0.0, + 334.2296276869025, + 237.6500204279745 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.607956839389051, + -3.870592266262573, + 0.9997822180157367 + ], + "camera_target": [ + -4.658804084223806, + -1.99320402885971, + 0.873262604462125 + ], + "camera_roll_rad": -0.002847487455465522, + "camera_pose_world_cv": [ + [ + 0.9996068477630615, + 0.007512588053941727, + -0.02701263315975666, + -4.607956886291504 + ], + [ + 0.02745606005191803, + -0.06703436374664307, + 0.9973728060722351, + -3.8705923557281494 + ], + [ + 0.005682079121470451, + -0.997722327709198, + -0.0672142505645752, + 0.9997822046279907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24439725801756731, + 0.25464232929556, + 0.25819995611844326 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 1.224527706520901, + 1.1954648507649046, + 1.1456428123260536 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 5152.701078252997, + "intensity": 1.1954648507649046 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.7720168093923315, + 0.784597205458193, + 0.8047258391635714 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5818.640532919721, + "intensity": 0.7896293638845376 + }, + "point_color_scale": [ + 0.8037413634039957, + 0.8343550881621057, + 0.8833370477750817 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49b7a02e12791109c76d2bb4a64c4e69040295a4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000125/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 125, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9852940503462175, + "K": [ + [ + 465.16583392165006, + 0.0, + 289.17663159388576 + ], + [ + 0.0, + 447.0996587607711, + 232.499991176252 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8729321539953276, + -2.076686920390885, + 0.7410007594317138 + ], + "camera_target": [ + -4.650649057100372, + -2.007485467102889, + 0.804579610188787 + ], + "camera_roll_rad": -0.007870046013777818, + "camera_pose_world_cv": [ + [ + 0.03945457935333252, + -0.0350707471370697, + -0.9986057877540588, + -2.872932195663452 + ], + [ + 0.9990975856781006, + 0.017116665840148926, + 0.03887292742729187, + -2.0766868591308594 + ], + [ + 0.01572948694229126, + -0.9992382526397705, + 0.03571450710296631, + 0.741000771522522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9767882227897644, + 0.21420738101005554, + 0.0, + -4.687130451202393 + ], + [ + -0.21420738101005554, + 0.9767882227897644, + -0.0, + -2.031278610229492 + ], + [ + -0.0, + 0.0, + 1.0, + 0.6691301465034485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28154940078478613, + 0.2833083031497918, + 0.26956117558533593 + ], + "directional_primary": { + "direction": [ + 0.4256901645104136, + -0.07164299049583822, + -0.9020283608356835 + ], + "color": [ + 0.8514629137259416, + 0.8759716097994078, + 0.9151855235169538 + ], + "azimuth_rad": -0.16673592716563013, + "elevation_rad": 1.1244454854408366, + "color_temp_k": 6053.384180683474, + "intensity": 0.8857750882287942 + }, + "directional_fill": { + "direction": [ + 0.29730240104595973, + 0.21765934518589514, + -0.929642775363502 + ], + "color": [ + 0.8589148383051163, + 0.8600558028499043, + 0.8618813461215653 + ], + "azimuth_rad": 0.6319556631193537, + "elevation_rad": 1.1934421564522408, + "color_temp_k": 5526.518265744833, + "intensity": 0.8605121886678195 + }, + "point_color_scale": [ + 0.8637517581724534, + 0.8881184310367795, + 0.9271051076197011 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04720aec27d50e945aa70fce8e1325f0a2b07a07 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.024492903002536, + "K": [ + [ + 444.8270013325403, + 0.0, + 306.59593085229096 + ], + [ + 0.0, + 426.8094999258327, + 253.85867438678133 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.898066647839763, + -0.8629171161654758, + 1.58589773048084 + ], + "camera_target": [ + -5.545149673042683, + -0.17644497797211478, + 1.0997576324019689 + ], + "camera_roll_rad": -0.03566961943697276, + "camera_pose_world_cv": [ + [ + 0.7034282088279724, + 0.3652716279029846, + -0.6097257137298584, + -4.898066520690918 + ], + [ + 0.7079365849494934, + -0.28358954191207886, + 0.6468406915664673, + -0.8629171252250671 + ], + [ + 0.06336072087287903, + -0.8866530656814575, + -0.4580739736557007, + 1.58589768409729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2847900487897958, + 0.2602379827664992, + 0.2756419653010051 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.9115105905353156, + 0.9540610566236158, + 1.0221418023648963 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6376.352342143176, + "intensity": 0.971081243058936 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6018901240369489, + 0.5774610222168375, + 0.5355825619537893 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 4895.652424264074, + "intensity": 0.5774610222168375 + }, + "point_color_scale": [ + 1.108943995717903, + 1.0606709900821556, + 0.9779172661351598 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4769b9a7356419d8e6cd080cd07688d10882cbfb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.172604201579234, + "K": [ + [ + 348.2177920911355, + 0.0, + 338.7968919094322 + ], + [ + 0.0, + 361.3297853885672, + 245.87893052379894 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.66927362911092, + -1.2896463846124981, + 1.3268120802419958 + ], + "camera_target": [ + -5.506631158832568, + -0.1492339449205347, + 1.0615053219459187 + ], + "camera_roll_rad": -0.022770575462994363, + "camera_pose_world_cv": [ + [ + 0.7047485113143921, + -0.08278760313987732, + 0.7046103477478027, + -6.669273853302002 + ], + [ + -0.7080328464508057, + -0.1449747085571289, + 0.691137969493866, + -1.2896463871002197 + ], + [ + 0.044933050870895386, + -0.9859657883644104, + -0.16078704595565796, + 1.3268120288848877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22154365716344127, + 0.22353619586066312, + 0.23082550259668072 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.189005536489692, + 1.131050029001854, + 1.031697730451274 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4767.993634211316, + "intensity": 1.131050029001854 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.7360396399902485, + 0.7504111428487286, + 0.7734055474222967 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5880.118168751122, + "intensity": 0.7561597439921207 + }, + "point_color_scale": [ + 1.0963300477116564, + 1.1392330355529363, + 1.2078778160989843 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cda6c0d31c28865c7bd2a9a58b48c30fad35302b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9178333115785692, + "K": [ + [ + 502.6192544431198, + 0.0, + 314.73460020089306 + ], + [ + 0.0, + 485.7314167428154, + 218.1228536054449 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.305075159826423, + -0.22857019129770084, + 1.7387654730224051 + ], + "camera_target": [ + -5.495569010424431, + -0.14373163459842248, + 1.046982231040359 + ], + "camera_roll_rad": 0.02964903784232488, + "camera_pose_world_cv": [ + [ + 0.10060173273086548, + 0.49511128664016724, + -0.8629856109619141, + -4.305075168609619 + ], + [ + 0.9936047196388245, + -0.09469687938690186, + 0.061499178409576416, + -0.22857019305229187 + ], + [ + -0.05127310752868652, + -0.8636534810066223, + -0.5014715790748596, + 1.7387654781341553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27406113391804565, + 0.2780071577749463, + 0.25284647109097197 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.1906679982254775, + 1.138295722204528, + 1.0485146775971863 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4842.723198257424, + "intensity": 1.138295722204528 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.5612269684501388, + 0.5846234548615618, + 0.6220578331198386 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 6287.784291933646, + "intensity": 0.593982049426131 + }, + "point_color_scale": [ + 1.2398580981923275, + 1.1891927072223174, + 1.1023377512737287 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..654450652bac22212ca05db7af1bec5277b35dca --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2704448289778878, + "K": [ + [ + 315.6596738487475, + 0.0, + 306.45821568226853 + ], + [ + 0.0, + 325.5808600135433, + 221.60879928296566 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.675777455771923, + -1.2844002828378118, + 1.0412625146493528 + ], + "camera_target": [ + -5.52330535835123, + -0.22612593932783945, + 1.10639731693481 + ], + "camera_roll_rad": 0.007297105998170621, + "camera_pose_world_cv": [ + [ + 0.6767389178276062, + 0.02076205611228943, + 0.735930323600769, + -6.675777435302734 + ], + [ + -0.7360787391662598, + 0.03887820243835449, + 0.6757786273956299, + -1.284400224685669 + ], + [ + -0.014581054449081421, + -0.9990283250808716, + 0.04159283638000488, + 1.0412625074386597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22941285768532668, + 0.23160462856902522, + 0.21965366249654253 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.0961642605560762, + 1.1170777199197641, + 1.150539254901665 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5871.648451984448, + "intensity": 1.1254431036652395 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.8096194714901024, + 0.8239264888369874, + 0.8468177165920037 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5844.893135442433, + "intensity": 0.8296492957757415 + }, + "point_color_scale": [ + 0.9199276097796818, + 0.8986026352590866, + 0.8620455360809234 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bf9cc33d1cebe51567c5a7b71ca3632fcf6e6b2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9882044308894339, + "K": [ + [ + 467.3060653874668, + 0.0, + 330.1346592228052 + ], + [ + 0.0, + 445.54259230233913, + 230.2228135884812 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.865711440193008, + -0.98608746105818, + 1.7460554328458961 + ], + "camera_target": [ + -5.517480287997747, + -0.1467822311689308, + 1.1461302260885036 + ], + "camera_roll_rad": -0.007607281731241755, + "camera_pose_world_cv": [ + [ + 0.44876837730407715, + 0.2814917266368866, + -0.8481564521789551, + -3.8657114505767822 + ], + [ + 0.8935308456420898, + -0.1259676218032837, + 0.4309695065021515, + -0.986087441444397 + ], + [ + 0.014474093914031982, + -0.9512594938278198, + -0.30805182456970215, + 1.7460554838180542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.355662053568041, + 0.3592430097367917, + 0.34886864947864543 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.0720770540577846, + 1.0379232981169584, + 0.9793740022183992 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5029.916324221793, + "intensity": 1.0379232981169584 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.9120981528235882, + 0.8963486197948904, + 0.8693494203171231 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5248.989038402403, + "intensity": 0.8963486197948904 + }, + "point_color_scale": [ + 0.8472243681515955, + 0.8734712068537853, + 0.9154661487772893 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6904d4a3d3f6eec3b27906edaaa9d4174e5350d8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9490680154954988, + "K": [ + [ + 444.88210359787115, + 0.0, + 290.1077963549368 + ], + [ + 0.0, + 467.21419905697627, + 254.6346686477915 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.699593294468845, + -1.2535050504243674, + 1.2383711346890156 + ], + "camera_target": [ + -5.485433067262719, + -0.17149350573372174, + 1.1424997835890562 + ], + "camera_roll_rad": -0.038207460895988456, + "camera_pose_world_cv": [ + [ + 0.9793905019760132, + 0.05812405049800873, + 0.19343186914920807, + -5.6995930671691895 + ], + [ + -0.18710987269878387, + -0.09951865673065186, + 0.9772849678993225, + -1.253504991531372 + ], + [ + 0.07605384290218353, + -0.9933366179466248, + -0.08659207820892334, + 1.2383711338043213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2912035065712266, + 0.280119370391261, + 0.3084210629353129 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.257302534847175, + 1.1890698167852645, + 1.0720994429648463 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4680.238955349597, + "intensity": 1.1890698167852645 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6429205768310112, + 0.6243946462395089, + 0.5926359080826479 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5076.139621149703, + "intensity": 0.6243946462395089 + }, + "point_color_scale": [ + 1.1319568789450662, + 1.1065121152241684, + 1.0628925202740578 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2490f9c68561b2755b55516db32298b495c37f80 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.13730040674799, + "K": [ + [ + 359.80443544810066, + 0.0, + 307.04850825095207 + ], + [ + 0.0, + 375.54815434894203, + 258.63754861493817 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.1342683595340555, + -1.1209771428063533, + 0.8491050878836756 + ], + "camera_target": [ + -5.497473359059594, + -0.16640664364080718, + 1.1731106549923183 + ], + "camera_roll_rad": -0.023092232386745057, + "camera_pose_world_cv": [ + [ + 0.5802096724510193, + -0.12989237904548645, + -0.8040428161621094, + -4.134268283843994 + ], + [ + 0.8132054805755615, + 0.14731764793395996, + 0.563022792339325, + -1.1209771633148193 + ], + [ + 0.04531717300415039, + -0.9805232882499695, + 0.19110441207885742, + 0.8491050601005554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29305226026134634, + 0.28049848126933574, + 0.26953703108865296 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.2191872514390711, + 1.1450112239084544, + 1.0178523195702547 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4574.543974744141, + "intensity": 1.1450112239084544 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.8241532996596164, + 0.8425266886915908, + 0.8719241111427498 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5932.378089842806, + "intensity": 0.8498760443043805 + }, + "point_color_scale": [ + 0.8435644911485083, + 0.8253699553666483, + 0.7941793225977455 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7f4467886ff327a28a7a50e81d9a542ef026dd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1641016004165765, + "K": [ + [ + 363.00543623792913, + 0.0, + 334.80258976916167 + ], + [ + 0.0, + 364.68428180282444, + 249.25844091412097 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.08974553682317, + -1.094770125050742, + 1.5660376913882992 + ], + "camera_target": [ + -5.466450584145274, + -0.1782147248009547, + 1.0796618184139344 + ], + "camera_roll_rad": 0.032038506950481105, + "camera_pose_world_cv": [ + [ + 0.810745120048523, + -0.27844375371932983, + 0.5149383544921875, + -6.08974552154541 + ], + [ + -0.5824553370475769, + -0.2955808639526367, + 0.7572171688079834, + -1.094770073890686 + ], + [ + -0.0586363822221756, + -0.9138386249542236, + -0.4018217921257019, + 1.566037654876709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35012837043910133, + 0.38267899329522187, + 0.34687697560304376 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.881704975096621, + 0.9076256231517063, + 0.9490986600398428 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6064.723764564965, + "intensity": 0.9179938823737405 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6653722432046874, + 0.634489503264306, + 0.5815476633665095 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 4804.666197189203, + "intensity": 0.634489503264306 + }, + "point_color_scale": [ + 1.014527704614707, + 1.0565243832780704, + 1.123719069139452 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..414924571401be9bfaa916c33201b82d8c0dda83 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2067954967234913, + "K": [ + [ + 345.5090502289299, + 0.0, + 332.03596716874 + ], + [ + 0.0, + 348.26192375665397, + 243.73514627773997 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.407366143848727, + -1.164810140243206, + 1.577842620831185 + ], + "camera_target": [ + -5.530462114213468, + -0.19096156598766173, + 1.108928770055809 + ], + "camera_roll_rad": -0.004183410180076376, + "camera_pose_world_cv": [ + [ + 0.991618812084198, + 0.062353719025850296, + -0.11315561830997467, + -5.4073662757873535 + ], + [ + 0.1289774626493454, + -0.426580011844635, + 0.8952063322067261, + -1.1648101806640625 + ], + [ + 0.007549513131380081, + -0.9022979736328125, + -0.4310469627380371, + 1.5778425931930542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28372976770949315, + 0.2800204329426665, + 0.2686419980621837 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.0997533125597525, + 1.1572747071574367, + 1.2493089385137315 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6474.704908619613, + "intensity": 1.1802832649965103 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.9020095416033752, + 0.8814067884750381, + 0.8460877831121744 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5166.073544543767, + "intensity": 0.8814067884750381 + }, + "point_color_scale": [ + 1.0263388492954628, + 1.0421637762007958, + 1.0674836592493284 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e8f7fc15b6c24cdfefafa2d7a6048618a63d2d3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.267753551196867, + "K": [ + [ + 324.62276175115744, + 0.0, + 329.5597438037552 + ], + [ + 0.0, + 326.4998315454881, + 246.82987664681238 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.083884912116165, + -1.6505345911864033, + 1.3826024741382197 + ], + "camera_target": [ + -5.509676876108904, + -0.15365899774612896, + 1.0542446881632748 + ], + "camera_roll_rad": 0.03800721771510626, + "camera_pose_world_cv": [ + [ + 0.9633554220199585, + -0.01672281324863434, + -0.2677064538002014, + -5.0838847160339355 + ], + [ + 0.25773072242736816, + -0.21877354383468628, + 0.941123366355896, + -1.6505346298217773 + ], + [ + -0.07430532574653625, + -0.9756324291229248, + -0.20644670724868774, + 1.3826024532318115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24126603830595275, + 0.22202257124839675, + 0.24527567005207268 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.8698957740484589, + 0.870119404422283, + 0.8704772130204016 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5505.1396942730535, + "intensity": 0.8702088565718127 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6533684139062174, + 0.6650853761979539, + 0.6838325158647324 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5849.879047592451, + "intensity": 0.6697721611146485 + }, + "point_color_scale": [ + 0.960024791777118, + 0.9847212574505858, + 1.0242356025281345 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea766d540df5a27f3516ccce0c62d65cf2c9c87 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.04809237488314, + "K": [ + [ + 435.4208503009618, + 0.0, + 342.76652800496674 + ], + [ + 0.0, + 415.26301100929635, + 249.01953004584206 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.272206770232074, + -1.0972731739027157, + 1.6199315784843185 + ], + "camera_target": [ + -5.494125419813764, + -0.1936780247411119, + 1.1016613835329956 + ], + "camera_roll_rad": -0.00792832118780755, + "camera_pose_world_cv": [ + [ + 0.5903877019882202, + 0.2689186632633209, + -0.7610026597976685, + -4.272206783294678 + ], + [ + 0.8069802522659302, + -0.17914199829101562, + 0.5627530813217163, + -1.0972732305526733 + ], + [ + 0.015007317066192627, + -0.9463566541671753, + -0.32277530431747437, + 1.6199315786361694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2664124833627553, + 0.26740452562895384, + 0.2672035562991608 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.8423685263346375, + 0.8695661330030745, + 0.9130823036725738 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6117.814883197612, + "intensity": 0.8804451756704493 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.8617600385140055, + 0.8710738237341179, + 0.8859758800862977 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5712.935351398398, + "intensity": 0.8747993378221628 + }, + "point_color_scale": [ + 0.800926402088759, + 0.8073140758201117, + 0.8175343537902762 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6956dda5b3bc0df12362adbb327926a486e2ae06 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2605017728653554, + "K": [ + [ + 323.1000300480536, + 0.0, + 329.5595768045673 + ], + [ + 0.0, + 328.9928848336213, + 220.370233298961 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.253527776671985, + -0.6759486918896407, + 1.612941562061319 + ], + "camera_target": [ + -5.51107207903437, + -0.15295227722902666, + 1.1046260401432955 + ], + "camera_roll_rad": 0.03212487981326377, + "camera_pose_world_cv": [ + [ + 0.5490567684173584, + -0.4354463219642639, + 0.7133886218070984, + -6.253527641296387 + ], + [ + -0.8339051604270935, + -0.22819876670837402, + 0.502521276473999, + -0.6759486794471741 + ], + [ + -0.05602651834487915, + -0.8708111047744751, + -0.4884149432182312, + 1.6129415035247803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3009817889834411, + 0.29248339640988585, + 0.2873086680248732 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.0842702473093924, + 1.136858070495633, + 1.2209985875936191 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6408.336333552714, + "intensity": 1.1578931997701296 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.7434400656428196, + 0.7361635662272663, + 0.7236895672291751 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5358.794979241516, + "intensity": 0.7361635662272663 + }, + "point_color_scale": [ + 0.851020267763314, + 0.881088586493668, + 0.9291978964622347 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9af5459109071939cbd31450957252d16cbe523 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2946063515117474, + "K": [ + [ + 330.70532327093184, + 0.0, + 312.1514658566023 + ], + [ + 0.0, + 317.4780613124753, + 249.2420130028898 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.067018581915066, + -0.8484316284321668, + 1.587361528780719 + ], + "camera_target": [ + -5.5355146758212, + -0.19473477089815266, + 1.1405817553668447 + ], + "camera_roll_rad": 0.042430417938449344, + "camera_pose_world_cv": [ + [ + 0.42594748735427856, + 0.20930200815200806, + -0.8802053928375244, + -4.067018508911133 + ], + [ + 0.9010549187660217, + -0.18594759702682495, + 0.3918209373950958, + -0.8484316468238831 + ], + [ + -0.08166325092315674, + -0.9600085020065308, + -0.26779645681381226, + 1.5873615741729736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29807387338157376, + 0.3236027192368069, + 0.30202552721972836 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.200345546163591, + 1.1518483316663515, + 1.0687102496710836 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4898.516861192755, + "intensity": 1.1518483316663515 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.7101374805273731, + 0.7321331578202082, + 0.7673262414887441 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 6093.73044359365, + "intensity": 0.7409314287373421 + }, + "point_color_scale": [ + 0.8147964872742048, + 0.821611739391756, + 0.8325161427798382 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..982fbf068f80a3b0f5cd4bf77323da5f103e73bf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.196740364691317, + "K": [ + [ + 367.10213508465023, + 0.0, + 298.084277999781 + ], + [ + 0.0, + 352.03684123816925, + 238.67974322483525 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.126053498324305, + -0.22061232343264728, + 1.8253582766393586 + ], + "camera_target": [ + -5.483791715321439, + -0.15758697828209234, + 1.1288739590179293 + ], + "camera_roll_rad": -0.01904339228406201, + "camera_pose_world_cv": [ + [ + 0.028989791870117188, + 0.45698055624961853, + -0.889004111289978, + -4.126053333282471 + ], + [ + 0.9990050792694092, + 0.016905784606933594, + 0.04126700758934021, + -0.2206123173236847 + ], + [ + 0.03388756513595581, + -0.8893159627914429, + -0.456035852432251, + 1.825358271598816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26388197919144335, + 0.27503779166595077, + 0.2696906983552477 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.0766794783171183, + 1.103211471490468, + 1.145662660567828 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5976.412552994416, + "intensity": 1.1138242687598081 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6293597479840115, + 0.6500583956399254, + 0.6831762318893878 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 6128.815356980319, + "intensity": 0.658337854702291 + }, + "point_color_scale": [ + 0.854082391138335, + 0.8493051042809122, + 0.8411154696681876 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8758c117312598b5917cb9b75c063cb6374019ba --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1885171382327855, + "K": [ + [ + 342.4098311837333, + 0.0, + 298.6517575550447 + ], + [ + 0.0, + 355.165649087932, + 259.16985941984547 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.1216850542050825, + -1.5247525141408866, + 1.6876738389613546 + ], + "camera_target": [ + -5.484221913534927, + -0.1804296862971041, + 1.0627063031657256 + ], + "camera_roll_rad": -0.005539711244707202, + "camera_pose_world_cv": [ + [ + 0.9642662405967712, + 0.11731476336717606, + -0.2375454157590866, + -5.121685028076172 + ], + [ + 0.2647421658039093, + -0.3924643397331238, + 0.8808424472808838, + -1.5247524976730347 + ], + [ + 0.01010771095752716, + -0.9122549295425415, + -0.40949827432632446, + 1.687673807144165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22669782749345804, + 0.24473605457897063, + 0.2519909339737819 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.266726091711236, + 1.1880955752866842, + 1.053300404273167 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4554.54315701137, + "intensity": 1.1880955752866842 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.7220985849899716, + 0.6961810876372849, + 0.6517510921755364 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 4968.170036853773, + "intensity": 0.6961810876372849 + }, + "point_color_scale": [ + 0.8054812810130483, + 0.8369730280987431, + 0.8873598234358546 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94846878a69b1f6a1b1c1ea873b48f4845211b25 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8908276872029668, + "K": [ + [ + 503.22132947866675, + 0.0, + 303.5541911124568 + ], + [ + 0.0, + 502.71125901139703, + 263.7380971441602 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.782604772039968, + -0.9564723996701662, + 1.4505951363895973 + ], + "camera_target": [ + -5.482429255712683, + -0.1942834752209487, + 1.0612798536150725 + ], + "camera_roll_rad": -0.011203012848897527, + "camera_pose_world_cv": [ + [ + 0.7310789227485657, + 0.254608690738678, + -0.6330071687698364, + -4.782604694366455 + ], + [ + 0.6819706559181213, + -0.24417173862457275, + 0.6894174218177795, + -0.9564723968505859 + ], + [ + 0.020969152450561523, + -0.9357108473777771, + -0.35214442014694214, + 1.4505951404571533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6130664348602295, + 0.790031373500824, + 0.0, + -5.501640319824219 + ], + [ + -0.790031373500824, + -0.6130664348602295, + -0.0, + -0.18612509965896606 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21495433997378952, + 0.21583762520935895, + 0.22666797026262547 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.1045487514800614, + 1.1577530134733585, + 1.2428798326626338 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6402.5054337896545, + "intensity": 1.1790347182706773 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.5931628822254237, + 0.610562839958004, + 0.6384027723301325 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 6063.540555363157, + "intensity": 0.6175228230510361 + }, + "point_color_scale": [ + 0.9629528398885759, + 0.9742789998008384, + 0.9924008556604582 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf6029e1013ef1a50bf859340a2f462b36a1df6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0176482797297877, + "K": [ + [ + 427.37428983228733, + 0.0, + 317.71429173769 + ], + [ + 0.0, + 430.2494291304403, + 230.0307541569093 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.195410418395467, + -1.290672980514988, + 1.5709448447698187 + ], + "camera_target": [ + -7.626989145763399, + -0.1762014529070384, + 1.1484763903561919 + ], + "camera_roll_rad": 0.007716261056972165, + "camera_pose_world_cv": [ + [ + 0.9342662692070007, + 0.1059502363204956, + -0.34047189354896545, + -7.195410251617432 + ], + [ + 0.356279194355011, + -0.3163301348686218, + 0.8792043924331665, + -1.290673017501831 + ], + [ + -0.014549612998962402, + -0.9427140951156616, + -0.3332844376564026, + 1.5709447860717773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2814569654327699, + 0.2778814527159587, + 0.25504177988258786 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.8212646227451671, + 0.8532838493612753, + 0.9045146119470489 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6239.395898401755, + "intensity": 0.8660915400077187 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.7224642875875091, + 0.7057652441670309, + 0.6771383125890682 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5161.987091144954, + "intensity": 0.7057652441670309 + }, + "point_color_scale": [ + 0.8762018580310275, + 0.8694789582214488, + 0.8579539871193141 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b39bb3beafebdd402f25e68b920f0736a1c2fbab --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2912962428835946, + "K": [ + [ + 331.36938839585235, + 0.0, + 345.91366032778427 + ], + [ + 0.0, + 318.5727418297232, + 230.67280349459415 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.538335921792793, + -1.0418855703172465, + 1.5970324079990108 + ], + "camera_target": [ + -7.5911969874953265, + -0.21587679899172024, + 1.1031392825293795 + ], + "camera_roll_rad": 0.02004491369518023, + "camera_pose_world_cv": [ + [ + 0.6276708841323853, + 0.24745383858680725, + -0.7381028532981873, + -6.538335800170898 + ], + [ + 0.7775702476501465, + -0.2450782060623169, + 0.5790692567825317, + -1.0418856143951416 + ], + [ + -0.037600040435791016, + -0.9373917579650879, + -0.3462412357330322, + 1.5970324277877808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.287057064005259, + 0.29450538924200576, + 0.2963995777633801 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.08878695548208, + 1.0468908833941921, + 0.9750690455292416 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4928.292551750217, + "intensity": 1.0468908833941921 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6634423566742584, + 0.668974770630234, + 0.6778266329597952 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5664.854441089581, + "intensity": 0.6711877362126244 + }, + "point_color_scale": [ + 1.14943790845619, + 1.1390226881880343, + 1.121168024871196 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7c28b68da45319f5a3a84cfccfa90b4aa1521fe --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0578715269014727, + "K": [ + [ + 430.0908624488541, + 0.0, + 296.0567790768932 + ], + [ + 0.0, + 410.61556529773077, + 232.27354786449234 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.851091154038516, + -1.5772160260619068, + 1.0197516009899852 + ], + "camera_target": [ + -7.644895880052085, + -0.1484544005059074, + 1.1187378404992478 + ], + "camera_roll_rad": -0.051261546341245086, + "camera_pose_world_cv": [ + [ + 0.8725594282150269, + 0.060258299112319946, + -0.48477721214294434, + -6.851091384887695 + ], + [ + 0.4777071177959442, + 0.10227024555206299, + 0.8725461959838867, + -1.5772160291671753 + ], + [ + 0.1021563857793808, + -0.9929299354553223, + 0.06045103073120117, + 1.0197515487670898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34877107344980934, + 0.34691708791436726, + 0.33951693440651864 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.1988264551058876, + 1.179785899765112, + 1.147144947752354 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5269.442969700006, + "intensity": 1.179785899765112 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.9236881525546252, + 0.914862013290771, + 0.8997314888384494 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5362.178446653603, + "intensity": 0.914862013290771 + }, + "point_color_scale": [ + 1.1295947842081746, + 1.1324249375694893, + 1.1369531829475925 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4846b51b3d2ff696c8a739bcd2ac89842d45cb35 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0337209363116135, + "K": [ + [ + 440.715810079531, + 0.0, + 326.6769218585466 + ], + [ + 0.0, + 422.23745840132756, + 263.92876038783106 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.82250855439152, + -1.4647895747118327, + 1.0458211070329642 + ], + "camera_target": [ + -7.583605419140388, + -0.1550726094633469, + 1.1310768225402823 + ], + "camera_roll_rad": -0.0466890000840887, + "camera_pose_world_cv": [ + [ + 0.8634781241416931, + 0.052507996559143066, + -0.5016456842422485, + -6.822508335113525 + ], + [ + 0.4957205057144165, + 0.09522199630737305, + 0.8632461428642273, + -1.464789628982544 + ], + [ + 0.09309504926204681, + -0.9940702319145203, + 0.056192755699157715, + 1.0458210706710815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3171970003323413, + 0.3172768316683536, + 0.2962958141475189 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.891807170786964, + 0.8551445533412482, + 0.7922943520057354 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4887.528487728161, + "intensity": 0.8551445533412482 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6096505071674015, + 0.6157232553150196, + 0.6254396523512085 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5696.480628203783, + "intensity": 0.6181523545740668 + }, + "point_color_scale": [ + 0.9860335692081621, + 1.0037475496041923, + 1.0320899182378407 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70ae333c83ade29999f67dd87a88de4833107929 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8154302648045108, + "K": [ + [ + 571.26051690388, + 0.0, + 335.27977793877307 + ], + [ + 0.0, + 555.6617924219563, + 230.14421858180393 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.866153291903229, + -1.6024842475612013, + 1.0564955500478155 + ], + "camera_target": [ + -7.580505550838087, + -0.23511465320633562, + 1.043480338787732 + ], + "camera_roll_rad": 0.030084602009687378, + "camera_pose_world_cv": [ + [ + 0.8849652409553528, + -0.04939861595630646, + -0.4630294442176819, + -6.866153240203857 + ], + [ + 0.4617583751678467, + -0.03530794382095337, + 0.8863028287887573, + -1.6024842262268066 + ], + [ + -0.060130774974823, + -0.998154878616333, + -0.008436083793640137, + 1.0564955472946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30962257891739986, + 0.2923644824959302, + 0.29570102134400733 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.0653600085086048, + 1.118157618631171, + 1.2026337948272772 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6426.861961665354, + "intensity": 1.1392766626801976 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.7684871521103713, + 0.7989199294408403, + 0.847612373169591 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 6250.413967711346, + "intensity": 0.8110930403730281 + }, + "point_color_scale": [ + 0.9909602308902737, + 1.0124287548943824, + 1.0467783933009567 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79b1a1ffba1fe3b42a9145119d1c115ce2ac6916 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1033592766359672, + "K": [ + [ + 374.5792807473352, + 0.0, + 311.8741095515209 + ], + [ + 0.0, + 389.97845786707506, + 231.90524688289642 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.900372159393806, + -1.2391643683822435, + 0.9411220003928538 + ], + "camera_target": [ + -7.637834539363545, + -0.1979645789176996, + 1.1407491673253647 + ], + "camera_roll_rad": 0.03431706064094872, + "camera_pose_world_cv": [ + [ + 0.8079959154129028, + -0.14509867131710052, + -0.5710420608520508, + -6.90037202835083 + ], + [ + 0.5852792263031006, + 0.08620703220367432, + 0.8062362670898438, + -1.2391643524169922 + ], + [ + -0.06775599718093872, + -0.9856545925140381, + 0.15457820892333984, + 0.9411219954490662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37391772066796836, + 0.3868514418026345, + 0.3757534177252149 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.8875651248159883, + 0.9138432722418528, + 0.9558883081232362 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 6068.572913066233, + "intensity": 0.9243545312121987 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.935096960068902, + 0.923917309953473, + 0.9047521954698807 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5327.13898133231, + "intensity": 0.923917309953473 + }, + "point_color_scale": [ + 0.9942010665273806, + 0.9900468360567191, + 0.9829252981070136 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..844d8cf8f44701a79736b42a9ec87dfdee619165 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9379053555617091, + "K": [ + [ + 462.87808543440457, + 0.0, + 347.2018627636817 + ], + [ + 0.0, + 473.70069486250657, + 247.76160661397967 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.8296578300611035, + -1.360451148927267, + 1.718295894333516 + ], + "camera_target": [ + -7.654587831842637, + -0.15138931982184267, + 1.091260755731543 + ], + "camera_roll_rad": -0.047431513200506537, + "camera_pose_world_cv": [ + [ + 0.801310122013092, + 0.2991839349269867, + -0.5180647373199463, + -6.829658031463623 + ], + [ + 0.5918794870376587, + -0.2704371213912964, + 0.7593038082122803, + -1.360451102256775 + ], + [ + 0.0870676338672638, + -0.9150696992874146, + -0.39378488063812256, + 1.718295931816101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28750514472940114, + 0.2689101299336013, + 0.2862575009524493 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.8457354108939946, + 0.8609354487986195, + 0.8852555094460194 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5850.628991902684, + "intensity": 0.8670154639604694 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.9537987149396286, + 0.9368676236042768, + 0.9078428956008163 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5241.82827192635, + "intensity": 0.9368676236042768 + }, + "point_color_scale": [ + 0.9122379314990305, + 0.929031965258844, + 0.9559024192745458 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a89b439129fd702147854683a58150b4cac13a9b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.125096071356894, + "K": [ + [ + 363.67074909129695, + 0.0, + 349.24567525353245 + ], + [ + 0.0, + 380.647377629728, + 234.96085331454944 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.449795251525344, + -0.06254839046523161, + 1.7308578278920606 + ], + "camera_target": [ + -7.577644310486748, + -0.19727052902617506, + 1.1831084051647962 + ], + "camera_roll_rad": 0.011194143032306758, + "camera_pose_world_cv": [ + [ + -0.10892248153686523, + 0.4338441491127014, + -0.8943798542022705, + -6.449795246124268 + ], + [ + 0.9938457608222961, + 0.029277324676513672, + -0.10683411359786987, + -0.06254839152097702 + ], + [ + -0.02016434073448181, + -0.900512158870697, + -0.43436306715011597, + 1.7308578491210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3133316651733933, + 0.31536020007075, + 0.2863392290786947 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 0.9015941183090805, + 0.877046537624184, + 0.8349649707357905 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5100.158362154992, + "intensity": 0.877046537624184 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.6590111926440174, + 0.6858543886109731, + 0.7288035021581023 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 6270.701035877944, + "intensity": 0.6965916669977554 + }, + "point_color_scale": [ + 0.8690957435772615, + 0.9010223677387914, + 0.9521049663972395 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c72dae5d1b0320b05867e6f3cffe67025bc1f4b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9128701725164935, + "K": [ + [ + 483.4658577534847, + 0.0, + 296.21344135929957 + ], + [ + 0.0, + 488.78185827550766, + 233.50718068315598 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.637122529997025, + -0.5070278272881337, + 1.586088312759138 + ], + "camera_target": [ + -7.595952318829956, + -0.2115904913393592, + 1.0648531578089395 + ], + "camera_roll_rad": 0.0017883028803288986, + "camera_pose_world_cv": [ + [ + 0.2960355281829834, + 0.4395172595977783, + -0.8480492830276489, + -6.637122631072998 + ], + [ + 0.9551717042922974, + -0.13916784524917603, + 0.2613033354282379, + -0.507027804851532 + ], + [ + -0.003173917531967163, + -0.887387752532959, + -0.4610130190849304, + 1.5860882997512817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37888287200352805, + 0.36529416222203376, + 0.3744804036237406 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.1891669244640606, + 1.1903420640566753, + 1.1922222874048587 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 5519.736775818499, + "intensity": 1.1908121198937212 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.5811915581690308, + 0.5816332444748968, + 0.5823399425642825 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5515.183182391502, + "intensity": 0.5818099189972432 + }, + "point_color_scale": [ + 1.114500716985802, + 1.0778707297488164, + 1.0150764659139837 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5c99181890b8ab4faaef4ffd68f9f6c8a789c27 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.111659312090074, + "K": [ + [ + 371.2784052469346, + 0.0, + 293.25086673757403 + ], + [ + 0.0, + 386.37693626831935, + 242.74603310434387 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.077617404701749, + -0.39616466254650207, + 1.593170988837168 + ], + "camera_target": [ + -7.635468154307931, + -0.14329401764669047, + 1.16404063167678 + ], + "camera_roll_rad": 0.019486462178703548, + "camera_pose_world_cv": [ + [ + 0.17019236087799072, + 0.25254902243614197, + -0.9524986743927002, + -6.077617168426514 + ], + [ + 0.9846934080123901, + -0.08046674728393555, + 0.15460973978042603, + -0.3961646556854248 + ], + [ + -0.037597984075546265, + -0.9642325043678284, + -0.2623780369758606, + 1.5931710004806519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3458545501920804, + 0.3462898795118071, + 0.3465589229293048 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.0576618027163693, + 1.0139792092362034, + 0.939094763270205 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4884.566227756563, + "intensity": 1.0139792092362034 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.8339713372461903, + 0.8311424583921545, + 0.8262929517852359 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5451.377101904006, + "intensity": 0.8311424583921545 + }, + "point_color_scale": [ + 1.0655870301709651, + 1.0819952968023565, + 1.1082485234125825 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b2ec23ae6e615176abe5d30a822f3d519d9b5f3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000147/scene_b04_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 147, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2820621443032447, + "K": [ + [ + 316.1977764768107, + 0.0, + 297.0637629082969 + ], + [ + 0.0, + 321.65213556823437, + 221.3074629321721 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.771571792546213, + -1.7591861444813175, + 1.6262304781622983 + ], + "camera_target": [ + -7.587744979945787, + -0.18334038592846374, + 1.1746065932648633 + ], + "camera_roll_rad": -0.02634008411024269, + "camera_pose_world_cv": [ + [ + 0.9935572147369385, + 0.02062264084815979, + 0.11143945902585983, + -7.771571636199951 + ], + [ + -0.10138662159442902, + -0.2776643633842468, + 0.9553132057189941, + -1.7591861486434937 + ], + [ + 0.05064385384321213, + -0.9604568481445312, + -0.2737845778465271, + 1.6262304782867432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0820777416229248, + 0.9966260194778442, + 0.0, + -7.6056809425354 + ], + [ + -0.9966260194778442, + 0.0820777416229248, + -0.0, + -0.19149592518806458 + ], + [ + -0.0, + 0.0, + 1.0, + 0.939013659954071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2999806787525373, + 0.3183837143607491, + 0.2981655232487055 + ], + "directional_primary": { + "direction": [ + -0.6447413140561606, + 0.39395449989166115, + -0.6550637281702035 + ], + "color": [ + 1.1611371465735756, + 1.1132864278634398, + 1.03125662436035 + ], + "azimuth_rad": 2.5931043256198523, + "elevation_rad": 0.7142669623496342, + "color_temp_k": 4885.978595669242, + "intensity": 1.1132864278634398 + }, + "directional_fill": { + "direction": [ + -0.33362289740457274, + -0.23329285402664096, + -0.9133839305502819 + ], + "color": [ + 0.636745790324966, + 0.6162737452692149, + 0.581178810887927 + ], + "azimuth_rad": -2.531356044174388, + "elevation_rad": 1.1515203560722218, + "color_temp_k": 5025.4417557850475, + "intensity": 0.6162737452692149 + }, + "point_color_scale": [ + 1.012977117093445, + 1.0296200012529042, + 1.056248615908039 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a207f291a82d10ca79c11c0d1bcf05038603ef5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1486381625553503, + "K": [ + [ + 358.2166589643118, + 0.0, + 342.31049219716385 + ], + [ + 0.0, + 370.89750183761726, + 249.09495575128668 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.198230216611507, + -0.2838783055188048, + 1.3652754601201553 + ], + "camera_target": [ + -0.8762881723778086, + -0.34169415018496324, + 0.8584224125618711 + ], + "camera_roll_rad": 0.020219502307925408, + "camera_pose_world_cv": [ + [ + -0.05810558795928955, + -0.3553045988082886, + 0.9329429268836975, + -2.198230266571045 + ], + [ + -0.9975963830947876, + 0.05600619316101074, + -0.04080277681350708, + -0.28387829661369324 + ], + [ + -0.03775310516357422, + -0.9330713152885437, + -0.357704758644104, + 1.365275502204895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26057642385212304, + 0.2601220311728615, + 0.26328830315004076 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9623489677634385, + 0.9734621321992134, + 0.9912431952964533 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5727.284596860691, + "intensity": 0.9779073979735233 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5656452943429202, + 0.5849027098524933, + 0.6157145746678103 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6149.923424214479, + "intensity": 0.5926056760563225 + }, + "point_color_scale": [ + 1.1244848922071102, + 1.128310450124415, + 1.1344313427921024 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e018743367976bf39ca9c2716eeadc122f75dd39 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9297873459480973, + "K": [ + [ + 469.6539820213229, + 0.0, + 349.35129695248963 + ], + [ + 0.0, + 478.5084396194474, + 258.5754855754901 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8754636069779578, + -0.26770155273315605, + 0.7126624321734627 + ], + "camera_target": [ + -0.9138054467668115, + -0.33509807127041513, + 0.8859778812750034 + ], + "camera_roll_rad": -0.009821985666686323, + "camera_pose_world_cv": [ + [ + -0.07336592674255371, + 0.17510738968849182, + 0.9818120002746582, + -1.875463604927063 + ], + [ + -0.9971177577972412, + -0.03196299076080322, + -0.06880897283554077, + -0.26770156621932983 + ], + [ + 0.01933273673057556, + -0.9840304255485535, + 0.1769477128982544, + 0.7126624584197998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29788903667825734, + 0.3012466601133082, + 0.2900894917118866 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.087716754783662, + 1.114410266659844, + 1.157119885661736 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5974.514343272849, + "intensity": 1.125087671410317 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8832380038972287, + 0.860718476362087, + 0.8221135720161297 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5126.233727924559, + "intensity": 0.860718476362087 + }, + "point_color_scale": [ + 1.0260539953135517, + 1.011228244152465, + 0.9858126707334589 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b81f96863fac057b8e52f718f28e602e53a5cc56 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0016014237749096, + "K": [ + [ + 454.3306036829649, + 0.0, + 298.95897732945195 + ], + [ + 0.0, + 438.4822017636631, + 222.59414967986316 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.45346717396136, + -0.9856812098655605, + 0.9840655160409801 + ], + "camera_target": [ + -0.8824015228639916, + -0.26776496129708793, + 0.9085129264174259 + ], + "camera_roll_rad": -0.018494770975214826, + "camera_pose_world_cv": [ + [ + 0.41680872440338135, + -0.024347394704818726, + 0.9086681604385376, + -2.4534671306610107 + ], + [ + -0.9082431793212891, + -0.05178511142730713, + 0.4152263104915619, + -0.9856812357902527 + ], + [ + 0.036945849657058716, + -0.9983614683151245, + -0.0436977744102478, + 0.9840655326843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22189874311298058, + 0.23985803457629382, + 0.2188466079445819 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1412237467717836, + 1.1504840019938167, + 1.1653004103490694 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5660.463536043689, + "intensity": 1.1541881040826298 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6682860211309938, + 0.6385148203312472, + 0.5874784761031101 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4833.918563789684, + "intensity": 0.6385148203312472 + }, + "point_color_scale": [ + 0.9163310628140702, + 0.9467639394004591, + 0.9954565419386815 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c961e568b14fa63a3cc4036458ee8f711e6ca40f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.785424350618506, + "K": [ + [ + 571.8008277193402, + 0.0, + 318.92625150387045 + ], + [ + 0.0, + 579.3897975441563, + 242.418599205638 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.372595451063985, + -0.8819831315446397, + 0.8245121213433442 + ], + "camera_target": [ + -0.8419849006361496, + -0.31899566830650306, + 0.8749837618715368 + ], + "camera_roll_rad": -0.040625096151125785, + "camera_pose_world_cv": [ + [ + 0.34171271324157715, + 0.056952863931655884, + 0.9380772113800049, + -2.3725955486297607 + ], + [ + -0.936296820640564, + -0.06552857160568237, + 0.34504255652427673, + -0.8819831609725952 + ], + [ + 0.08112204074859619, + -0.996224045753479, + 0.030932903289794922, + 0.8245121240615845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2805346004142174, + 0.2746025640968351, + 0.2968047370641273 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9390969538122891, + 0.9621028817737979, + 0.998912366512212 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5973.711593578587, + "intensity": 0.9713052529584015 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6853685699918884, + 0.6943878204239168, + 0.7088186211151623 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5758.432902959539, + "intensity": 0.6979955205967281 + }, + "point_color_scale": [ + 0.985717819908029, + 0.9828512327294331, + 0.9779370832804115 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd5eb52ccca101e03337207991c69c72f360931 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9245714372413175, + "K": [ + [ + 500.7027367239846, + 0.0, + 310.31384742662635 + ], + [ + 0.0, + 481.63873301878897, + 220.40031843339008 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6713792815953745, + -0.9578682147207414, + 0.7732981733979869 + ], + "camera_target": [ + -0.8888379435501719, + -0.2516705126755844, + 0.8432063806515276 + ], + "camera_roll_rad": 0.0063159427622330455, + "camera_pose_world_cv": [ + [ + 0.6705325841903687, + 0.04066208004951477, + 0.7407649159431458, + -1.6713793277740479 + ], + [ + -0.7417730093002319, + 0.05370974540710449, + 0.6684969663619995, + -0.957868218421936 + ], + [ + -0.012603819370269775, + -0.9977284669876099, + 0.06617617607116699, + 0.7732981443405151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2180334927254228, + 0.2327454307034101, + 0.24371689666290025 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9384378965214363, + 0.9711732592538003, + 1.0235498396255829 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6165.172138949178, + "intensity": 0.9842674043467459 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.654660458066834, + 0.6412072689999485, + 0.6181446591710017 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5200.270997331381, + "intensity": 0.6412072689999485 + }, + "point_color_scale": [ + 0.8429811294931109, + 0.8081620369433979, + 0.7484721640010331 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd87f8a706496c1613504fa9125e71423d127028 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2343070064172819, + "K": [ + [ + 334.03718815806116, + 0.0, + 342.51371101628797 + ], + [ + 0.0, + 338.20896771691514, + 217.1732972994561 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2688050521743213, + -0.31724463438269096, + 1.5519969978354686 + ], + "camera_target": [ + -0.8527094392940034, + -0.3006823988144374, + 0.9497582666703188 + ], + "camera_roll_rad": -0.045039271445350006, + "camera_pose_world_cv": [ + [ + 0.04684853553771973, + -0.3886716961860657, + 0.9201845526695251, + -2.2688050270080566 + ], + [ + -0.9954659342765808, + -0.09450864791870117, + 0.010762244462966919, + -0.31724464893341064 + ], + [ + 0.08278244733810425, + -0.9165165424346924, + -0.39133691787719727, + 1.5519969463348389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35378840619194846, + 0.3606763066049289, + 0.3469459812352616 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.927935408779469, + 0.9462999503667845, + 0.9756832169064893 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5885.143880941329, + "intensity": 0.9536457670017107 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7089428235375941, + 0.7106619607470103, + 0.7134125802820761 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5548.334522761828, + "intensity": 0.7113496156307767 + }, + "point_color_scale": [ + 0.8266469983939705, + 0.8174313982089713, + 0.8016332264632583 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..241bac61519655c18ecb7b581895bedcf69183e9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.276779112820371, + "K": [ + [ + 323.24593496296575, + 0.0, + 306.18850174181455 + ], + [ + 0.0, + 323.43111590975354, + 236.51872369108207 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.78734648069977, + -0.3478968579660185, + 1.040360202476163 + ], + "camera_target": [ + -0.8979132954554198, + -0.32568254562002596, + 0.8531814874136029 + ], + "camera_roll_rad": 0.014485945361595753, + "camera_pose_world_cv": [ + [ + 0.01899552345275879, + -0.20644760131835938, + 0.9782732725143433, + -1.7873464822769165 + ], + [ + -0.9994176626205444, + 0.023820877075195312, + 0.02443307638168335, + -0.34789684414863586 + ], + [ + -0.02834734320640564, + -0.978167712688446, + -0.20587480068206787, + 1.0403602123260498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2660882895676941, + 0.24828039685685757, + 0.2702350568012721 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8686130138286504, + 0.889264240399669, + 0.9223062029132989 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5960.181783456008, + "intensity": 0.8975247310280765 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7053693003222219, + 0.7231298720035617, + 0.7515467866937054 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5986.435012139146, + "intensity": 0.7302341006760977 + }, + "point_color_scale": [ + 0.896763040243552, + 0.8809014079422071, + 0.8537100382827586 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50ab6ab466398f6f5b5ecea2ea83e2a528dac23a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.248372115999649, + "K": [ + [ + 324.2946654534192, + 0.0, + 297.164695513369 + ], + [ + 0.0, + 333.21877277436204, + 236.6805610613467 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.1946688722226133, + -0.5968838337908742, + 0.7825239734973438 + ], + "camera_target": [ + -0.9098332399104336, + -0.3475085696196423, + 0.8998489574200039 + ], + "camera_roll_rad": -0.03351829165331544, + "camera_pose_world_cv": [ + [ + 0.18423616886138916, + 0.10021495819091797, + 0.9777597188949585, + -2.194668769836426 + ], + [ + -0.9806150197982788, + -0.04878556728363037, + 0.1897745430469513, + -0.5968838334083557 + ], + [ + 0.06671890616416931, + -0.9937691688537598, + 0.08928430080413818, + 0.7825239896774292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2225453222362371, + 0.22427676433828148, + 0.2086952030131682 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.969371300569336, + 1.0141456089704433, + 1.0857845024122152 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6367.672633403969, + "intensity": 1.0320553323308863 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9684580962278536, + 0.9443807407289179, + 0.9031052741593139 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5135.780139747576, + "intensity": 0.9443807407289179 + }, + "point_color_scale": [ + 0.9521093250360019, + 0.9921692128564291, + 1.056265033369113 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b721d23b5c5f1bda9b94fa4674bbc24b59f1d26 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0165154005367434, + "K": [ + [ + 449.61573099624303, + 0.0, + 317.48691657780427 + ], + [ + 0.0, + 430.8228579181355, + 251.68298268822025 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3889609985434728, + -0.9888096562360215, + 0.8781814401964049 + ], + "camera_target": [ + -0.8964563919123686, + -0.3011422703406302, + 0.922052539463465 + ], + "camera_roll_rad": -0.033365892108916044, + "camera_pose_world_cv": [ + [ + 0.4159179925918579, + 0.05208858847618103, + 0.9079091548919678, + -2.38896107673645 + ], + [ + -0.9069558382034302, + -0.049420177936553955, + 0.4183166027069092, + -0.9888096451759338 + ], + [ + 0.06665855646133423, + -0.9974188804626465, + 0.026687264442443848, + 0.8781814575195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2310284098427031, + 0.24550817492326357, + 0.23408377939424302 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9139383602174607, + 0.9566821367855934, + 1.025072179294606 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6377.894227543063, + "intensity": 0.9737796474128466 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7873893806943721, + 0.7849391213802459, + 0.780738676841744 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5455.405835262784, + "intensity": 0.7849391213802459 + }, + "point_color_scale": [ + 1.017403260367226, + 0.9919537887475627, + 0.9483261231138542 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2fea4344acd13cb9f340151860085b52f69668a2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2372957274419898, + "K": [ + [ + 322.79230023169026, + 0.0, + 314.9551556355118 + ], + [ + 0.0, + 337.1403504047073, + 254.2660158912664 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1792440709165701, + -1.4953283829774588, + 1.2777356956023316 + ], + "camera_target": [ + -0.9005797610653125, + -0.29283873748896144, + 0.9616461975793317 + ], + "camera_roll_rad": -0.04686303813508105, + "camera_pose_world_cv": [ + [ + 0.9751492738723755, + 0.03541465848684311, + 0.21869990229606628, + -1.179244041442871 + ], + [ + -0.2021484076976776, + -0.2617352604866028, + 0.9437323212623596, + -1.495328426361084 + ], + [ + 0.09066344052553177, + -0.964489758014679, + -0.24807196855545044, + 1.277735710144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.276713406168944, + 0.2778093379052269, + 0.28799021264360275 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0096533050651617, + 0.9654814983924125, + 0.8897584012391282 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4846.413358866638, + "intensity": 0.9654814983924125 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5480539403826025, + 0.5511406912210296, + 0.5560794925625131 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5611.762793405035, + "intensity": 0.5523753915564005 + }, + "point_color_scale": [ + 0.9987159920784942, + 1.0254057292784413, + 1.068109308798357 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..baa249dfeb49656f6239ef9db73c143929e995bd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9560958653370949, + "K": [ + [ + 455.4126335536507, + 0.0, + 349.7825302993112 + ], + [ + 0.0, + 463.2022369195833, + 216.37739553550477 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8272465894861942, + -1.2594839936647277, + 0.7743527531643506 + ], + "camera_target": [ + -0.9009207535451251, + -0.28008009639197323, + 0.8912988804977404 + ], + "camera_roll_rad": -0.005364710070946667, + "camera_pose_world_cv": [ + [ + 0.7258403897285461, + 0.0671786367893219, + 0.6845748424530029, + -1.8272465467453003 + ], + [ + -0.6877801418304443, + 0.05541384220123291, + 0.7238009572029114, + -1.259484052658081 + ], + [ + 0.01068904995918274, + -0.9962009787559509, + 0.08642578125, + 0.7743527293205261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3238798038172927, + 0.32644211962164205, + 0.3296077340032686 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9080051809602057, + 0.9517252251334423, + 1.0216772958106208 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6402.1759555576955, + "intensity": 0.9692132428027369 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8777898961077846, + 0.839548379236908, + 0.7739914931725481 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4849.284213536066, + "intensity": 0.839548379236908 + }, + "point_color_scale": [ + 0.9509168517506398, + 0.9289746535853594, + 0.891359456730593 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83fcd0255bca94b44f539423b15680dd40a1f5c5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0789877052205297, + "K": [ + [ + 404.091214767437, + 0.0, + 326.98163850652475 + ], + [ + 0.0, + 400.84055087534273, + 241.84247787950676 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4629493392365337, + -1.3524120469060765, + 1.573710783097111 + ], + "camera_target": [ + -0.9134750182143335, + -0.2503225974468804, + 0.9623536469211631 + ], + "camera_roll_rad": -0.04516756045029135, + "camera_pose_world_cv": [ + [ + 0.9062769412994385, + 0.255643367767334, + -0.3366134762763977, + -0.46294933557510376 + ], + [ + 0.41499632596969604, + -0.3869553804397583, + 0.823434054851532, + -1.3524121046066284 + ], + [ + 0.0802510529756546, + -0.8859526515007019, + -0.4567797780036926, + 1.5737107992172241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33429976801609473, + 0.3197999871163397, + 0.32033838966924305 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9124733643458703, + 0.85439365895177, + 0.7548284497047412 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4528.89017449343, + "intensity": 0.85439365895177 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9813424325947376, + 0.9476433365501874, + 0.8898734576166726 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4991.986447631402, + "intensity": 0.9476433365501874 + }, + "point_color_scale": [ + 1.0094135996554536, + 1.0160255354198802, + 1.026604632642963 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb299dd5fe44b8478530c74295a62e9c3bad3f4f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2098455784080144, + "K": [ + [ + 337.3502598184268, + 0.0, + 332.06287927507157 + ], + [ + 0.0, + 347.1277285853919, + 240.36484800627397 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4777287263008283, + -0.9313636365132927, + 0.9490401088721415 + ], + "camera_target": [ + -0.9158114534547482, + -0.3460172139131896, + 0.9090040647417617 + ], + "camera_roll_rad": -0.03134548710994448, + "camera_pose_world_cv": [ + [ + 0.351645827293396, + -0.00043973326683044434, + 0.9361331462860107, + -2.477728843688965 + ], + [ + -0.9340356588363647, + -0.06706953048706055, + 0.350826621055603, + -0.9313636422157288 + ], + [ + 0.06263184547424316, + -0.9977483749389648, + -0.02399533987045288, + 0.9490401148796082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3329891858555403, + 0.30997573816397644, + 0.31047551935131323 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.090208482996745, + 1.1291099883123883, + 1.1913523968174176 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6179.6978212, + "intensity": 1.1446705904386456 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8651530804347585, + 0.8417402993277789, + 0.8016041031443852 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5102.646681173054, + "intensity": 0.8417402993277789 + }, + "point_color_scale": [ + 1.008206532988277, + 1.0421674358552349, + 1.0965048804423676 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..975847b58a83b61bb03670db471c94cfcc27cbbe --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0335121808575658, + "K": [ + [ + 439.7376881838703, + 0.0, + 290.04459068981237 + ], + [ + 0.0, + 422.34006509775674, + 254.49750750482565 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5257715102783425, + -1.5978170094611868, + 0.7160667530428521 + ], + "camera_target": [ + -0.9035249509959616, + -0.28386576707104827, + 0.860449388930135 + ], + "camera_roll_rad": 0.0011039945573236287, + "camera_pose_world_cv": [ + [ + 0.961004376411438, + -0.03113994002342224, + -0.27477431297302246, + -0.5257714986801147 + ], + [ + 0.27652451395988464, + 0.10032391548156738, + 0.9557558298110962, + -1.597817063331604 + ], + [ + -0.0021957308053970337, + -0.9944673776626587, + 0.10502266883850098, + 0.7160667777061462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36882824693836186, + 0.35382599055127345, + 0.3863355274595635 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1424252638109387, + 1.0696862844576116, + 0.9449908912804798 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4528.567261659345, + "intensity": 1.0696862844576116 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9256883655022704, + 0.9157993175269583, + 0.8988466638549947 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5345.7390050098265, + "intensity": 0.9157993175269583 + }, + "point_color_scale": [ + 0.9072145512679376, + 0.9247915072915295, + 0.9529146369292765 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b59774b1750a30bdbe1aeb08877064285cef8154 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8181498052875548, + "K": [ + [ + 532.6248653763017, + 0.0, + 322.507624385067 + ], + [ + 0.0, + 553.5926159359411, + 240.84151236632138 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.299907223884029, + -0.2867428794009066, + 1.246121238328453 + ], + "camera_target": [ + -0.866608257913318, + -0.33767409191176867, + 0.9551735204282059 + ], + "camera_roll_rad": 0.050128466419607304, + "camera_pose_world_cv": [ + [ + -0.05522012710571289, + -0.19413650035858154, + 0.9794192314147949, + -2.2999072074890137 + ], + [ + -0.9936443567276001, + 0.10705089569091797, + -0.03480294346809387, + -0.2867428660392761 + ], + [ + -0.09809103608131409, + -0.9751161336898804, + -0.198813796043396, + 1.2461212873458862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33043354276250786, + 0.3188244060657552, + 0.32112272988609214 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.801661276961082, + 0.8386987270704733, + 0.8979586472454993 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6367.881787970733, + "intensity": 0.8535137071142298 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7495185794727632, + 0.7147833050366726, + 0.6552371202890889 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4805.778125015937, + "intensity": 0.7147833050366726 + }, + "point_color_scale": [ + 0.92140386512534, + 0.898962692301299, + 0.860492110317229 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1546a06f8b38b20e3df9b51b87e0d30e836c67e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9087362633391192, + "K": [ + [ + 495.86047932206014, + 0.0, + 301.7586704623685 + ], + [ + 0.0, + 491.34627344476536, + 236.05083221370685 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0449308636353853, + -0.4124702676370714, + 0.8367898907970742 + ], + "camera_target": [ + -0.8744477837284939, + -0.3365480026568236, + 0.9849415118374206 + ], + "camera_roll_rad": 0.038826874100367545, + "camera_pose_world_cv": [ + [ + 0.07423382997512817, + 0.11965104937553406, + 0.9900367856025696, + -2.044930934906006 + ], + [ + -0.9942663908004761, + 0.08549964427947998, + 0.06421780586242676, + -0.412470281124115 + ], + [ + -0.07696419954299927, + -0.989127516746521, + 0.12531185150146484, + 0.8367899060249329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.346191942691803, + -0.938163697719574, + 0.0, + -0.8680112361907959 + ], + [ + 0.938163697719574, + 0.346191942691803, + 0.0, + -0.29817885160446167 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22944002918281464, + 0.24497625272958598, + 0.2185339368964551 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8975821858647456, + 0.882364586160223, + 0.8562772723810412 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5253.623065903842, + "intensity": 0.882364586160223 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7651899970254359, + 0.7958584100780389, + 0.844927870962204 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6259.000986975153, + "intensity": 0.8081257752990803 + }, + "point_color_scale": [ + 1.1274923805388306, + 1.0886625470501785, + 1.0220971182124896 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afda727db3d496ecf11bba0a478216060b101314 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.17594169763339, + "K": [ + [ + 349.8015094567328, + 0.0, + 291.0175240299643 + ], + [ + 0.0, + 360.0247698699297, + 251.4420854506512 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9975307660231494, + -2.3803846103589565, + 1.4692811361139606 + ], + "camera_target": [ + -0.1663162706317135, + -0.8223656568350278, + 0.923183279025269 + ], + "camera_roll_rad": 0.004841093013607828, + "camera_pose_world_cv": [ + [ + 0.8809014558792114, + -0.14760373532772064, + 0.4496952295303345, + -0.9975307583808899 + ], + [ + -0.4732093811035156, + -0.256097674369812, + 0.8429038524627686, + -2.380384683609009 + ], + [ + -0.009249821305274963, + -0.9553152322769165, + -0.2954442501068115, + 1.4692810773849487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.280581705155779, + 0.2738053145916415, + 0.28259228584808993 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0792619593943815, + 1.066971788408845, + 1.045902923862211 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5335.446566507837, + "intensity": 1.066971788408845 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7559486221354301, + 0.764330404727434, + 0.7777412568746404 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5718.365687561675, + "intensity": 0.7676831177642356 + }, + "point_color_scale": [ + 0.9370471268730106, + 0.9047324451856339, + 0.849335848007274 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc89eec95584e9eb16858eeb022fc50d8e7d86f5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8135269316285146, + "K": [ + [ + 535.7691912486971, + 0.0, + 307.2174999465482 + ], + [ + 0.0, + 557.117719939858, + 244.81690802818534 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1231277452082506, + -1.7145876295083413, + 1.3229647785070329 + ], + "camera_target": [ + -0.15720239766435964, + -0.8771785090205848, + 0.9699187168199561 + ], + "camera_roll_rad": 0.04698508452218772, + "camera_pose_world_cv": [ + [ + 0.6332896947860718, + -0.26171448826789856, + 0.7283197641372681, + -1.1231276988983154 + ], + [ + -0.7686115503311157, + -0.10270857810974121, + 0.631416916847229, + -1.714587688446045 + ], + [ + -0.09044620394706726, + -0.9596648216247559, + -0.26620107889175415, + 1.3229647874832153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3626649699818893, + 0.3336383104860318, + 0.3640184206129042 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0082880950592497, + 1.050626534799038, + 1.1183680383826995 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6293.180036036079, + "intensity": 1.0675619106949534 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6479529736940738, + 0.6300677887706623, + 0.5994074717590995 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5094.483885199815, + "intensity": 0.6300677887706623 + }, + "point_color_scale": [ + 0.8486447845763235, + 0.8453364356555368, + 0.8396649803627595 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e11b4ca3dc7c278d5e69677cf44ebeecf395b70e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8567903471659392, + "K": [ + [ + 506.4980834776793, + 0.0, + 314.77158556358313 + ], + [ + 0.0, + 525.5320142445806, + 253.12330753754355 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2298130866025254, + -1.4321008344752766, + 1.4917939778967015 + ], + "camera_target": [ + -0.15082441442597122, + -0.8638559387854089, + 0.9636859180975569 + ], + "camera_roll_rad": 0.04577671944147389, + "camera_pose_world_cv": [ + [ + 0.4318767189979553, + -0.3927461504936218, + 0.8119316697120667, + -1.2298130989074707 + ], + [ + -0.8980222344398499, + -0.10350865125656128, + 0.4276003837585449, + -1.4321008920669556 + ], + [ + -0.08389639854431152, + -0.9138033390045166, + -0.3973976969718933, + 1.4917939901351929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32262774891578994, + 0.3337500400392342, + 0.3107694869052051 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0007109523119642, + 1.026531429653383, + 1.0678441933996532 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5998.0515554598915, + "intensity": 1.0368596205899505 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5673539376990058, + 0.5557095042311595, + 0.5357476182862801 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5200.654661699893, + "intensity": 0.5557095042311595 + }, + "point_color_scale": [ + 1.1381693056722142, + 1.0914792308286003, + 1.0114391025252625 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6bfcad6198944a82f27f35eb50ab6da108c46b30 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2978475900554647, + "K": [ + [ + 315.8196148405379, + 0.0, + 340.37778098422365 + ], + [ + 0.0, + 316.4107915312528, + 256.4035794868591 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4640250155283057, + -1.2080221359905883, + 0.9796837482284003 + ], + "camera_target": [ + -0.16366306678981812, + -0.8943228777682724, + 0.874837909613333 + ], + "camera_roll_rad": -0.035710960376897, + "camera_pose_world_cv": [ + [ + 0.23933523893356323, + -0.05903226137161255, + 0.969140887260437, + -1.4640250205993652 + ], + [ + -0.9683271050453186, + -0.08764922618865967, + 0.23379549384117126, + -1.208022117614746 + ], + [ + 0.07114306092262268, + -0.9944007396697998, + -0.0781400203704834, + 0.9796837568283081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2602606242510821, + 0.2813043394843963, + 0.27721233065740064 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.089417047347788, + 1.1414068284211014, + 1.2245904781384036 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6394.6766213142955, + "intensity": 1.162202740850427 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8029121254217948, + 0.8000295259977492, + 0.7950879269850997 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5448.526910027825, + "intensity": 0.8000295259977492 + }, + "point_color_scale": [ + 1.0207763574124986, + 1.0306376185992316, + 1.0464156364980046 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a57aa4cb3fb8c57cd1fd4cf7e78633a7e57b451 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.155939047058906, + "K": [ + [ + 355.3559238627981, + 0.0, + 299.77725896470656 + ], + [ + 0.0, + 367.94564800944346, + 262.9884335722911 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3597761501756318, + -0.49282570849763746, + 1.442869243082582 + ], + "camera_target": [ + -0.1886731562149506, + -0.8996121827971683, + 0.9744886121419651 + ], + "camera_roll_rad": -0.0050846291259988505, + "camera_pose_world_cv": [ + [ + -0.3247101306915283, + -0.33717527985572815, + 0.8836720585823059, + -1.3597761392593384 + ], + [ + -0.9457658529281616, + 0.106353759765625, + -0.306946337223053, + -0.4928257167339325 + ], + [ + 0.009512901306152344, + -0.9354153275489807, + -0.3534228801727295, + 1.4428691864013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2758981438224452, + 0.2639584105892469, + 0.28164254087811147 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9792629475079714, + 0.9197660738014697, + 0.8177714331617523 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4575.900532891613, + "intensity": 0.9197660738014697 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5684305277951478, + 0.5732482294788884, + 0.5809565521728732 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5667.521157417697, + "intensity": 0.5751753101523845 + }, + "point_color_scale": [ + 0.9833475536669897, + 0.9652862008671058, + 0.9343238817815904 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bfed82d1178118d822f81ae45afc756c63e89d9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1170476510978657, + "K": [ + [ + 378.3969721521409, + 0.0, + 333.6406811251561 + ], + [ + 0.0, + 384.06450627195835, + 249.7870910119898 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9239823902713968, + -0.1278991450020751, + 1.554299040356202 + ], + "camera_target": [ + -0.199786219314342, + -0.8629092572071468, + 0.8862385882501443 + ], + "camera_roll_rad": 0.014946605241124372, + "camera_pose_world_cv": [ + [ + -0.7234100103378296, + -0.3599783182144165, + 0.5891465544700623, + -0.9239823818206787 + ], + [ + -0.6899627447128296, + 0.40793943405151367, + -0.5979438424110413, + -0.1278991401195526 + ], + [ + -0.0250893235206604, + -0.8390477299690247, + -0.5434790253639221, + 1.554298996925354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2699519778577485, + 0.2896752519419428, + 0.2827127121439896 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.87572769930284, + 0.906832129149909, + 0.9565992169052194 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6176.717348555868, + "intensity": 0.9192739010887365 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6504194405942051, + 0.6754310414083284, + 0.715449602710926 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6229.801540265615, + "intensity": 0.6854356817339778 + }, + "point_color_scale": [ + 1.1078074719592539, + 1.1175486919396436, + 1.1331346439082672 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e976d4a4a7a2089b4c6be05270d651eea031ad9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0235509054860596, + "K": [ + [ + 407.46196181007764, + 0.0, + 306.14695483964766 + ], + [ + 0.0, + 427.28043464076416, + 254.583298231261 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.174083955100026, + -0.8928439281900881, + 1.0593679754821306 + ], + "camera_target": [ + -0.17786827394260402, + -0.8173417726091616, + 0.9883414755155384 + ], + "camera_roll_rad": -0.05173902479289093, + "camera_pose_world_cv": [ + [ + 0.08247190713882446, + -0.06252643465995789, + 0.9946300387382507, + -1.174083948135376 + ], + [ + -0.9912530183792114, + -0.10832846164703369, + 0.07538196444511414, + -0.8928439021110535 + ], + [ + 0.10303348302841187, + -0.9921468496322632, + -0.07091355323791504, + 1.0593680143356323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2908732058663362, + 0.30419445898712794, + 0.2960490371145119 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8214873565071114, + 0.8424102825538597, + 0.8758869642286572 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5991.85311125334, + "intensity": 0.8507794529725591 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7541485953641058, + 0.7566390819758628, + 0.760623860554674 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5565.743681388907, + "intensity": 0.7576352766205656 + }, + "point_color_scale": [ + 0.953920760669933, + 0.9122626697314454, + 0.840848799551181 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5df07ac2d26dee18ad6e2e62b7e06689637f6f4e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0401442280111, + "K": [ + [ + 426.4783531120419, + 0.0, + 324.5277844558078 + ], + [ + 0.0, + 419.0986106783245, + 249.71354141455265 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9883625129480352, + -0.7134544101953879, + 0.9279127708111669 + ], + "camera_target": [ + -0.2214866211181349, + -0.9060321629901349, + 0.9138633585623566 + ], + "camera_roll_rad": -0.04555949508211657, + "camera_pose_world_cv": [ + [ + -0.24097943305969238, + -0.039321303367614746, + 0.9697332382202148, + -0.9883624911308289 + ], + [ + -0.9662564992904663, + -0.08394378423690796, + -0.24351927638053894, + -0.7134544253349304 + ], + [ + 0.09097859263420105, + -0.9956942796707153, + -0.017765820026397705, + 0.9279127717018127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31779662024357547, + 0.3306745416548105, + 0.324066998919958 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9412836048766323, + 0.933129209908596, + 0.9191502471062482 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5375.160529271565, + "intensity": 0.933129209908596 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5946336938347726, + 0.5957555740460125, + 0.5975505823839966 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5537.634084895735, + "intensity": 0.5962043261305086 + }, + "point_color_scale": [ + 0.8991997591359807, + 0.874297298759129, + 0.8316073666845261 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec87470873ad15fc38aaa8a539241e7f8630215f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8756765248289575, + "K": [ + [ + 537.7141796375582, + 0.0, + 335.50357069664864 + ], + [ + 0.0, + 512.664571591597, + 259.36060479277046 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2168195066138476, + -0.3678983349516045, + 1.587568502915301 + ], + "camera_target": [ + -0.1790458808082894, + -0.8930570203427861, + 0.8622825092992056 + ], + "camera_roll_rad": -0.027213933974514465, + "camera_pose_world_cv": [ + [ + -0.42516958713531494, + -0.4959920644760132, + 0.757114827632904, + -1.2168195247650146 + ], + [ + -0.9039359092712402, + 0.19002389907836914, + -0.38313305377960205, + -0.3678983449935913 + ], + [ + 0.04616117477416992, + -0.8472796678543091, + -0.5291372537612915, + 1.5875685214996338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21851148541201323, + 0.2265646148318657, + 0.24333211639386973 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.954689459337015, + 0.9965852580074422, + 1.063618535880126 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6326.882403987716, + "intensity": 1.0133435774756132 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6925333781862235, + 0.6805743908410837, + 0.6600732696779871 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5248.972810822335, + "intensity": 0.6805743908410837 + }, + "point_color_scale": [ + 0.979511617371353, + 0.9852272352518967, + 0.9943722238607667 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94f9c427e43401f45b0e1dbfc5b232e2771bd8ac --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.99393119593105, + "K": [ + [ + 444.04632842158145, + 0.0, + 300.9621564903864 + ], + [ + 0.0, + 442.50317489544034, + 224.5124830757373 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.08292944963419, + -1.3985443101806285, + 1.138313641434579 + ], + "camera_target": [ + -0.21216239115859345, + -0.8995010339034923, + 0.9683702095000672 + ], + "camera_roll_rad": -0.016159079863612515, + "camera_pose_world_cv": [ + [ + 0.5016574859619141, + -0.12870720028877258, + 0.8554381132125854, + -1.0829294919967651 + ], + [ + -0.8644795417785645, + -0.11100590229034424, + 0.4902581572532654, + -1.3985443115234375 + ], + [ + 0.031859010457992554, + -0.9854503273963928, + -0.16695159673690796, + 1.1383136510849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3683591693810195, + 0.368518658269, + 0.3701101178705103 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.836583781557867, + 0.8756932512128929, + 0.9382684026609347 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6377.54615685256, + "intensity": 0.8913370390749034 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6640004726764148, + 0.6493460968282606, + 0.6242243096599962 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5177.601471041765, + "intensity": 0.6493460968282606 + }, + "point_color_scale": [ + 1.0706090605224445, + 1.0776844703090533, + 1.0890051259676272 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9e72912cf92048aab466c717290dc0f2711852 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8443729554472592, + "K": [ + [ + 538.1242584444799, + 0.0, + 290.71758863068976 + ], + [ + 0.0, + 534.2859840489675, + 252.82040563492586 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1934526027172412, + -0.47923017457432926, + 1.596224398652426 + ], + "camera_target": [ + -0.2220086501821823, + -0.8225175390820345, + 0.8510264319542602 + ], + "camera_roll_rad": -0.02817642878691725, + "camera_pose_world_cv": [ + [ + -0.30153608322143555, + -0.570452094078064, + 0.76397705078125, + -1.1934525966644287 + ], + [ + -0.9523621797561646, + 0.14184927940368652, + -0.2699730098247528, + -0.4792301654815674 + ], + [ + 0.04563722014427185, + -0.8089891672134399, + -0.5860493183135986, + 1.5962244272232056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2709986726544849, + 0.2680738492048772, + 0.26949555570017736 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1070158884897052, + 1.1251003207881365, + 1.1540354124656265 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5819.418666256334, + "intensity": 1.132334093707509 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6452913970042654, + 0.6191753301481543, + 0.5744049298233923 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4897.445842547142, + "intensity": 0.6191753301481543 + }, + "point_color_scale": [ + 0.8851899169805709, + 0.9058151579771786, + 0.9388155435717508 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe6a3f980c7a5c0906348186c3e7bf278926aab --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8317538845197301, + "K": [ + [ + 528.7291105293525, + 0.0, + 332.24615736584605 + ], + [ + 0.0, + 543.4335897777815, + 245.46147779398967 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7827034248037072, + -0.30860910069832015, + 1.357518373478174 + ], + "camera_target": [ + -0.212012225145392, + -0.8372743606556741, + 0.9672512862023729 + ], + "camera_roll_rad": -0.04434888862816725, + "camera_pose_world_cv": [ + [ + -0.647768497467041, + -0.3878594636917114, + 0.6557140350341797, + -0.7827033996582031 + ], + [ + -0.75771164894104, + 0.2385486364364624, + -0.6074270009994507, + -0.30860909819602966 + ], + [ + 0.0791766345500946, + -0.8903143405914307, + -0.44840991497039795, + 1.3575183153152466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.338653131319337, + 0.3393445162022289, + 0.3344117234107207 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9508240231245089, + 0.9921478306500433, + 1.0582659226908986 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6319.366220042116, + "intensity": 1.0086773536602571 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7508563578713231, + 0.7630008523441424, + 0.7824320435006534 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5816.321095574336, + "intensity": 0.7678586501332701 + }, + "point_color_scale": [ + 0.9072944120847307, + 0.9147022312328884, + 0.9265547418699408 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5535eb6bc5788169fff72c26eee27ca363fa0d87 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8625050380363886, + "K": [ + [ + 544.0823765062211, + 0.0, + 314.4379015601893 + ], + [ + 0.0, + 521.5828131955362, + 231.96064241327204 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5323934022147578, + -0.8672148855789406, + 1.086049747309042 + ], + "camera_target": [ + -0.1624938327893717, + -0.9076484012049615, + 0.8638406167546064 + ], + "camera_roll_rad": -0.024519099917342375, + "camera_pose_world_cv": [ + [ + -0.021625518798828125, + -0.16123193502426147, + 0.9866796135902405, + -1.532393455505371 + ], + [ + -0.9985945820808411, + -0.04428088665008545, + -0.029122591018676758, + -0.8672148585319519 + ], + [ + 0.04838651418685913, + -0.9859226942062378, + -0.16004765033721924, + 1.0860497951507568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.39330431481961287, + 0.3789464038103103, + 0.36876227128450667 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.877856140693825, + 0.865262160416263, + 0.8436724799404425 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5292.069950362076, + "intensity": 0.865262160416263 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9410941325047918, + 0.9168682905679746, + 0.8753382758191453 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5122.537435528657, + "intensity": 0.9168682905679746 + }, + "point_color_scale": [ + 0.8718212043867117, + 0.8637865348029325, + 0.850012815516454 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d91620401106959a08d7b67f3a7ceba080e9f04e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1846677177463996, + "K": [ + [ + 373.18587340045235, + 0.0, + 290.81038588066747 + ], + [ + 0.0, + 356.64340724669967, + 239.78159409530727 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9193367502249221, + -0.26221131982406265, + 1.2876747280274432 + ], + "camera_target": [ + -0.1943619092973695, + -0.864436942909272, + 0.9719262560116312 + ], + "camera_roll_rad": 0.010284059183119892, + "camera_pose_world_cv": [ + [ + -0.6438720226287842, + -0.23116272687911987, + 0.7293785810470581, + -0.91933673620224 + ], + [ + -0.7648849487304688, + 0.21876049041748047, + -0.605883777141571, + -0.26221132278442383 + ], + [ + -0.01950135827064514, + -0.9480020403862, + -0.31766635179519653, + 1.2876747846603394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3166845640403547, + 0.31787117924577635, + 0.31878713479087345 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8820333260150969, + 0.8916475540244378, + 0.9070303188393833 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5714.724746625895, + "intensity": 0.8954932452281742 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6396163184087943, + 0.6476385104605676, + 0.6604740177434051 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5746.515303235179, + "intensity": 0.6508473872812771 + }, + "point_color_scale": [ + 1.1216113895443822, + 1.0795548007235083, + 1.0074577913162959 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3e8d0a61d037586d51edadb8b0c43f1513d06f4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.923883209627495, + "K": [ + [ + 458.57380320747893, + 0.0, + 308.36206052861087 + ], + [ + 0.0, + 482.0542160196298, + 223.07233669143073 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.652743653117467, + -1.692335864350198, + 1.3292353373488357 + ], + "camera_target": [ + -0.17603123338727134, + -0.8964337632944575, + 0.9401639131615077 + ], + "camera_roll_rad": 0.04925094612339116, + "camera_pose_world_cv": [ + [ + 0.4525873064994812, + -0.24457931518554688, + 0.8575229644775391, + -1.6527436971664429 + ], + [ + -0.8865591287612915, + -0.02010369300842285, + 0.4621782600879669, + -1.692335844039917 + ], + [ + -0.09579983353614807, + -0.9694209098815918, + -0.22593265771865845, + 1.329235315322876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32704696399093397, + 0.32030580965798344, + 0.30171688246612105 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.114392704563156, + 1.142731318973791, + 1.1880731020308073 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5991.108751703243, + "intensity": 1.1540667647380451 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8518705648270316, + 0.8184004583980045, + 0.7610231330911008 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4915.757441664336, + "intensity": 0.8184004583980045 + }, + "point_color_scale": [ + 1.1328787287494089, + 1.1793710260259322, + 1.2537587016683698 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fae0e560472eef939dd6a1415b8e2417d12836e5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9870269706448428, + "K": [ + [ + 444.56089711461715, + 0.0, + 342.2441168539492 + ], + [ + 0.0, + 446.1715239763914, + 253.78410744593404 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6939014421142683, + -1.560834548416116, + 1.5307170013513638 + ], + "camera_target": [ + -0.18730702932765347, + -0.8917098172616913, + 0.9001490831311884 + ], + "camera_roll_rad": 0.02333253233727589, + "camera_pose_world_cv": [ + [ + 0.779492974281311, + -0.39937838912010193, + 0.4825843572616577, + -0.6939014196395874 + ], + [ + -0.6252998113632202, + -0.45022958517074585, + 0.6374115943908691, + -1.560834527015686 + ], + [ + -0.03729464113712311, + -0.7986177206039429, + -0.6006819605827332, + 1.5307170152664185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8914567232131958, + 0.4531058371067047, + 0.0, + -0.17847967147827148 + ], + [ + -0.4531058371067047, + -0.8914567232131958, + -0.0, + -0.8652170896530151 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31026106061523173, + 0.32348750993920516, + 0.3340541336114291 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0779391435006864, + 1.026530013311932, + 0.938400075845496 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4784.564371202203, + "intensity": 1.026530013311932 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5683489358807134, + 0.5914268469045435, + 0.6283515045426717 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6268.420984624578, + "intensity": 0.6006580113140756 + }, + "point_color_scale": [ + 0.877491179107723, + 0.8825038219596661, + 0.8905240505227755 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f988daea7ed3a6864d711367cc5dafffb5eb826a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1618828315772023, + "K": [ + [ + 367.75900081078373, + 0.0, + 294.65054291688216 + ], + [ + 0.0, + 365.56678110276414, + 252.30515625551837 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4801972956154088, + -1.1659917893814162, + 1.3557284069239377 + ], + "camera_target": [ + -0.387221277535438, + -0.21552626723012844, + 0.9747883594331656 + ], + "camera_roll_rad": 0.04630127377148821, + "camera_pose_world_cv": [ + [ + 0.9876498579978943, + -0.12794725596904755, + 0.09042827039957047, + -0.48019731044769287 + ], + [ + -0.1310373991727829, + -0.3581584692001343, + 0.9244197607040405, + -1.1659917831420898 + ], + [ + -0.0858893170952797, + -0.9248524904251099, + -0.37050098180770874, + 1.3557283878326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2511737039729166, + 0.2514623517266801, + 0.26042847329347235 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9756508818569872, + 0.9979123404664739, + 1.0335306742416528 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5942.214628713786, + "intensity": 1.0068169239102687 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8072704524297015, + 0.8285875824008663, + 0.8626949903547301 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6009.30026040503, + "intensity": 0.8371144343893322 + }, + "point_color_scale": [ + 0.8400759322199212, + 0.8212962022681967, + 0.7891023794938116 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0713658d85b5230f964a9cb47fb319da76f013 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1197807720622832, + "K": [ + [ + 388.43892827764756, + 0.0, + 328.110061259503 + ], + [ + 0.0, + 382.8991825658893, + 256.42056345703423 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2631495917324398, + -1.0422198730303815, + 1.2474281248192198 + ], + "camera_target": [ + -0.3920975349401235, + -0.19805392055415183, + 0.8837204345883213 + ], + "camera_roll_rad": -0.01618469289960009, + "camera_pose_world_cv": [ + [ + 0.702247679233551, + -0.18361544609069824, + 0.6878470778465271, + -1.263149619102478 + ], + [ + -0.7112575173377991, + -0.22301626205444336, + 0.6666157245635986, + -1.042219877243042 + ], + [ + 0.031000137329101562, + -0.9573657512664795, + -0.28721052408218384, + 1.2474281787872314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29187514318592267, + 0.2942909546229126, + 0.2933434518297956 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.163023578400564, + 1.1135596535049286, + 1.0287643536838391 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4865.433637717595, + "intensity": 1.1135596535049286 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6251685750261308, + 0.64528831573169, + 0.6774799008605847 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6115.907715984086, + "intensity": 0.6533362120139137 + }, + "point_color_scale": [ + 1.014420759595626, + 0.9749088533409858, + 0.9071741569044598 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54574656f7b9d6bccb6727ff6ff6c4526f97d2ad --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.276735122986322, + "K": [ + [ + 336.10068623608765, + 0.0, + 300.08712425730465 + ], + [ + 0.0, + 323.44598195294435, + 230.92824216379256 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9258758995284655, + -0.9678391531542099, + 0.7180615563134429 + ], + "camera_target": [ + -0.3976483979281934, + -0.26556982870720364, + 0.8717564093506472 + ], + "camera_roll_rad": -0.03806402944580392, + "camera_pose_world_cv": [ + [ + 0.41005611419677734, + 0.11420884728431702, + 0.9048813581466675, + -1.9258759021759033 + ], + [ + -0.9089101552963257, + -0.03121781349182129, + 0.41582190990448, + -0.9678391814231873 + ], + [ + 0.07573893666267395, + -0.9929661750793457, + 0.09100449085235596, + 0.7180615663528442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2824168953249927, + 0.3035740848511032, + 0.277775240033022 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8772107779628996, + 0.8769597836788494, + 0.8765295077633349 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5495.911291833422, + "intensity": 0.8769597836788494 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6224232926179051, + 0.6126339605974841, + 0.5958522485624765 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5271.727313067431, + "intensity": 0.6126339605974841 + }, + "point_color_scale": [ + 1.1126440715667736, + 1.1483492632462378, + 1.2054775699333802 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..676599716dbabd46d929f3e666df6bc017971b38 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1572258956007364, + "K": [ + [ + 360.1281032879675, + 0.0, + 312.7771004426083 + ], + [ + 0.0, + 367.42878034016775, + 251.89351692050587 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.1386172725319204, + -1.8754643220914273, + 1.6263723653448068 + ], + "camera_target": [ + -0.3945732787216232, + -0.26694501074794175, + 0.9098040315465232 + ], + "camera_roll_rad": 0.013798180608247959, + "camera_pose_world_cv": [ + [ + 0.9889451861381531, + 0.0360092855989933, + -0.14384286105632782, + -0.13861727714538574 + ], + [ + 0.14611482620239258, + -0.40188008546829224, + 0.9039595127105713, + -1.8754643201828003 + ], + [ + -0.025256644934415817, + -0.9149839878082275, + -0.4026988744735718, + 1.6263723373413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24957262825119955, + 0.258568002013389, + 0.26469626121396916 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0067048254455384, + 0.9719435405037083, + 0.9123527663177143 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4989.075482073859, + "intensity": 0.9719435405037083 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8352709132271664, + 0.8162271275843876, + 0.7835806379110526 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5166.69316490832, + "intensity": 0.8162271275843876 + }, + "point_color_scale": [ + 1.022560943658221, + 1.0520318013431533, + 1.099185173639045 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd4e7eec99179dcf4853c0ed9ac870e176681d74 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.104054109218981, + "K": [ + [ + 378.24442600025503, + 0.0, + 337.73941272831723 + ], + [ + 0.0, + 389.6750984453287, + 226.66748638036404 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7930017450255509, + -0.8054187193278793, + 0.734733945485236 + ], + "camera_target": [ + -0.40364460165620875, + -0.21294615374988657, + 0.8621969489868185 + ], + "camera_roll_rad": -0.041979689385707515, + "camera_pose_world_cv": [ + [ + 0.38439106941223145, + 0.1099739670753479, + 0.9165966510772705, + -1.7930017709732056 + ], + [ + -0.9193806052207947, + -0.044270336627960205, + 0.3908703327178955, + -0.8054187297821045 + ], + [ + 0.08356371521949768, + -0.9929481744766235, + 0.08409082889556885, + 0.7347339391708374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30739861018820647, + 0.3077463832435996, + 0.2863440748138078 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.174773422313807, + 1.1848428102905015, + 1.2009538310532126 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5669.394184178813, + "intensity": 1.1888705654811793 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8211650134865077, + 0.8155843464470544, + 0.8060174886651343 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5402.249454398388, + "intensity": 0.8155843464470544 + }, + "point_color_scale": [ + 1.1726897913773542, + 1.1309628127080804, + 1.0594308492750397 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f73640656a6557358db0a4257f10fe02d2d9c62b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.125657923113165, + "K": [ + [ + 363.9538350459432, + 0.0, + 336.8398313911447 + ], + [ + 0.0, + 380.41046083921145, + 219.64901209118457 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2115246446629668, + -0.5490374124533344, + 1.609518501328136 + ], + "camera_target": [ + -0.46663860861129947, + -0.26062310078524437, + 0.8913533279738702 + ], + "camera_roll_rad": -0.014731005986092484, + "camera_pose_world_cv": [ + [ + 0.37928152084350586, + -0.6125777363777161, + 0.6934652328491211, + -1.2115246057510376 + ], + [ + -0.9250219464302063, + -0.26877427101135254, + 0.2685045897960663, + -0.5490373969078064 + ], + [ + 0.02190566062927246, + -0.7433093786239624, + -0.6685889959335327, + 1.6095185279846191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3331841154951774, + 0.3070791343030254, + 0.3107475243306263 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9476058270933375, + 0.957504798435141, + 0.9733431525820266 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5705.914467055412, + "intensity": 0.9614643869718624 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8726593687082538, + 0.8619417228307009, + 0.8435686156120387 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5322.367077997617, + "intensity": 0.8619417228307009 + }, + "point_color_scale": [ + 0.8795511195334009, + 0.8912187490110499, + 0.9098869561752883 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60d57593f3ada8ef6f5f5ecf65ef221a3cab9c32 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8398947853293947, + "K": [ + [ + 538.5542847827957, + 0.0, + 340.8247924321833 + ], + [ + 0.0, + 537.502622800658, + 223.0413915424759 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3995356374699561, + -0.7148475415938527, + 0.7837222956402243 + ], + "camera_target": [ + -0.40863650091408676, + -0.2676984995734371, + 0.9796643070774473 + ], + "camera_roll_rad": 0.04677085299417087, + "camera_pose_world_cv": [ + [ + 0.4246201515197754, + 0.12255623936653137, + 0.8970383405685425, + -1.3995356559753418 + ], + [ + -0.9006929397583008, + 0.15777945518493652, + 0.40479376912117004, + -0.7148475646972656 + ], + [ + -0.09192416071891785, + -0.9798396825790405, + 0.17738187313079834, + 0.7837222814559937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32996128701692995, + 0.33547007183749106, + 0.30605340819871824 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0383753659206865, + 0.9776051524760309, + 0.873427643713764 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4611.966723831778, + "intensity": 0.9776051524760309 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5598593357508322, + 0.5714430630484467, + 0.5899770267246299 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5902.159303927101, + "intensity": 0.5760765539674926 + }, + "point_color_scale": [ + 0.919932846460598, + 0.8809268018072536, + 0.8140592966872345 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bab63f20dd97cb10504eabe17a9154f9471bdccc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2603158037687248, + "K": [ + [ + 330.1045103069261, + 0.0, + 325.46905051888484 + ], + [ + 0.0, + 329.05714392095166, + 238.2827704044075 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.837715962734958, + -1.0292430068370382, + 1.5952746910517912 + ], + "camera_target": [ + -0.44799579710750836, + -0.26227752259944825, + 0.8999218370960255 + ], + "camera_roll_rad": -0.03520215744141697, + "camera_pose_world_cv": [ + [ + 0.5067012906074524, + -0.3164469599723816, + 0.8019446134567261, + -1.837715983390808 + ], + [ + -0.8597103953361511, + -0.2549903392791748, + 0.44258105754852295, + -1.029242992401123 + ], + [ + 0.06443467736244202, + -0.9136965274810791, + -0.4012566804885864, + 1.5952746868133545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3027219245096959, + 0.3038066559132093, + 0.2875144617167463 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8056501892512824, + 0.8395888513828913, + 0.8938907107934657 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6295.594974749025, + "intensity": 0.8531643162355349 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8598700014981278, + 0.8611816743067495, + 0.8632803508005445 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5530.443615011594, + "intensity": 0.8617063434301984 + }, + "point_color_scale": [ + 0.9371580139390061, + 0.9415262509326423, + 0.9485154301224604 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a5497baffa46cb4584f3bea7e1a4072be43dce1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1325286334804583, + "K": [ + [ + 373.8579063219779, + 0.0, + 288.34657855766375 + ], + [ + 0.0, + 377.53024123782177, + 237.93998764181111 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5243540156479674, + -0.30718322270406795, + 0.6464921185991823 + ], + "camera_target": [ + -0.4352145343597849, + -0.19299496186156007, + 0.9759760314486101 + ], + "camera_roll_rad": 0.05061813219621826, + "camera_pose_world_cv": [ + [ + 0.13269591331481934, + 0.2745353579521179, + 0.952377200126648, + -1.5243539810180664 + ], + [ + -0.9864208102226257, + 0.13040053844451904, + 0.09984976053237915, + -0.30718323588371277 + ], + [ + -0.0967780351638794, + -0.9526942372322083, + 0.2881110906600952, + 0.6464921236038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3213692926075881, + 0.33905735812551097, + 0.3377296032607659 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1073520194824027, + 1.0898638869467365, + 1.0598842311713088 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5270.769113659567, + "intensity": 1.0898638869467365 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9294203908430475, + 0.9279142803848504, + 0.9253323767422269 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5476.812660238826, + "intensity": 0.9279142803848504 + }, + "point_color_scale": [ + 0.9298000971308377, + 0.9050723470371974, + 0.8626819183052427 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4775e1a8cbceaa3a35b774426cce49f09b0eda5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.843986010974516, + "K": [ + [ + 534.5165985322014, + 0.0, + 314.93484445133043 + ], + [ + 0.0, + 534.5626568758277, + 263.2612389298516 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.23317725298449868, + -2.0158410976660974, + 1.3831262626208165 + ], + "camera_target": [ + -0.4722310620546569, + -0.1977363925169154, + 0.9837766385912255 + ], + "camera_roll_rad": 0.03164604617262652, + "camera_pose_world_cv": [ + [ + 0.9912356734275818, + -0.035025715827941895, + -0.12737742066383362, + -0.23317725956439972 + ], + [ + 0.11675791442394257, + -0.21879678964614868, + 0.9687598943710327, + -2.015841007232666 + ], + [ + -0.06180128455162048, + -0.9751416444778442, + -0.2127896547317505, + 1.3831262588500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3652923784015833, + 0.3491132465643006, + 0.3672816660225602 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0423329630172748, + 1.0588734003353715, + 1.0853381000443263 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5810.475816978688, + "intensity": 1.0654895752626103 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8036954497096033, + 0.7757886184662542, + 0.7279483363347989 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4986.111283057617, + "intensity": 0.7757886184662542 + }, + "point_color_scale": [ + 1.0567963174923276, + 1.0633581034077206, + 1.0738569608723494 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..041d4c4ac1fbf1b7c56323030391994d3e9297bc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2186239855669285, + "K": [ + [ + 330.8159531823716, + 0.0, + 334.0493925924037 + ], + [ + 0.0, + 343.89114289092583, + 260.94953429879695 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4738418242864968, + -1.4583716705056193, + 1.2064756820935714 + ], + "camera_target": [ + -0.37717422588920246, + -0.2423815700863869, + 0.9327011586240409 + ], + "camera_roll_rad": 0.03348489068819463, + "camera_pose_world_cv": [ + [ + 0.9934591054916382, + -0.08402463793754578, + 0.07732341438531876, + -0.4738418161869049 + ], + [ + -0.09367795288562775, + -0.21250832080841064, + 0.9726585745811462, + -1.458371639251709 + ], + [ + -0.06529540568590164, + -0.9735400080680847, + -0.21898961067199707, + 1.2064757347106934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2969399429648719, + 0.3262354432361296, + 0.29333751962090715 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0941261941048293, + 1.0388166333665145, + 0.9440002435294039 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4739.387822068934, + "intensity": 1.0388166333665145 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9619955908539038, + 0.9455485666332201, + 0.9173536679691907 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5251.511982400316, + "intensity": 0.9455485666332201 + }, + "point_color_scale": [ + 1.0184119704092272, + 1.0474289862175177, + 1.0938562115107824 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3436c1fd75f1c9267014c4d0544ed69e3065b67d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1965834597452087, + "K": [ + [ + 336.5403492532709, + 0.0, + 336.325408075086 + ], + [ + 0.0, + 352.09618753651114, + 235.94654952433785 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9492317697439259, + -1.298562949888763, + 1.0815813645777084 + ], + "camera_target": [ + -0.46743445618266993, + -0.19610196293753937, + 0.8466879761995342 + ], + "camera_roll_rad": -0.04708434935774784, + "camera_pose_world_cv": [ + [ + 0.9194741249084473, + 0.009768635034561157, + 0.3930291533470154, + -0.949231743812561 + ], + [ + -0.38216540217399597, + -0.2124572992324829, + 0.8993393778800964, + -1.298563003540039 + ], + [ + 0.09228719770908356, + -0.9771214127540588, + -0.19161570072174072, + 1.0815813541412354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3373185274296722, + 0.3223230882475666, + 0.31082306648705715 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9245283279092462, + 0.9536619641651803, + 1.000275782174675 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6103.608638016949, + "intensity": 0.965315418667554 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7940016165492957, + 0.8016980180560992, + 0.8140122604669848 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5691.268029187175, + "intensity": 0.8047765786588206 + }, + "point_color_scale": [ + 0.9974462324235941, + 0.9608845687059515, + 0.8982074309042787 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5abab6c5002b1a6768aa1e0e495c550765ebe03f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.03237731241927, + "K": [ + [ + 405.61287270230264, + 0.0, + 295.6471772086926 + ], + [ + 0.0, + 422.8985315361221, + 250.66792586282304 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.662948407374489, + -1.374221248314961, + 1.1494848661067598 + ], + "camera_target": [ + -0.40291708758214384, + -0.24005074936893478, + 0.8861972941667973 + ], + "camera_roll_rad": 0.023358448703197227, + "camera_pose_world_cv": [ + [ + 0.6629543304443359, + -0.14518171548843384, + 0.7344480156898499, + -1.6629483699798584 + ], + [ + -0.7472363114356995, + -0.06784796714782715, + 0.6610861420631409, + -1.3742212057113647 + ], + [ + -0.04614675045013428, + -0.9870761036872864, + -0.15346509218215942, + 1.1494848728179932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34573110657891387, + 0.37362847936216165, + 0.35759861983252783 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0756948526086858, + 1.068699760261377, + 1.0567081733802761 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5406.49395237873, + "intensity": 1.068699760261377 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.884927597520922, + 0.8465740959517959, + 0.7808252361190084 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4852.794790328162, + "intensity": 0.8465740959517959 + }, + "point_color_scale": [ + 1.2082557131367397, + 1.1711020427108059, + 1.1074100362663482 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89ace946f098fcc5e25ddd0b0e096964b30255c5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8317478360552107, + "K": [ + [ + 542.7363655110461, + 0.0, + 345.50787144908514 + ], + [ + 0.0, + 543.4380369426107, + 256.44225784432757 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2364403210715908, + -1.0649044141034953, + 0.9509411113653851 + ], + "camera_target": [ + -0.44861055444507236, + -0.23717027194662926, + 0.9301707683621088 + ], + "camera_roll_rad": 0.02689986338405921, + "camera_pose_world_cv": [ + [ + 0.967606246471405, + -0.0460648313164711, + -0.24822598695755005, + -0.23644031584262848 + ], + [ + 0.2466742992401123, + -0.03685694932937622, + 0.968397319316864, + -1.0649044513702393 + ], + [ + -0.05375789850950241, + -0.9982582926750183, + -0.024299979209899902, + 0.9509410858154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3611924076931215, + 0.33313980362151324, + 0.33838722956607764 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9543543491085535, + 0.9740799677049663, + 1.0056409574592267 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5901.755945184743, + "intensity": 0.9819702151435313 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8174793960145534, + 0.792164683106038, + 0.7487680324057261 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5043.480334899599, + "intensity": 0.792164683106038 + }, + "point_color_scale": [ + 0.9110473344177533, + 0.8738513595529243, + 0.8100868312132172 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4cd7d40a079bf707f24cc33f7e342b9fc7dd54b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0817206278518017, + "K": [ + [ + 388.41706864992165, + 0.0, + 288.7983759337337 + ], + [ + 0.0, + 399.6006223451841, + 239.52507204301452 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5516125030105747, + -0.813481181598405, + 1.6090816077353876 + ], + "camera_target": [ + -0.4637012741319376, + -0.19630436502437035, + 0.9848042576886963 + ], + "camera_roll_rad": -0.026411991565598068, + "camera_pose_world_cv": [ + [ + 0.5132525563240051, + -0.361829936504364, + 0.7782357931137085, + -1.5516124963760376 + ], + [ + -0.856936514377594, + -0.2659715414047241, + 0.4414965510368347, + -0.8134811520576477 + ], + [ + 0.04724201560020447, + -0.893497884273529, + -0.44657576084136963, + 1.6090816259384155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25217044758395046, + 0.25160338313952596, + 0.26991243757059974 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.138344368912366, + 1.1388583673275507, + 1.1396807647918463 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5509.024926259002, + "intensity": 1.1390639666936246 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6560027176686632, + 0.6515633461925393, + 0.6439529950906127 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5402.66550000602, + "intensity": 0.6515633461925393 + }, + "point_color_scale": [ + 0.8409407274756748, + 0.8580262570531947, + 0.8853631043772267 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0de5753c7c2534b20d8be2607b1622f2083b3340 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1547433469121724, + "K": [ + [ + 351.55178589210533, + 0.0, + 348.5552365936427 + ], + [ + 0.0, + 368.42682033767295, + 244.4618176005765 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7583131631556796, + -1.0114983232255907, + 1.4465025830014793 + ], + "camera_target": [ + -0.40488986999866644, + -0.2386052433833178, + 0.9277967972721028 + ], + "camera_roll_rad": 0.03364306574824871, + "camera_pose_world_cv": [ + [ + 0.8928051590919495, + -0.2773049771785736, + 0.35496604442596436, + -0.7583131790161133 + ], + [ + -0.4467720687389374, + -0.44475287199020386, + 0.7762664556503296, + -1.0114983320236206 + ], + [ + -0.057390376925468445, + -0.8516435623168945, + -0.520969808101654, + 1.4465025663375854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8347887992858887, + 0.5505703091621399, + 0.0, + -0.42682456970214844 + ], + [ + -0.5505703091621399, + -0.8347887992858887, + -0.0, + -0.23734061419963837 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2812540187955957, + 0.305830977644868, + 0.29832169171321665 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0222397047321294, + 0.9614673048815925, + 0.857286047994958 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4597.028951152039, + "intensity": 0.9614673048815925 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6973626770914106, + 0.6773545637555147, + 0.643054940893979 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5078.019835094864, + "intensity": 0.6773545637555147 + }, + "point_color_scale": [ + 1.1326652947693794, + 1.1299940073487391, + 1.1254146574847843 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa5bc76527488c54070dbf01a431cbe98828038 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0608550428135852, + "K": [ + [ + 389.56660244116483, + 0.0, + 296.24384098680673 + ], + [ + 0.0, + 409.2131297804632, + 223.25519457493593 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3447816651859095, + -1.1476338866803466, + 0.9684914715728897 + ], + "camera_target": [ + -0.22597485735242395, + -0.35336009987186684, + 0.8895287365236942 + ], + "camera_roll_rad": 0.02900475012426279, + "camera_pose_world_cv": [ + [ + 0.5751937627792358, + -0.08033227920532227, + 0.8140632510185242, + -1.3447816371917725 + ], + [ + -0.8159669041633606, + 0.014071464538574219, + 0.5779274702072144, + -1.1476339101791382 + ], + [ + -0.05788123607635498, + -0.9966689348220825, + -0.057454586029052734, + 0.9684914946556091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2898917210736939, + 0.25954093924488736, + 0.26417256088434904 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.89779847779802, + 0.8518925880350656, + 0.773196777012858 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4730.186487832114, + "intensity": 0.8518925880350656 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9255722286081994, + 0.9404724681739552, + 0.9643128514791643 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5814.871658742961, + "intensity": 0.9464325640002574 + }, + "point_color_scale": [ + 0.8000676462038946, + 0.8211358915632909, + 0.8548450841383254 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99bddb8f94a33277d3b1c261bc53a602a24f22a7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1348559228080781, + "K": [ + [ + 389.07282499010876, + 0.0, + 331.23258274673395 + ], + [ + 0.0, + 376.56168396045683, + 238.88006199990662 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.412571947637046, + -0.2214626821954443, + 1.425078501249522 + ], + "camera_target": [ + -0.22243249906166468, + -0.3610099063359777, + 0.9429153764525815 + ], + "camera_roll_rad": -0.03399028733911446, + "camera_pose_world_cv": [ + [ + -0.09100174903869629, + -0.37780383229255676, + 0.9214026927947998, + -1.412571907043457 + ], + [ + -0.9938548803329468, + -0.02409505844116211, + -0.1080370843410492, + -0.221462681889534 + ], + [ + 0.0630180835723877, + -0.9255720376968384, + -0.37328946590423584, + 1.4250785112380981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23382475929174207, + 0.22870017240169885, + 0.2311758368264744 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0605564887138035, + 1.0557151171491135, + 1.0474156230382163 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5434.48758116592, + "intensity": 1.0557151171491135 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8364419775128769, + 0.8666836321895821, + 0.9150702796723108 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6188.264288152813, + "intensity": 0.8787802940602643 + }, + "point_color_scale": [ + 1.1643695325527168, + 1.179516466212619, + 1.2037515600684623 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5442d7c58c664c22b3e75447a2648b83687887f7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9689012388795812, + "K": [ + [ + 433.4021654022579, + 0.0, + 313.46647305116755 + ], + [ + 0.0, + 456.0302169062876, + 249.2177572161448 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7972708466131257, + -0.9906507764930377, + 1.212376417348414 + ], + "camera_target": [ + -0.19978910979824693, + -0.40933487672488245, + 0.9607928931492974 + ], + "camera_roll_rad": 0.027961341446911953, + "camera_pose_world_cv": [ + [ + 0.33373385667800903, + -0.15647152066230774, + 0.9295904636383057, + -1.7972708940505981 + ], + [ + -0.9410444498062134, + 0.002539992332458496, + 0.3382735252380371, + -0.9906507730484009 + ], + [ + -0.05529129505157471, + -0.9876792430877686, + -0.14639896154403687, + 1.2123764753341675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24596637766833443, + 0.2359440790345622, + 0.23760578948540292 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1634445191777576, + 1.1236186655530844, + 1.055345773625073 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4993.653155195042, + "intensity": 1.1236186655530844 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5499028620554417, + 0.5715838061606637, + 0.6062733167290193 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6247.288687666694, + "intensity": 0.5802561838027527 + }, + "point_color_scale": [ + 1.1480621567445268, + 1.1309525742174733, + 1.1016218613139528 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..206645428ae951a8cc372454e09d1b50c4538d84 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0526685487668737, + "K": [ + [ + 404.0647828984313, + 0.0, + 340.73225755469934 + ], + [ + 0.0, + 413.0784922412572, + 238.59175837821533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2636186290090452, + -0.10279327415225664, + 1.4255040556105647 + ], + "camera_target": [ + -0.2004876533943019, + -0.3375493157855428, + 0.8614111883886455 + ], + "camera_roll_rad": -0.017558733502648527, + "camera_pose_world_cv": [ + [ + -0.1997166872024536, + -0.45650675892829895, + 0.8670150637626648, + -1.2636185884475708 + ], + [ + -0.9793578386306763, + 0.06484794616699219, + -0.19145053625106812, + -0.10279327630996704 + ], + [ + 0.031174421310424805, + -0.8873537182807922, + -0.46003448963165283, + 1.4255040884017944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22282912196941826, + 0.21843854838719282, + 0.23519430243757558 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9938472567087813, + 1.0392576399798445, + 1.111914253213546 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6358.888734075556, + "intensity": 1.05742179328827 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7148434635167785, + 0.7435960210912533, + 0.7896001132104129 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6261.559267072583, + "intensity": 0.7550970441210432 + }, + "point_color_scale": [ + 0.79392929284496, + 0.813088801024395, + 0.843744014111491 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7be4d8deec7e95a5bb8ed9d06acbe3aa829367 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.811986499659064, + "K": [ + [ + 534.695949419124, + 0.0, + 298.5888957925172 + ], + [ + 0.0, + 558.3007695250557, + 225.08524702818917 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8063032256793472, + -1.3346463800934665, + 1.0963156649031571 + ], + "camera_target": [ + -0.24241920455234828, + -0.36845976994154306, + 0.9535126054332779 + ], + "camera_roll_rad": 0.036572358510027936, + "camera_pose_world_cv": [ + [ + 0.5193740725517273, + -0.1041233241558075, + 0.8481796979904175, + -1.8063032627105713 + ], + [ + -0.8514351844787598, + 0.02157294750213623, + 0.5240158438682556, + -1.3346463441848755 + ], + [ + -0.07286003232002258, + -0.9943303465843201, + -0.07744985818862915, + 1.096315622329712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25232679829829485, + 0.25477261355416053, + 0.23932613930506227 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0138578372546745, + 0.9912439495754586, + 0.9524772849825172 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5174.090784198103, + "intensity": 0.9912439495754586 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6398762721306895, + 0.6111108095904942, + 0.5617985880930166 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4827.560284163498, + "intensity": 0.6111108095904942 + }, + "point_color_scale": [ + 1.233214320551751, + 1.1984563798122752, + 1.1388713385446028 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a735b3909e71e0d20ef89b83b4360563d5334d2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9126907204588499, + "K": [ + [ + 483.0185110766961, + 0.0, + 320.85955148746115 + ], + [ + 0.0, + 488.89273044806896, + 260.35656105774484 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3760654095484568, + -1.3688621639676892, + 1.0095866688877877 + ], + "camera_target": [ + -0.1820265435518329, + -0.3798154454319104, + 0.9156766466314349 + ], + "camera_roll_rad": 0.040321142964890797, + "camera_pose_world_cv": [ + [ + 0.6320794820785522, + -0.09779477119445801, + 0.768707811832428, + -1.3760653734207153 + ], + [ + -0.7707205414772034, + 0.023595571517944336, + 0.6367363333702087, + -1.3688621520996094 + ], + [ + -0.08040755987167358, + -0.9949268698692322, + -0.06045818328857422, + 1.0095866918563843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33053510889349463, + 0.36386978204075365, + 0.3397562115313388 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0090193511897312, + 0.9572838874497344, + 0.8685945210383113 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4727.9426582667365, + "intensity": 0.9572838874497344 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9486066689513952, + 0.9474128997331894, + 0.9453664382162653 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5481.999563253603, + "intensity": 0.9474128997331894 + }, + "point_color_scale": [ + 0.986154076603166, + 0.9586133283497253, + 0.9114006170581128 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca839e4268541a80c5ae70b68f991994898191e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0780251898623807, + "K": [ + [ + 404.0596167198288, + 0.0, + 339.01144876296206 + ], + [ + 0.0, + 401.27859311713115, + 223.9647929471907 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8926946323699332, + -0.856777816216351, + 1.3731036004609543 + ], + "camera_target": [ + -0.18186048165470375, + -0.35660218089271556, + 0.988460028136011 + ], + "camera_roll_rad": -0.024731058637632558, + "camera_pose_world_cv": [ + [ + 0.5911213159561157, + -0.302105188369751, + 0.747869074344635, + -0.8926946520805359 + ], + [ + -0.8053145408630371, + -0.273030161857605, + 0.5262349247932434, + -0.8567777872085571 + ], + [ + 0.04521256685256958, + -0.9133384823799133, + -0.40468358993530273, + 1.3731036186218262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32540640220418915, + 0.3258281609396431, + 0.31767743696971995 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.116478058689892, + 1.089570613624005, + 1.043443564939628 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5147.207746277877, + "intensity": 1.089570613624005 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7672774847003447, + 0.7314501755742779, + 0.6700319313581635 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4800.268536542338, + "intensity": 0.7314501755742779 + }, + "point_color_scale": [ + 0.9332801607605313, + 0.8981544892370105, + 0.8379390523395461 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48655ba6c7c7f2eddc01b94dd2f95b60a52a149f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1613376224780325, + "K": [ + [ + 353.6983560963535, + 0.0, + 295.66723106150016 + ], + [ + 0.0, + 365.78409067880034, + 253.46187779148394 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1003007770389166, + -1.787350224482778, + 1.4524705209628022 + ], + "camera_target": [ + -0.17020958748366433, + -0.43275658309430337, + 0.9589672015180812 + ], + "camera_roll_rad": 0.02659062492865344, + "camera_pose_world_cv": [ + [ + 0.8145601749420166, + -0.20640753209590912, + 0.5421140193939209, + -1.1003007888793945 + ], + [ + -0.5778406858444214, + -0.2067044973373413, + 0.7895398736000061, + -1.7873501777648926 + ], + [ + -0.050909653306007385, + -0.9563832879066467, + -0.2876439690589905, + 1.4524705410003662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27293947774277433, + 0.26915592740708255, + 0.25235581502571813 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1852049585702993, + 1.1200831614017175, + 1.0084457948270062 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4669.42650315503, + "intensity": 1.1200831614017175 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8350908027016726, + 0.8427514427422117, + 0.8550084668070743 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5681.142063259979, + "intensity": 0.8458156987584273 + }, + "point_color_scale": [ + 0.9552653790623195, + 0.9956307473746692, + 1.060215336674429 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab31464551b7ccb1d029641099552eebf93d8780 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.233595078891037, + "K": [ + [ + 352.8565916339152, + 0.0, + 324.9327806576078 + ], + [ + 0.0, + 338.4641813188216, + 236.34738559753438 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9802259233226078, + -1.0679011215850118, + 1.108852317865237 + ], + "camera_target": [ + -0.20104674054901833, + -0.3396323600744035, + 0.919842559892054 + ], + "camera_roll_rad": 0.03950129170632839, + "camera_pose_world_cv": [ + [ + 0.6706455945968628, + -0.18097645044326782, + 0.7193622589111328, + -0.9802259206771851 + ], + [ + -0.7376962304115295, + -0.061125993728637695, + 0.6723601222038269, + -1.0679011344909668 + ], + [ + -0.07770952582359314, + -0.9815861582756042, + -0.17449945211410522, + 1.1088522672653198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3602408472075771, + 0.3823439351944365, + 0.3791585748178739 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9935025072478206, + 0.9992379233618744, + 1.0084145891443606 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5614.5328476725335, + "intensity": 1.001532089807496 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7699017355029573, + 0.7528978548367888, + 0.7237483451233573 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5177.363165023334, + "intensity": 0.7528978548367888 + }, + "point_color_scale": [ + 0.866797350830364, + 0.900871905167038, + 0.9553911921057164 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0363ff6797967d1daa95504454e687b6201cf10e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1447308041450965, + "K": [ + [ + 367.37297020899666, + 0.0, + 309.93947893541025 + ], + [ + 0.0, + 372.4910222240348, + 258.331079285394 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6977957975606298, + -1.8592208066282772, + 1.350568044889885 + ], + "camera_target": [ + -0.23738202701302868, + -0.42016522829045094, + 0.9758625410688551 + ], + "camera_roll_rad": 0.026616342555826802, + "camera_pose_world_cv": [ + [ + 0.9471883773803711, + -0.12392277270555496, + 0.2957657277584076, + -0.6977958083152771 + ], + [ + -0.3164920508861542, + -0.212721049785614, + 0.9244363307952881, + -1.8592208623886108 + ], + [ + -0.05164312571287155, + -0.9692227840423584, + -0.24070745706558228, + 1.3505680561065674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2137127302720414, + 0.22668999766771739, + 0.23389790656100348 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9578011059001177, + 0.9444736775292365, + 0.9216266574648689 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5298.414886089998, + "intensity": 0.9444736775292365 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6755554969135783, + 0.6692647914131897, + 0.6584807248410951 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5365.7224724994685, + "intensity": 0.6692647914131897 + }, + "point_color_scale": [ + 0.9681058916970771, + 0.9851138632290808, + 1.012326617680287 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fabb10e8d7e03675b5e7d3d2dfff67bfd58cfc5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2909358207351829, + "K": [ + [ + 306.38616988260696, + 0.0, + 305.47775964179186 + ], + [ + 0.0, + 318.6922267714312, + 245.0290247959571 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.06417987210913076, + -1.3731652164236299, + 1.5885930272245714 + ], + "camera_target": [ + -0.23549275726921082, + -0.371098130857913, + 0.9532196789327276 + ], + "camera_roll_rad": 0.052215920661023985, + "camera_pose_world_cv": [ + [ + 0.9896391034126282, + -0.013925861567258835, + -0.14290057122707367, + -0.06417987495660782 + ], + [ + 0.11313886940479279, + -0.5371365547180176, + 0.8358731269836426, + -1.373165249824524 + ], + [ + -0.08839738368988037, + -0.843380331993103, + -0.5299957990646362, + 1.5885930061340332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3735283497983618, + 0.35685023588952336, + 0.36350630898205166 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8926558766373238, + 0.8610114400527524, + 0.8067638344792017 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4974.962400323168, + "intensity": 0.8610114400527524 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9178035650093451, + 0.9331979359473617, + 0.9578289294481881 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5827.764470795073, + "intensity": 0.9393556843225682 + }, + "point_color_scale": [ + 1.1605920870950652, + 1.146118849489287, + 1.121307585022239 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c082edbde1e7fc9e9b3b0f4b37507ae52422c5f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2610024082777824, + "K": [ + [ + 335.9982448471684, + 0.0, + 294.82184278205045 + ], + [ + 0.0, + 328.8199784654991, + 239.94298325756523 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8144548138591914, + -1.1088951010660089, + 1.6248612718253235 + ], + "camera_target": [ + -0.21854074774787147, + -0.38762423826647635, + 0.9358802346802723 + ], + "camera_roll_rad": 0.04296559175364084, + "camera_pose_world_cv": [ + [ + 0.38168931007385254, + -0.3677196502685547, + 0.8479950428009033, + -1.8144547939300537 + ], + [ + -0.9208335876464844, + -0.07200652360916138, + 0.38325008749961853, + -1.1088950634002686 + ], + [ + -0.07986736297607422, + -0.9271447658538818, + -0.3660926818847656, + 1.624861240386963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35596092062303647, + 0.34082428048005187, + 0.34426345149338333 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0069071106926053, + 1.0075660706662775, + 1.0086204066241524 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5513.076812547196, + "intensity": 1.0078296546557461 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6615776197726624, + 0.6710669574408713, + 0.6862498977100057 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5781.2227664546535, + "intensity": 0.674862692508155 + }, + "point_color_scale": [ + 1.150475181660705, + 1.1483552515202768, + 1.144721085565257 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f22e7ee8280790ba917279a74a9048f510edab --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.997069129258631, + "K": [ + [ + 421.6461452535736, + 0.0, + 299.76165891228703 + ], + [ + 0.0, + 440.85132548535546, + 227.78446468023378 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5710993595047724, + -0.6135358839501865, + 1.3953145605908794 + ], + "camera_target": [ + -0.20036201066353088, + -0.39355722907494456, + 0.8927820774597484 + ], + "camera_roll_rad": -0.03442797325560994, + "camera_pose_world_cv": [ + [ + 0.18120110034942627, + -0.3243711292743683, + 0.9284124374389648, + -1.5710994005203247 + ], + [ + -0.9813159704208374, + -0.12173759937286377, + 0.14899346232414246, + -0.6135358810424805 + ], + [ + 0.06469354033470154, + -0.9380636215209961, + -0.3403695225715637, + 1.3953145742416382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2679392509046301, + 0.2746951809170823, + 0.270972825925787 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0031677475238987, + 1.0077877543112121, + 1.0151797651709136 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5591.518287761947, + "intensity": 1.0096357570261376 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5710219684378485, + 0.5654654305931911, + 0.5559399371452071 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5359.621635962321, + "intensity": 0.5654654305931911 + }, + "point_color_scale": [ + 0.9794611759784045, + 0.9383432485631567, + 0.8678553729941604 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61240e8cabac1c785ca2b5dfc545c45294323ede --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2288914700917841, + "K": [ + [ + 327.064608008235, + 0.0, + 312.6879871599538 + ], + [ + 0.0, + 340.1568064345991, + 238.55002656417406 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5593962299999351, + -2.0678551861583916, + 1.5315089921214127 + ], + "camera_target": [ + -0.23634231811488968, + -0.4186919530636845, + 0.940099591243981 + ], + "camera_roll_rad": 0.009947891106461798, + "camera_pose_world_cv": [ + [ + 0.979884922504425, + -0.08332657814025879, + 0.18133440613746643, + -0.5593962073326111 + ], + [ + -0.1986789107322693, + -0.3218855857849121, + 0.9256978034973145, + -2.0678551197052 + ], + [ + -0.018766291439533234, + -0.94310462474823, + -0.3319661021232605, + 1.5315090417861938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35717259141209595, + 0.3640443405962611, + 0.3380524673705137 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.933148214344788, + 0.9647192933128138, + 1.0152330196616552 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6146.056222645945, + "intensity": 0.9773477249000242 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6665041679740843, + 0.6610315639465837, + 0.6516499570422968 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5381.730220159288, + "intensity": 0.6610315639465837 + }, + "point_color_scale": [ + 0.7788022188227693, + 0.8112623732923155, + 0.8631986204435897 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2c6772b9a38592a16042c13ae454c6e3fbf39a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8575865068443344, + "K": [ + [ + 536.8965146326624, + 0.0, + 345.16919993503654 + ], + [ + 0.0, + 524.9788603878299, + 224.4308583067533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.831808265211374, + -0.7536500428675326, + 0.7332784749200925 + ], + "camera_target": [ + -0.22846733031608696, + -0.387931340799737, + 0.9728004703050447 + ], + "camera_roll_rad": 0.031454879627175025, + "camera_pose_world_cv": [ + [ + 0.2307802438735962, + 0.12625962495803833, + 0.9647791981697083, + -1.8318082094192505 + ], + [ + -0.9710150361061096, + 0.09328246116638184, + 0.22006410360336304, + -0.7536500692367554 + ], + [ + -0.062211811542510986, + -0.9876015782356262, + 0.1441277265548706, + 0.7332784533500671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2815776273017539, + 0.281227826511737, + 0.27258897182751723 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.2341219553767966, + 1.171299131311626, + 1.0636028614856197 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4733.78333405598, + "intensity": 1.171299131311626 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.641029501756901, + 0.6254644891278993, + 0.5987816103353251 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5144.492489763104, + "intensity": 0.6254644891278993 + }, + "point_color_scale": [ + 1.0355641721680617, + 1.0286721524400981, + 1.0168572614778746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36366b3dacfa7ec9fe048d94bec5ae155e615219 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9992132448627439, + "K": [ + [ + 438.40152678146, + 0.0, + 305.4775900152596 + ], + [ + 0.0, + 439.72810009705796, + 247.4095339875369 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.180931871032097, + -1.57861613239441, + 1.6332911822830796 + ], + "camera_target": [ + -0.20518310634420583, + -0.3829435892269026, + 0.9885648545962797 + ], + "camera_roll_rad": -0.0460919147262941, + "camera_pose_world_cv": [ + [ + 0.7939053773880005, + -0.17136627435684204, + 0.583393394947052, + -1.1809319257736206 + ], + [ + -0.6020793914794922, + -0.3555854558944702, + 0.7148842215538025, + -1.5786161422729492 + ], + [ + 0.08493922650814056, + -0.9187995791435242, + -0.38547730445861816, + 1.6332911252975464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.652878999710083, + -0.7574622631072998, + 0.0, + -0.2078738510608673 + ], + [ + 0.7574622631072998, + 0.652878999710083, + 0.0, + -0.38641858100891113 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2749194245537948, + 0.28311166825198564, + 0.26395485134181157 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9790918338998125, + 0.9802327854108981, + 0.982058307828635 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5523.268361691431, + "intensity": 0.9806891660153323 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7910487301787401, + 0.7609778974574726, + 0.7094278985067282 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 4935.4851487476435, + "intensity": 0.7609778974574726 + }, + "point_color_scale": [ + 0.8837948467317944, + 0.8563008559630336, + 0.8091683003594435 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7175cfafa253f65f93af753384df33974968b8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7856789631842372, + "K": [ + [ + 562.5620786575907, + 0.0, + 334.58171867867236 + ], + [ + 0.0, + 579.1812424263203, + 250.41873351764625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3975798427648876, + -1.934728791846555, + 1.4605522615362307 + ], + "camera_target": [ + -0.9070532658515231, + -0.8147274373002455, + 0.9424530067454242 + ], + "camera_roll_rad": 0.008550820271401277, + "camera_pose_world_cv": [ + [ + 0.5969744920730591, + -0.2242896556854248, + 0.7702698707580566, + -2.3975799083709717 + ], + [ + -0.8020910024642944, + -0.14714360237121582, + 0.5787908434867859, + -1.934728741645813 + ], + [ + -0.016476482152938843, + -0.9633498787879944, + -0.26774168014526367, + 1.4605522155761719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28404473832542015, + 0.2987242161445511, + 0.2752397201683813 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1167588777117914, + 1.1567212509965186, + 1.2206610482520825 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6181.541093142504, + "intensity": 1.1727062003104096 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8364575136023843, + 0.8300755735214018, + 0.8191351048111459 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5390.165937302918, + "intensity": 0.8300755735214018 + }, + "point_color_scale": [ + 1.1943974160019795, + 1.140600352704142, + 1.0483768156221347 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9c6de8fc86e132005b6afb86818ff1cbfb48511 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8293614046972229, + "K": [ + [ + 559.1995531261226, + 0.0, + 295.0731222354148 + ], + [ + 0.0, + 545.1974393983332, + 251.84893588329317 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.316467447370028, + -2.060323086048312, + 1.3578833533045849 + ], + "camera_target": [ + -0.8479510094977316, + -0.8034877912039308, + 0.9717963719383584 + ], + "camera_roll_rad": 0.02564517912015528, + "camera_pose_world_cv": [ + [ + 0.6417419910430908, + -0.1819532811641693, + 0.7450237274169922, + -2.316467523574829 + ], + [ + -0.7652710676193237, + -0.08824431896209717, + 0.6376311182975769, + -2.0603229999542236 + ], + [ + -0.05027484893798828, + -0.9793396592140198, + -0.19587361812591553, + 1.357883334159851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3484821258710044, + 0.35678911524649387, + 0.336782409310832 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1807602480599828, + 1.1164437343743776, + 1.006186853770483 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4677.023158376484, + "intensity": 1.1164437343743776 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6586954194999615, + 0.6615904926158, + 0.6662226096011419 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5587.3656604379685, + "intensity": 0.6627485218621355 + }, + "point_color_scale": [ + 1.1683172553455285, + 1.1472967331327264, + 1.1112615521964941 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c91760e619d42d1f652622f809038499fa241895 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.032971376770572, + "K": [ + [ + 418.8493966152727, + 0.0, + 343.9100223949234 + ], + [ + 0.0, + 422.6060544889705, + 232.75431285174182 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5396540628961048, + -2.4951102988759075, + 1.5842587601819107 + ], + "camera_target": [ + -0.9359863329631589, + -0.8257424970699838, + 0.9531351380582405 + ], + "camera_roll_rad": -0.03155664410464003, + "camera_pose_world_cv": [ + [ + 0.9457151889801025, + -0.05437788367271423, + 0.32041507959365845, + -1.539654016494751 + ], + [ + -0.3195171058177948, + -0.33584487438201904, + 0.8860683441162109, + -2.495110273361206 + ], + [ + 0.059427231550216675, + -0.940346360206604, + -0.33498823642730713, + 1.584258794784546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3596265162570769, + 0.35725464432060755, + 0.3824079314333482 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.099759778802525, + 1.0847068564256193, + 1.0589018466366382 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5301.751277805946, + "intensity": 1.0847068564256193 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.5869356216621212, + 0.5859433530345677, + 0.5842423211016187 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5475.807787502844, + "intensity": 0.5859433530345677 + }, + "point_color_scale": [ + 1.0823634599533627, + 1.0387237271859864, + 0.963912756727627 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5d5ee805c40496e63b4a9ddcb8767f887d67f1f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.254518214482019, + "K": [ + [ + 328.24418542833365, + 0.0, + 295.0044135901505 + ], + [ + 0.0, + 331.0686776739534, + 220.01562555428293 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7816538434825824, + -1.3260028811008766, + 1.295897965920993 + ], + "camera_target": [ + -0.86663876952213, + -0.8346595198946491, + 0.9274089944770306 + ], + "camera_roll_rad": 0.015760937157434318, + "camera_pose_world_cv": [ + [ + 0.46356701850891113, + -0.30935347080230713, + 0.830304741859436, + -1.781653881072998 + ], + [ + -0.885563850402832, + -0.1303430199623108, + 0.4458557367324829, + -1.326002836227417 + ], + [ + -0.029702574014663696, + -0.9419718980789185, + -0.3343750238418579, + 1.2958979606628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2758850772585127, + 0.2910927890754172, + 0.2791955788377303 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0310880867513608, + 1.0489805261543763, + 1.077608429199201 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5838.827839567532, + "intensity": 1.0561375019155823 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9114823293942618, + 0.9053163294179117, + 0.8947460437441689 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5402.701728572052, + "intensity": 0.9053163294179117 + }, + "point_color_scale": [ + 0.7883126956621277, + 0.7996253798521147, + 0.8177256745560941 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1dfef1a973a9d1242e621f6f6c713b3ef3f9fd2b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2954194840571946, + "K": [ + [ + 322.4541239226381, + 0.0, + 304.8258060944069 + ], + [ + 0.0, + 317.2098847984696, + 226.47986379921835 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.07089052552047, + -1.4736678837282384, + 0.7230742258286883 + ], + "camera_target": [ + -0.9317666199746759, + -0.8190735836458385, + 0.8955998879476074 + ], + "camera_roll_rad": 0.038567107335219286, + "camera_pose_world_cv": [ + [ + 0.5054585337638855, + 0.07415875792503357, + 0.8596581816673279, + -2.070890426635742 + ], + [ + -0.859461784362793, + 0.13148987293243408, + 0.49400004744529724, + -1.473667860031128 + ], + [ + -0.07640188932418823, + -0.9885398149490356, + 0.13019931316375732, + 0.723074197769165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3633693771256851, + 0.39170273394793215, + 0.3645644755553759 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.2297590492162207, + 1.1659145224958647, + 1.056466762403826 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4717.72595688987, + "intensity": 1.1659145224958647 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6551552765658858, + 0.6363810599967359, + 0.604196688735336 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5078.54953469801, + "intensity": 0.6363810599967359 + }, + "point_color_scale": [ + 0.8510465717478526, + 0.812329982779598, + 0.7459586874054475 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10f277abdec82481f651142c545aea7106e43299 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.214571825273504, + "K": [ + [ + 329.8600652967493, + 0.0, + 314.5575146075535 + ], + [ + 0.0, + 345.3800871930378, + 249.39319050404958 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7318154178460623, + -1.3957877535559846, + 0.9831342397894287 + ], + "camera_target": [ + -0.8898914799826225, + -0.793409904265247, + 0.8927990024184482 + ], + "camera_roll_rad": -0.042857905719490476, + "camera_pose_world_cv": [ + [ + 0.5857961177825928, + -0.020623892545700073, + 0.810196042060852, + -1.7318154573440552 + ], + [ + -0.8059585094451904, + -0.120022714138031, + 0.5796771049499512, + -1.3957877159118652 + ], + [ + 0.08528676629066467, + -0.9925569295883179, + -0.08693081140518188, + 0.9831342101097107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2681741675342385, + 0.2593310415694454, + 0.26156106139515356 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9208098605037849, + 0.9620275785073523, + 1.0279759273130604 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6342.454782702961, + "intensity": 0.9785146657087793 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8568930509049517, + 0.8742150427385911, + 0.901930229672414 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5893.170582546841, + "intensity": 0.8811438394720468 + }, + "point_color_scale": [ + 0.870901037217707, + 0.8428686930487499, + 0.7948132459019663 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd76b128e713213b1b475b42a544b8bb94549a49 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.851721313088042, + "K": [ + [ + 524.3492291268477, + 0.0, + 321.60568695421824 + ], + [ + 0.0, + 529.0766146580719, + 261.0116727006859 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.48458857313121, + -0.23027423316651985, + 0.6868819105874772 + ], + "camera_target": [ + -0.9013789804390432, + -0.7974917696988906, + 0.9462483886271948 + ], + "camera_roll_rad": -0.050018209373447274, + "camera_pose_world_cv": [ + [ + -0.34992218017578125, + 0.1090896725654602, + 0.93040531873703, + -2.484588623046875 + ], + [ + -0.9315645098686218, + -0.14516931772232056, + -0.3333369493484497, + -0.2302742302417755 + ], + [ + 0.09870272874832153, + -0.9833744764328003, + 0.15242207050323486, + 0.6868818998336792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.326641773268774, + 0.3489767403106309, + 0.31789170891961716 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9125999777928075, + 0.8846205998154877, + 0.8366559518543679 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5048.1617771964975, + "intensity": 0.8846205998154877 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.695771760806208, + 0.7048422119214307, + 0.7193549337057868 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5756.057309181591, + "intensity": 0.7084703923675197 + }, + "point_color_scale": [ + 1.0612927789928261, + 1.01559108109258, + 0.9372453132635864 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..421474a75a04ca1ffe257fe128e29dc32adf7668 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8794005680871807, + "K": [ + [ + 503.70964616934464, + 0.0, + 292.4678994583942 + ], + [ + 0.0, + 510.18842497776615, + 252.03024756327423 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.18460991311481745, + -0.09545452200622384, + 1.5795728682106107 + ], + "camera_target": [ + -0.8604738542829088, + -0.8527361657838214, + 0.8864425809512542 + ], + "camera_roll_rad": -0.045406679155089884, + "camera_pose_world_cv": [ + [ + -0.7770540714263916, + 0.3062925636768341, + -0.5498833060264587, + -0.18460991978645325 + ], + [ + 0.624962329864502, + 0.4793872833251953, + -0.6161248683929443, + -0.09545452147722244 + ], + [ + 0.07489258050918579, + -0.8224188089370728, + -0.5639312267303467, + 1.5795729160308838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2779539391442112, + 0.2642912135285041, + 0.26886262795452504 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1528103826399865, + 1.1768358498326312, + 1.215276597340863 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5904.998903435567, + "intensity": 1.1864460367096894 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6583009324958657, + 0.6673205892481868, + 0.6817520400519007 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5768.8708975187465, + "intensity": 0.6709284519491153 + }, + "point_color_scale": [ + 0.9132824568152853, + 0.9193564449062465, + 0.9290748258517846 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2a509a64d71aea80b35ba5cbeb701a90d1b044b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.196562185139051, + "K": [ + [ + 352.5802144051476, + 0.0, + 299.0803203350277 + ], + [ + 0.0, + 352.10423530157, + 241.9405232113494 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9027973607757789, + -0.7694982362148175, + 1.616819991148355 + ], + "camera_target": [ + -0.8867119226557012, + -0.7931477521592247, + 0.8942959381664064 + ], + "camera_roll_rad": -0.017854920919865833, + "camera_pose_world_cv": [ + [ + -0.0025736093521118164, + -0.5797106623649597, + 0.8148184418678284, + -1.9027973413467407 + ], + [ + -0.999573290348053, + -0.02221900224685669, + -0.018965065479278564, + -0.7694982290267944 + ], + [ + 0.0290987491607666, + -0.8145195245742798, + -0.5794059634208679, + 1.616819977760315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3253022167541967, + 0.31323832881300917, + 0.34047069274038805 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.0248529569993852, + 0.9663386164261061, + 0.866028318300485 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4634.962489506634, + "intensity": 0.9663386164261061 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8051702868516935, + 0.8271909076261951, + 0.8624239008653979 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6026.809641329055, + "intensity": 0.8359991559359958 + }, + "point_color_scale": [ + 1.1557272194441277, + 1.1436095386620386, + 1.1228363716070289 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f71f61fc3da234faddd2fd8a6c58bef82153097 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8089496566698445, + "K": [ + [ + 581.3930617155941, + 0.0, + 320.6693221032425 + ], + [ + 0.0, + 560.6455230308976, + 241.04596523487922 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5595209303931219, + -1.5631475039167078, + 1.4693622835029867 + ], + "camera_target": [ + -0.9355745203230719, + -0.8332761588369868, + 0.9374607696414727 + ], + "camera_roll_rad": 0.007395080817671006, + "camera_pose_world_cv": [ + [ + 0.8925309181213379, + 0.2358504831790924, + -0.3843996524810791, + -0.559520959854126 + ], + [ + 0.450815349817276, + -0.49004608392715454, + 0.7460700273513794, + -1.5631475448608398 + ], + [ + -0.012412622570991516, + -0.8391838073730469, + -0.5437062978744507, + 1.4693622589111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2609787298653741, + 0.2530573847431527, + 0.25902298131966933 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.9154263612956027, + 0.9320426594358403, + 0.9586287364602206 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5854.031952587169, + "intensity": 0.9386891786919354 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8972701206616411, + 0.8973534064750495, + 0.8974866637765029 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5501.856185554741, + "intensity": 0.8973867208004128 + }, + "point_color_scale": [ + 1.0511302248204244, + 1.0093735130804664, + 0.9377905786691103 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..deb6cef6933f60ea1853611eff63ab4284522075 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8029787264143907, + "K": [ + [ + 572.1177109828666, + 0.0, + 327.6233167478315 + ], + [ + 0.0, + 565.3045475649402, + 239.78166617816817 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4781069855028508, + -0.13394366842822858, + 0.998703103933829 + ], + "camera_target": [ + -0.8468967994073325, + -0.8502441127812671, + 0.9041891391971545 + ], + "camera_roll_rad": -0.005974659424372461, + "camera_pose_world_cv": [ + [ + -0.749431848526001, + -0.0740915834903717, + 0.6579228639602661, + -1.47810697555542 + ], + [ + -0.6619747877120972, + 0.06600618362426758, + -0.7466140985488892, + -0.13394366204738617 + ], + [ + 0.011890888214111328, + -0.9950646162033081, + -0.09851384162902832, + 0.998703122138977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37423430746842373, + 0.3573512027711042, + 0.3557417221096728 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1044933995780155, + 1.0604208130685724, + 0.9848678076238127 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4906.26554010722, + "intensity": 1.0604208130685724 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.9082178848227869, + 0.9178138997041538, + 0.933167523514341 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5708.235032288659, + "intensity": 0.9216523056567006 + }, + "point_color_scale": [ + 0.9191094317673927, + 0.9454882475065843, + 0.987694352689291 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54d85c71dce1ee339aef67e867e77579a79637c6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1066139101607773, + "K": [ + [ + 397.14289691354344, + 0.0, + 341.81021794222556 + ], + [ + 0.0, + 388.56045207550767, + 236.76929918820105 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7161492138325158, + -0.3791982624270404, + 0.6910259383671834 + ], + "camera_target": [ + -0.9120297286714051, + -0.80614571718591, + 0.9567270459434689 + ], + "camera_roll_rad": 0.015947620712851135, + "camera_pose_world_cv": [ + [ + -0.4608194828033447, + 0.2622671127319336, + 0.847856879234314, + -1.7161492109298706 + ], + [ + -0.8869657516479492, + -0.10314470529556274, + -0.45016980171203613, + -0.37919825315475464 + ], + [ + -0.030612796545028687, + -0.9594670534133911, + 0.2801530361175537, + 0.6910259127616882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28686745538002456, + 0.28544219599061527, + 0.30556317029629115 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8303802086440742, + 0.8491482870076659, + 0.8791772123894124 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5938.170955804329, + "intensity": 0.8566555183531025 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.8727689297013909, + 0.853839260563168, + 0.8213883991833575 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5183.284832026358, + "intensity": 0.853839260563168 + }, + "point_color_scale": [ + 1.0717411368274319, + 1.0426286365501767, + 0.9927214932177391 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94d1c5fb7fa0a8723539f9a8524cedd075ea7bc6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9275187263854487, + "K": [ + [ + 484.64194504317106, + 0.0, + 318.22330747579457 + ], + [ + 0.0, + 479.8659249360408, + 218.55563271319926 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.637551418963333, + -0.4571235472265061, + 1.5259529907488227 + ], + "camera_target": [ + -0.8662833889334521, + -0.8195875564751668, + 0.9110127805591077 + ], + "camera_roll_rad": -0.016946790394338246, + "camera_pose_world_cv": [ + [ + -0.40713977813720703, + -0.5436985492706299, + 0.7339134812355042, + -1.6375514268875122 + ], + [ + -0.9129523038864136, + 0.2180730104446411, + -0.3449088931083679, + -0.4571235477924347 + ], + [ + 0.02747964859008789, + -0.8104541897773743, + -0.5851570963859558, + 1.525952935218811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33065551492149525, + 0.3273002508582256, + 0.31274770751181197 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 0.8311246105167873, + 0.8559446524781043, + 0.8956567196162113 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 6073.295424197957, + "intensity": 0.865872669262631 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.578762455730608, + 0.5771319434738749, + 0.5743367796051894 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5459.640022524416, + "intensity": 0.5771319434738749 + }, + "point_color_scale": [ + 0.8549117793635813, + 0.8657628096769605, + 0.8831244581783672 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aafc8b93fb586c7207858d1e9d26333f8043320d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2940095378408016, + "K": [ + [ + 315.3812173485721, + 0.0, + 305.7362704627502 + ], + [ + 0.0, + 317.67507805039537, + 249.0206589093083 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9370586562916752, + -0.46998932866153753, + 0.906312922607671 + ], + "camera_target": [ + -0.8644618715876339, + -0.8707211977000927, + 0.9022111728191793 + ], + "camera_roll_rad": -0.019158474453757297, + "camera_pose_world_cv": [ + [ + -0.349595308303833, + -0.016760200262069702, + 0.9367507696151733, + -1.937058687210083 + ], + [ + -0.9361172914505005, + -0.03463202714920044, + -0.34997859597206116, + -0.4699893295764923 + ], + [ + 0.03830727934837341, + -0.9992595911026001, + -0.0035823583602905273, + 0.9063129425048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37100568904034253, + 0.3475219425309513, + 0.3765939129170453 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1168816067281158, + 1.1237247749131938, + 1.1346738440093185 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 5621.498424781196, + "intensity": 1.126462042187225 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.649361510948178, + 0.6641278596038087, + 0.6877540174528182 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5940.763897382378, + "intensity": 0.6700343990660611 + }, + "point_color_scale": [ + 1.0597761312733156, + 1.0287983692655163, + 0.9756936343950033 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..236faa7f8da7cd60c49e10b6e3d32665122121d8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9736076178761546, + "K": [ + [ + 460.94328072606066, + 0.0, + 343.7512190021431 + ], + [ + 0.0, + 453.43796393506796, + 248.5154918459395 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5311133504951386, + -1.481695299534243, + 0.9715297873260919 + ], + "camera_target": [ + -0.9245945645661977, + -0.8193651990034734, + 0.987576123566857 + ], + "camera_roll_rad": -0.03952594030775742, + "camera_pose_world_cv": [ + [ + 0.7342404127120972, + 0.0702669620513916, + 0.6752433776855469, + -1.5311133861541748 + ], + [ + -0.6742824912071228, + -0.04019814729690552, + 0.737378716468811, + -1.481695294380188 + ], + [ + 0.0789569616317749, + -0.9967180490493774, + 0.017864704132080078, + 0.9715297818183899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23479595921058602, + 0.24132692773958914, + 0.2406393765416685 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1046277955707986, + 1.0647251479428101, + 0.9963206091519727 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4964.615047030337, + "intensity": 1.0647251479428101 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.7831161526911056, + 0.787125100424083, + 0.7935394167968468 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 5601.655939161006, + "intensity": 0.788728679517274 + }, + "point_color_scale": [ + 1.1337960300757624, + 1.105615979619587, + 1.057307321694715 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d86bf221794f703c15b3bb8c5f5e5fc110f33346 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000150/scene_b04_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 150, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8618325489966564, + "K": [ + [ + 536.6565848786423, + 0.0, + 298.2728623552061 + ], + [ + 0.0, + 522.04499489126, + 218.677393913282 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.042370377479757, + -0.797621458227164, + 1.239884042950525 + ], + "camera_target": [ + -0.8803241296729345, + -0.7906195588476098, + 0.9177716159592535 + ], + "camera_roll_rad": 0.04685574494773763, + "camera_pose_world_cv": [ + [ + -0.018996000289916992, + -0.2665041983127594, + 0.9636465907096863, + -2.042370319366455 + ], + [ + -0.9957449436187744, + 0.09197032451629639, + 0.005806446075439453, + -0.7976214289665222 + ], + [ + -0.09017425775527954, + -0.9594358205795288, + -0.26711714267730713, + 1.2398840188980103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6589697003364563, + -0.7521694898605347, + 0.0, + -0.8948573470115662 + ], + [ + 0.7521694898605347, + 0.6589697003364563, + 0.0, + -0.8300369381904602 + ], + [ + 0.0, + 0.0, + 1.0, + 0.7428151965141296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21731081835310578, + 0.2151781192515697, + 0.21831681695433008 + ], + "directional_primary": { + "direction": [ + 0.1794542030346204, + -0.44802363651721383, + -0.875825900584757 + ], + "color": [ + 1.1375101428153307, + 1.0847571556581688, + 0.9943234633887483 + ], + "azimuth_rad": -1.1898191033843126, + "elevation_rad": 1.0671444302779416, + "color_temp_k": 4805.26929616065, + "intensity": 1.0847571556581688 + }, + "directional_fill": { + "direction": [ + 0.10685631407685985, + 0.09779401594029467, + -0.9894534130458983 + ], + "color": [ + 0.6908154670336766, + 0.7174791049600518, + 0.7601409256422524 + ], + "azimuth_rad": 0.7411452089811146, + "elevation_rad": 1.4254334932197268, + "color_temp_k": 6232.372097144909, + "intensity": 0.728144560130602 + }, + "point_color_scale": [ + 1.1730286913283212, + 1.1761749834404125, + 1.1812090508197584 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b8c31a392c917d46584b598c4118b05219a1985 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.831565714641842, + "K": [ + [ + 563.7270501580392, + 0.0, + 351.4265500267233 + ], + [ + 0.0, + 543.5719711873571, + 219.98365170798036 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.205051923921017, + -6.007507902918559, + 0.8348111841677183 + ], + "camera_target": [ + -6.408448269872909, + -6.290865677516549, + 0.9844395546937621 + ], + "camera_roll_rad": -0.05186289600341542, + "camera_pose_world_cv": [ + [ + -0.21585595607757568, + -0.14005574584007263, + -0.9663283824920654, + -5.205051898956299 + ], + [ + 0.9709997177124023, + 0.07339322566986084, + -0.22753673791885376, + -6.007507801055908 + ], + [ + 0.10278984904289246, + -0.9874197840690613, + 0.12015163898468018, + 0.8348112106323242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839798927307, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839798927307, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29954612709749645, + 0.3234306941883689, + 0.3025373875486273 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9428354492141973, + 0.9186564774469936, + 0.877206811560359 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5124.001037527596, + "intensity": 0.9186564774469936 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7360739428572269, + 0.72878472409849, + 0.716288920512084 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5357.1159725086245, + "intensity": 0.72878472409849 + }, + "point_color_scale": [ + 1.164614862574351, + 1.1543022771802285, + 1.1366235593617324 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77876b92082cb51780d743c8f0a05bf1b1bf7e0a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2626568808965104, + "K": [ + [ + 322.6511184212336, + 0.0, + 322.18721515466694 + ], + [ + 0.0, + 328.2494094500131, + 263.52866060915886 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.5344882406751985, + -6.142389543819472, + 0.9978111016892167 + ], + "camera_target": [ + -6.379443701521899, + -6.292941212807671, + 1.0941545355714692 + ], + "camera_roll_rad": -0.04172544607981582, + "camera_pose_world_cv": [ + [ + -0.1656494140625, + -0.1240629255771637, + -0.978350043296814, + -5.534488201141357 + ], + [ + 0.9826998710632324, + 0.0625617504119873, + -0.17431911826133728, + -6.14238977432251 + ], + [ + 0.08283376693725586, + -0.990300178527832, + 0.11155343055725098, + 0.9978110790252686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26942475710280395, + 0.2865913638520604, + 0.2905623464823126 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.029856789681665, + 1.0507831463293056, + 1.0842653169655303 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5895.152410178131, + "intensity": 1.0591536889883617 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7200169013120006, + 0.6865986632596, + 0.6293102551697701 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4804.683468968425, + "intensity": 0.6865986632596 + }, + "point_color_scale": [ + 1.0494320055671595, + 1.0640997940726225, + 1.0875682556813635 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d456e3cd0e02d175977aecf14aea0aa6c70f60c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2560560283655473, + "K": [ + [ + 332.0979701938562, + 0.0, + 328.827983324664 + ], + [ + 0.0, + 330.533552597645, + 232.94397835858595 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.602248957854432, + -6.470382898170582, + 1.2231262675269028 + ], + "camera_target": [ + -6.327662222503045, + -6.314371832187138, + 1.064707603439072 + ], + "camera_roll_rad": 0.03907699112318211, + "camera_pose_world_cv": [ + [ + 0.09685778617858887, + 0.0833844542503357, + -0.9917992353439331, + -4.6022491455078125 + ], + [ + 0.9922568202018738, + -0.08593249320983887, + 0.08967781066894531, + -6.4703826904296875 + ], + [ + -0.07775008678436279, + -0.9928054809570312, + -0.09106194972991943, + 1.2231262922286987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23238881354466176, + 0.23125395799153678, + 0.23319236662447876 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0214032475575643, + 1.0401884551874196, + 1.0702447873951881 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5858.598112426518, + "intensity": 1.0477025382393617 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8631128376487784, + 0.8991532456200417, + 0.9568178983740628 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6289.002075239498, + "intensity": 0.913569408808547 + }, + "point_color_scale": [ + 0.9129570371451079, + 0.9431699898761232, + 0.9915107142457477 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7495467c1540be04a9191f8517992645411b2dfa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9404028351810249, + "K": [ + [ + 463.1437831909149, + 0.0, + 299.8231802114289 + ], + [ + 0.0, + 472.2370720345165, + 235.11697309718286 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.562831649152518, + -5.147466996034549, + 1.377758926476734 + ], + "camera_target": [ + -6.357177443434574, + -6.344907647844902, + 1.0826585381318767 + ], + "camera_roll_rad": -0.025200831890999267, + "camera_pose_world_cv": [ + [ + -0.9823060035705566, + -0.08955375850200653, + 0.1644846349954605, + -6.562831878662109 + ], + [ + -0.1807713657617569, + 0.22379565238952637, + -0.9577251076698303, + -5.147467136383057 + ], + [ + 0.04895696043968201, + -0.9705131649971008, + -0.2360243797302246, + 1.3777589797973633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33516356611123477, + 0.3361284886813737, + 0.31124077346943435 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.009142316307162, + 1.02249998305859, + 1.0438722498608748 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5759.916467880147, + "intensity": 1.027843049759161 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.797487910243694, + 0.7855833148921957, + 0.7651754371467698 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5283.516726164319, + "intensity": 0.7855833148921957 + }, + "point_color_scale": [ + 1.0692539811826058, + 1.0439158625893403, + 1.0004790878580283 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..164026a2fcfdf3c912361980c45a2e52670b0675 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.304061918026763, + "K": [ + [ + 300.91659348533244, + 0.0, + 297.2751262338003 + ], + [ + 0.0, + 314.37724516063423, + 221.32405186263702 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.61429465287883, + -5.1210234252601365, + 1.5374215970174787 + ], + "camera_target": [ + -6.401935361844742, + -6.335627568937032, + 0.9929404671703933 + ], + "camera_roll_rad": 0.003666752413649714, + "camera_pose_world_cv": [ + [ + -0.8376002311706543, + 0.19768929481506348, + -0.5092588663101196, + -5.614294528961182 + ], + [ + 0.5462403893470764, + 0.2913738489151001, + -0.7853168845176697, + -5.121023654937744 + ], + [ + -0.006863981485366821, + -0.93595951795578, + -0.35204076766967773, + 1.5374215841293335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3597772318198052, + 0.36032385945923945, + 0.3604514612526055 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8265354022506991, + 0.8473546892956814, + 0.8806655485676531 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5986.6124848400295, + "intensity": 0.8556824041136742 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8574911113119364, + 0.8728868163499913, + 0.8975199444108795 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5850.282484179409, + "intensity": 0.8790450983652134 + }, + "point_color_scale": [ + 1.0228433833384039, + 1.0125188000542302, + 0.9948195144242181 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..635e20c5be0338c59082d86976f0fb9289bfc283 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.813731741059173, + "K": [ + [ + 542.7761219740148, + 0.0, + 312.121258717671 + ], + [ + 0.0, + 556.9607451590587, + 252.7976838435158 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.48428174855217, + -5.368769429466163, + 1.5551646792970777 + ], + "camera_target": [ + -6.4023560911952435, + -6.340992437433424, + 0.9749978844902301 + ], + "camera_roll_rad": 0.012305485310351555, + "camera_pose_world_cv": [ + [ + -0.9972227811813354, + -0.018381711095571518, + 0.07217258214950562, + -6.484281539916992 + ], + [ + -0.07140994071960449, + 0.5112084150314331, + -0.8564850687980652, + -5.368769645690918 + ], + [ + -0.02115156501531601, + -0.8592602610588074, + -0.511101245880127, + 1.5551646947860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839798927307, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839798927307, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.39386963519000884, + 0.3925264827048637, + 0.3881547293939722 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8527871601536179, + 0.8914576724879596, + 0.9533304922229067 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6352.782201876925, + "intensity": 0.9069258774216964 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.591533739137721, + 0.5982170564067306, + 0.608910364037146 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5722.4471369352395, + "intensity": 0.6008903833143344 + }, + "point_color_scale": [ + 0.9251070631784973, + 0.9401952209855663, + 0.9643362734768766 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6afc7cfc49b5a1f8052b3b70ec130b10e59dadf3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8732282702947914, + "K": [ + [ + 501.9725960321054, + 0.0, + 321.0020185409898 + ], + [ + 0.0, + 514.3031944071719, + 258.2953698734283 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.592763800770416, + -6.507108359436739, + 1.0291416972384044 + ], + "camera_target": [ + -6.363584035100125, + -6.28614609419604, + 1.0738548549722082 + ], + "camera_roll_rad": 0.004099018206822735, + "camera_pose_world_cv": [ + [ + 0.2751120328903198, + -0.05577665567398071, + -0.959792971611023, + -5.592763900756836 + ], + [ + 0.9613774418830872, + 0.0074607133865356445, + 0.2751327455043793, + -6.507108211517334 + ], + [ + -0.00818529725074768, + -0.998415470123291, + 0.05567502975463867, + 1.0291416645050049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22419930481492703, + 0.2128380990816376, + 0.2164241663833487 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.033865441578679, + 1.0069539262637013, + 0.9608199000094537 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5118.204757180998, + "intensity": 1.0069539262637013 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6854899357903312, + 0.6941551239970725, + 0.7080194251278584 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5748.42101173781, + "intensity": 0.697621199279769 + }, + "point_color_scale": [ + 0.9935585734399149, + 0.9518975627077553, + 0.8804786871669099 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..227c470b6a4a5a5f21095b979e4a808b2a8ba0c7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0998641876987512, + "K": [ + [ + 384.88683424104306, + 0.0, + 295.70328469890507 + ], + [ + 0.0, + 391.50960190063955, + 250.8345691126332 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.552910653916203, + -5.041774207278325, + 1.4944373599646665 + ], + "camera_target": [ + -6.397703626901284, + -6.335566790686302, + 0.9834630843768483 + ], + "camera_roll_rad": 0.03991849148663669, + "camera_pose_world_cv": [ + [ + -0.8209530115127563, + 0.2378857582807541, + -0.5190825462341309, + -5.552910804748535 + ], + [ + 0.5659530758857727, + 0.21844816207885742, + -0.7949701547622681, + -5.041774272918701 + ], + [ + -0.07571941614151001, + -0.9464094638824463, + -0.313967764377594, + 1.494437336921692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839798927307, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839798927307, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24458443615463224, + 0.23660834931905367, + 0.2365685804595456 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9253892961446311, + 0.8666319099996741, + 0.7659049623226053 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4531.432813681467, + "intensity": 0.8666319099996741 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7741119821862974, + 0.789866412736134, + 0.8150735016158727 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5895.756345142224, + "intensity": 0.7961681849560687 + }, + "point_color_scale": [ + 1.0326051757979637, + 1.0455314185416207, + 1.066213406931472 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73347603d1c8bbf785e83d4d30f5be3cfd72f4f9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2524869009516864, + "K": [ + [ + 316.491886244275, + 0.0, + 346.579639929092 + ], + [ + 0.0, + 331.77727228517847, + 243.6077517106328 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.229998325486751, + -6.3726566848329895, + 1.095373199342514 + ], + "camera_target": [ + -6.4108434091318705, + -6.277832534231201, + 1.026263467030457 + ], + "camera_roll_rad": 0.014091531199124638, + "camera_pose_world_cv": [ + [ + 0.08164840936660767, + 0.0557732880115509, + -0.9950995445251465, + -5.2299981117248535 + ], + [ + 0.9962642192840576, + -0.03274869918823242, + 0.07990851998329163, + -6.37265682220459 + ], + [ + -0.02813151478767395, + -0.9979063272476196, + -0.05823874473571777, + 1.0953731536865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.362142380563791, + 0.37013116621831493, + 0.3780980015875852 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0348084520051053, + 1.0788934834284523, + 1.1494295337058076 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6304.084376985578, + "intensity": 1.096527495997791 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7714317402814511, + 0.7538351154474727, + 0.7236694728749382 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5166.531381173583, + "intensity": 0.7538351154474727 + }, + "point_color_scale": [ + 0.8176201886762653, + 0.82822178312851, + 0.8451843342521017 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5811d9772238f6841640a8a43a305bc128d36c6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9981223139649356, + "K": [ + [ + 448.6986484770807, + 0.0, + 294.09488905249015 + ], + [ + 0.0, + 440.29904762032805, + 242.39551682435024 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.5730535341182, + -4.676772646482785, + 1.329755697941784 + ], + "camera_target": [ + -6.417867503638389, + -6.2861981278493815, + 1.1079566633807398 + ], + "camera_roll_rad": -0.00399424747090367, + "camera_pose_world_cv": [ + [ + -0.8858499526977539, + 0.04922093451023102, + -0.46135401725769043, + -5.573053359985352 + ], + [ + 0.4639045000076294, + 0.11095678806304932, + -0.8789092302322388, + -4.676772594451904 + ], + [ + 0.007929578423500061, + -0.9926056861877441, + -0.12112468481063843, + 1.3297556638717651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839798927307, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839798927307, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29079773441267165, + 0.2974608852639683, + 0.2929684436484233 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.2240962152553776, + 1.1864836615296661, + 1.1220049979998752 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5047.13055602565, + "intensity": 1.1864836615296661 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8655953562503355, + 0.8765798658916738, + 0.8941550813178152 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5749.372030482541, + "intensity": 0.8809736697482091 + }, + "point_color_scale": [ + 1.2225276623767536, + 1.1770886222755417, + 1.0991931249591784 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55b0f926d964244ffc6b1df31976eb2bd0388a78 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8417418123726909, + "K": [ + [ + 531.0348976693687, + 0.0, + 308.6973038221755 + ], + [ + 0.0, + 536.1720169624173, + 263.5561575138277 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.163890936257624, + -4.424623404010918, + 1.0630970021139161 + ], + "camera_target": [ + -6.357947089678188, + -6.343746613138417, + 0.9791277087430483 + ], + "camera_roll_rad": 0.05079397994647336, + "camera_pose_world_cv": [ + [ + -0.9893534183502197, + 0.10525155067443848, + -0.10050888359546661, + -6.163890838623047 + ], + [ + 0.10447356104850769, + 0.0328444242477417, + -0.9939852356910706, + -4.424623489379883 + ], + [ + -0.10131731629371643, + -0.9939031004905701, + -0.04349076747894287, + 1.0630970001220703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2685570151248369, + 0.2782840189202542, + 0.27163707419782673 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1135255801245432, + 1.1673247676461156, + 1.2534034676806316 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6405.066896749526, + "intensity": 1.1888444426547446 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7913979536424461, + 0.7844089381884897, + 0.7724277688388501 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5372.715527510127, + "intensity": 0.7844089381884897 + }, + "point_color_scale": [ + 1.0230231242719718, + 1.0281474965439146, + 1.036346492179023 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4012b0a3234f2c49b60cfe280fa43f685c5b7f3f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9745443394282024, + "K": [ + [ + 440.7050710870283, + 0.0, + 320.3791904932914 + ], + [ + 0.0, + 452.9247706799336, + 218.1511176620756 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.245005707925902, + -4.67652013489146, + 0.9514870271889758 + ], + "camera_target": [ + -6.32694333056702, + -6.341036918371993, + 1.0316255579219158 + ], + "camera_roll_rad": -0.0048418206231852015, + "camera_pose_world_cv": [ + [ + -0.9987208843231201, + -0.012033173814415932, + -0.04910973459482193, + -6.2450056076049805 + ], + [ + 0.04962872713804245, + -0.04749506711959839, + -0.9976377487182617, + -4.676520347595215 + ], + [ + 0.009672284126281738, + -0.9987989664077759, + 0.04803144931793213, + 0.9514870047569275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839798927307, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839798927307, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21282963288963946, + 0.21109468775307277, + 0.22616416146040785 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1135194513501605, + 1.095402826742026, + 1.0643457559852239 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5263.731737170054, + "intensity": 1.095402826742026 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7054707341523899, + 0.7327549784161028, + 0.7764097692380434 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6233.774196487791, + "intensity": 0.7436686761215879 + }, + "point_color_scale": [ + 0.8647618321993986, + 0.8429820140260904, + 0.8056451828718478 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45178b5fbe2f9d77d66d543ee9759974ef13f041 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9092597876045907, + "K": [ + [ + 495.6957363264332, + 0.0, + 290.38387576488793 + ], + [ + 0.0, + 491.02031304976214, + 254.2403098890269 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.553892999903371, + -5.182551826960737, + 1.329825590457816 + ], + "camera_target": [ + -6.357074285757716, + -6.3103155981850305, + 1.0076208650242378 + ], + "camera_roll_rad": -0.023918992333075702, + "camera_pose_world_cv": [ + [ + -0.8198962211608887, + 0.0923852026462555, + -0.5650091171264648, + -5.553893089294434 + ], + [ + 0.5706145763397217, + 0.21215271949768066, + -0.7933411598205566, + -5.182551860809326 + ], + [ + 0.04657521843910217, + -0.9728598594665527, + -0.22665947675704956, + 1.3298256397247314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839798927307, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839798927307, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24005369525174625, + 0.23548597161958595, + 0.23310449741668868 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.974186106711911, + 0.9135309291255524, + 0.8095506246917953 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4551.479802903436, + "intensity": 0.9135309291255524 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7612583149687845, + 0.7582162661777496, + 0.7530013253931184 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5442.684110311952, + "intensity": 0.7582162661777496 + }, + "point_color_scale": [ + 1.0674884426105657, + 1.097290637711276, + 1.1449741498724129 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1031dce87837cfcc6986a791070e2f8baec4de --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7883400937141669, + "K": [ + [ + 601.2972954716256, + 0.0, + 345.7127199118862 + ], + [ + 0.0, + 577.0091328978023, + 218.6007292314041 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.520028518684421, + -5.478283436504637, + 1.2641490916270173 + ], + "camera_target": [ + -6.38831106845208, + -6.35811595982967, + 1.098412109268865 + ], + "camera_roll_rad": 0.0081600804711923, + "camera_pose_world_cv": [ + [ + -0.9892895221710205, + -0.010972946882247925, + 0.14555320143699646, + -6.520028591156006 + ], + [ + -0.14508187770843506, + 0.18351960182189941, + -0.9722508788108826, + -5.478283405303955 + ], + [ + -0.01604340225458145, + -0.9829548001289368, + -0.18314599990844727, + 1.2641490697860718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23221072422117806, + 0.23240193802266534, + 0.23741565173785414 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0756745415306592, + 1.0974779385037157, + 1.1323633736606065 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5894.20377551158, + "intensity": 1.1061992972929384 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9155146803899676, + 0.9199643087585999, + 0.9270837141484116 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5596.548013238734, + "intensity": 0.9217441601060528 + }, + "point_color_scale": [ + 0.9583780260105319, + 0.9579360691774015, + 0.9571784288920351 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7d55582a0acc1b45ed71d74af7e8f79de43c8e2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0915647388611953, + "K": [ + [ + 381.45132602349696, + 0.0, + 317.6757948758873 + ], + [ + 0.0, + 395.1806946003383, + 257.2314283227128 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.123064063564366, + -5.399894053030625, + 1.4963547395656303 + ], + "camera_target": [ + -6.408436693099575, + -6.31036405560533, + 0.9641526730085872 + ], + "camera_roll_rad": -0.03090444703905042, + "camera_pose_world_cv": [ + [ + -0.9614030122756958, + 0.08647289127111435, + -0.26120245456695557, + -6.123064041137695 + ], + [ + 0.2698039710521698, + 0.48241496086120605, + -0.8333556652069092, + -5.3998942375183105 + ], + [ + 0.05394531041383743, + -0.8716640472412109, + -0.4871259331703186, + 1.4963546991348267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839798927307, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839798927307, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29601497815863137, + 0.2860689951840319, + 0.2923782669501225 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1035778479074152, + 1.0962698278939185, + 1.0837417935850673 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5404.767710238217, + "intensity": 1.0962698278939185 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7732099543498561, + 0.7634832983364194, + 0.7468090308848135 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5318.0022679393915, + "intensity": 0.7634832983364194 + }, + "point_color_scale": [ + 1.091420791271276, + 1.076935946218454, + 1.0521047832707595 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f97a72496730fb4f9d63f9d97de1c89b3b809c84 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.230909458657606, + "K": [ + [ + 324.651049269979, + 0.0, + 315.5343134092126 + ], + [ + 0.0, + 339.42924073085453, + 231.38903274772667 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.247599465270937, + -6.482250039075095, + 0.9671830540051249 + ], + "camera_target": [ + -6.367018921669844, + -6.287023903399214, + 1.0148788104778033 + ], + "camera_roll_rad": 0.009577173528873134, + "camera_pose_world_cv": [ + [ + 0.1709834337234497, + -0.04459664225578308, + -0.9842641353607178, + -5.2475996017456055 + ], + [ + 0.9850881099700928, + -0.011664628982543945, + 0.17165523767471313, + -6.482250213623047 + ], + [ + -0.019136399030685425, + -0.9989370703697205, + 0.04193735122680664, + 0.9671830534934998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9680430889129639, + -0.2507839500904083, + 0.0, + -6.372892379760742 + ], + [ + 0.2507839500904083, + 0.9680430889129639, + 0.0, + -6.310051918029785 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23277796024448807, + 0.23099454069537068, + 0.23917626960677085 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9939197636261398, + 0.9782904587021719, + 0.9514973645467983 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5271.769434484399, + "intensity": 0.9782904587021719 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5952181001387807, + 0.614591886371036, + 0.6455899443426444 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6122.6095903425485, + "intensity": 0.6223414008639381 + }, + "point_color_scale": [ + 1.0069196328736798, + 0.9952778766087635, + 0.9753205801546218 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27fe9658379f7a5ff056c5ad7f4953b445fda3c9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9287257553519229, + "K": [ + [ + 490.81985840735854, + 0.0, + 351.54017121255623 + ], + [ + 0.0, + 479.1429035521289, + 258.8574201076389 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.472211619253392, + -5.060123506479703, + 1.6647171082606023 + ], + "camera_target": [ + -6.008127037585748, + -5.840856647789317, + 1.0731113275184891 + ], + "camera_roll_rad": 0.018019088631316252, + "camera_pose_world_cv": [ + [ + -0.4424107074737549, + 0.30563923716545105, + -0.8431236743927002, + -4.472211837768555 + ], + [ + 0.8961648941040039, + 0.1149437427520752, + -0.4285748600959778, + -5.060123443603516 + ], + [ + -0.03407752513885498, + -0.9451839327812195, + -0.3247554898262024, + 1.6647170782089233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37113692370130735, + 0.3449792504172486, + 0.35327968557185346 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.068126527883959, + 1.1155301327409806, + 1.191375900512215 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6335.680156906132, + "intensity": 1.1344915746837891 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7653404355868607, + 0.7321126530948375, + 0.6751507402513695 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4851.626276335631, + "intensity": 0.7321126530948375 + }, + "point_color_scale": [ + 0.9164983713608499, + 0.9118982087195773, + 0.9040122156202529 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43e1a0897ca71dd0df260c1874f50b523491864f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2927269590668047, + "K": [ + [ + 316.4615086506186, + 0.0, + 296.61521750755475 + ], + [ + 0.0, + 318.09900279323205, + 245.61186775809946 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.183403427282531, + -6.222862785972635, + 1.5735282477549353 + ], + "camera_target": [ + -5.989039655181259, + -5.834512687855861, + 1.068152594892503 + ], + "camera_roll_rad": 0.02251348580550415, + "camera_pose_world_cv": [ + [ + 0.2216694951057434, + 0.2483019232749939, + -0.9429787397384644, + -4.183403491973877 + ], + [ + 0.9741548895835876, + -0.09944498538970947, + 0.20281273126602173, + -6.222862720489502 + ], + [ + -0.04341575503349304, + -0.9635646939277649, + -0.2639284133911133, + 1.5735282897949219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2815605859952346, + 0.3138632041956962, + 0.2874807854967003 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0289337552736058, + 0.9748112262576707, + 0.8820297479446393 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4706.842345353176, + "intensity": 0.9748112262576707 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.66222895604234, + 0.6711309080035945, + 0.6853740311416017 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5763.882069667834, + "intensity": 0.6746916887880963 + }, + "point_color_scale": [ + 0.8388872066420265, + 0.8252590004550078, + 0.8018963612772615 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55f1dfe4820bfcf5dc16f6d312610e02c622b32c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0560106777042688, + "K": [ + [ + 401.6128066009911, + 0.0, + 291.7874150377406 + ], + [ + 0.0, + 411.4939088730698, + 235.67291709808913 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.4294136307327125, + -4.591435842788677, + 1.271631850334181 + ], + "camera_target": [ + -6.065911782963341, + -5.865067915351248, + 1.0736400026535073 + ], + "camera_roll_rad": 0.04282470227871592, + "camera_pose_world_cv": [ + [ + -0.8859705924987793, + 0.13786622881889343, + -0.44277459383010864, + -5.429413795471191 + ], + [ + 0.45593568682670593, + 0.08451008796691895, + -0.8859915137290955, + -4.59143590927124 + ], + [ + -0.08472944796085358, + -0.9868389964103699, + -0.13773131370544434, + 1.2716318368911743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3387785989608841, + 0.35533911073950886, + 0.35362541308288237 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.188460343559775, + 1.1186932946358281, + 0.9990926393376338 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4609.074728288773, + "intensity": 1.1186932946358281 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8149540060573041, + 0.8428450936453354, + 0.8874708337861856 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6153.185893733089, + "intensity": 0.854001528680548 + }, + "point_color_scale": [ + 1.195311256825966, + 1.1475076442696401, + 1.0655585941730814 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07212aa0c5e38c9ae8498b0d2551d728baa27323 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0017402029591465, + "K": [ + [ + 433.6330986435855, + 0.0, + 306.5019161961916 + ], + [ + 0.0, + 438.409968652925, + 249.8954168909079 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.886282648265852, + -4.723685355064489, + 0.7715447602117608 + ], + "camera_target": [ + -5.994457259596212, + -5.800535788789066, + 1.0597249917845286 + ], + "camera_roll_rad": -0.016000840753706537, + "camera_pose_world_cv": [ + [ + -0.6923345327377319, + -0.15371569991111755, + -0.7050139904022217, + -4.886282444000244 + ], + [ + 0.7208911180496216, + -0.10475599765777588, + -0.6850857138633728, + -4.723685264587402 + ], + [ + 0.031453877687454224, + -0.9825466275215149, + 0.18333864212036133, + 0.7715447545051575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3236492888366541, + 0.3340457214631063, + 0.3310149382265406 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8277196062365754, + 0.8545827261729674, + 0.8975637180711946 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6120.877187354452, + "intensity": 0.8653279741475242 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9664752390627898, + 0.9320735797259946, + 0.8730993065772029 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4972.732317566169, + "intensity": 0.9320735797259946 + }, + "point_color_scale": [ + 0.8866167591849011, + 0.90009111515274, + 0.9216500847012824 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d51f683b66fffd05b16dc1ccdb8f1ae13e6cfb5 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9840626309383504, + "K": [ + [ + 463.25629199124216, + 0.0, + 348.8421895065727 + ], + [ + 0.0, + 447.7610177743379, + 236.33702142634064 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.568709691142169, + -5.133851220461963, + 0.8582169140770638 + ], + "camera_target": [ + -6.061324792753815, + -5.794907630367395, + 0.9853194484097018 + ], + "camera_roll_rad": 0.03099557910194914, + "camera_pose_world_cv": [ + [ + -0.4085664749145508, + -0.04575228691101074, + -0.9115810394287109, + -4.568709850311279 + ], + [ + 0.910636305809021, + -0.08801841735839844, + -0.40372544527053833, + -5.133851051330566 + ], + [ + -0.06176456809043884, + -0.9950675368309021, + 0.07762503623962402, + 0.8582169413566589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.275099794593427, + 0.257484591782539, + 0.26335929811702813 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.2456682922072944, + 1.1863379603950226, + 1.084628820145414 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4785.552517880726, + "intensity": 1.1863379603950226 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5615000163937891, + 0.5716182172712214, + 0.587807338675113 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5851.530564858442, + "intensity": 0.5756654976221943 + }, + "point_color_scale": [ + 1.0236495562463928, + 0.9865364794500703, + 0.9229140620849462 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da55003454074e7a4eae8da6092d9121ef457079 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1134794721614913, + "K": [ + [ + 400.88874815053117, + 0.0, + 343.1374981173742 + ], + [ + 0.0, + 385.5935677438707, + 262.32760191296563 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.635582809673687, + -6.52191082074353, + 0.8127931113135334 + ], + "camera_target": [ + -6.001123953658354, + -5.8315243707093005, + 1.0615300984633427 + ], + "camera_roll_rad": 0.046286674141113635, + "camera_pose_world_cv": [ + [ + 0.43602222204208374, + -0.18428713083267212, + -0.8808648586273193, + -4.63558292388916 + ], + [ + 0.895298421382904, + -0.010412633419036865, + 0.44534510374069214, + -6.521910667419434 + ], + [ + -0.09124347567558289, + -0.9828172326087952, + 0.1604517698287964, + 0.8127931356430054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34686062092728115, + 0.3293962915997423, + 0.3326408099915519 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8771586544010879, + 0.8971173606083515, + 0.9290512905399733 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5941.027237121936, + "intensity": 0.9051008430912568 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7744206055509631, + 0.7919777326421026, + 0.8200691359879255 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5939.477203250641, + "intensity": 0.7990005834785583 + }, + "point_color_scale": [ + 0.9983912957363783, + 0.9624545803296928, + 0.9008487824896606 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0e31c99baa74d81ad1c8ad5116d33e21faa73bf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8322634825272072, + "K": [ + [ + 531.8137913147748, + 0.0, + 339.36302263122235 + ], + [ + 0.0, + 543.0591238096271, + 221.20429754130416 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.698993482587878, + -4.113105084904196, + 1.6984315584814031 + ], + "camera_target": [ + -6.043186840379684, + -5.85978098485542, + 1.0530682964265423 + ], + "camera_roll_rad": -0.029216662766699028, + "camera_pose_world_cv": [ + [ + -0.983305811882019, + 0.008480317890644073, + -0.18176361918449402, + -5.698993682861328 + ], + [ + 0.17348051071166992, + 0.34509754180908203, + -0.9223949313163757, + -4.113105297088623 + ], + [ + 0.054903946816921234, + -0.9385285973548889, + -0.34080737829208374, + 1.6984316110610962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36350009239088743, + 0.3765452770262579, + 0.37601522766187845 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8880920134669953, + 0.8630553837823003, + 0.8201354471799659 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5085.581475912553, + "intensity": 0.8630553837823003 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8803522098945518, + 0.8540393634274221, + 0.8089316266266287 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5059.858921297573, + "intensity": 0.8540393634274221 + }, + "point_color_scale": [ + 0.8403267214502412, + 0.8524385374271537, + 0.8718174429902139 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e639342454d42cdbc76f544534195bae1b6afa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.866712482749347, + "K": [ + [ + 543.4133669259494, + 0.0, + 323.50018231962883 + ], + [ + 0.0, + 518.706421329243, + 225.73199482676011 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.627181630185536, + -5.669946907598399, + 1.6263785377424904 + ], + "camera_target": [ + -6.031248835269447, + -5.858090278301615, + 0.9881433476394692 + ], + "camera_roll_rad": -0.029514751327653188, + "camera_pose_world_cv": [ + [ + -0.15659964084625244, + 0.39858683943748474, + -0.9036622047424316, + -4.627181529998779 + ], + [ + 0.9861965179443359, + 0.11293292045593262, + -0.12108990550041199, + -5.669946670532227 + ], + [ + 0.05378827452659607, + -0.9101510047912598, + -0.410770058631897, + 1.6263785362243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29768870541102266, + 0.2784118116339124, + 0.2751382745010529 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1287101626757523, + 1.0616904229320945, + 0.9467994405143952 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4598.2071300627495, + "intensity": 1.0616904229320945 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6281513975264617, + 0.6245676129980225, + 0.6184239823778411 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5418.02821540955, + "intensity": 0.6245676129980225 + }, + "point_color_scale": [ + 1.044116640472109, + 1.0538115257050735, + 1.069323342077817 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f448dfe84410de061bc2234617c4eb09926de9a8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1799491625604532, + "K": [ + [ + 349.2129588082551, + 0.0, + 319.9993055277905 + ], + [ + 0.0, + 358.46639174261446, + 216.54226479723354 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.311431136708519, + -4.276214582509124, + 1.4310073616343146 + ], + "camera_target": [ + -6.0108041179068685, + -5.828307079919717, + 0.9768334803089532 + ], + "camera_roll_rad": 0.03730544688860278, + "camera_pose_world_cv": [ + [ + -0.9829362630844116, + 0.020822830498218536, + 0.18276479840278625, + -6.311430931091309 + ], + [ + -0.16942167282104492, + 0.28449559211730957, + -0.9435882568359375, + -4.276214599609375 + ], + [ + -0.07164392620325089, + -0.9584512710571289, + -0.27611297369003296, + 1.4310073852539062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3806917765296236, + 0.3779723595057236, + 0.3698457414162547 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0731917254277854, + 1.0877390278603052, + 1.111014711752337 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5766.054532327986, + "intensity": 1.0935579488333131 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6827890900070107, + 0.6781904238839944, + 0.6703069962445378 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5403.131586623462, + "intensity": 0.6781904238839944 + }, + "point_color_scale": [ + 0.985152243113082, + 0.9789298854156746, + 0.9682629865058333 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1deb2790393ada3a8c3d254ae3a29ff46eee17f6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.901410960752585, + "K": [ + [ + 497.0011064933919, + 0.0, + 340.8801302307737 + ], + [ + 0.0, + 495.9441469690481, + 242.20489924096938 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.506473839230048, + -5.083229007160876, + 0.9931346975731904 + ], + "camera_target": [ + -6.000599475215648, + -5.810089303154518, + 1.047637941224906 + ], + "camera_roll_rad": 0.0034116797192177833, + "camera_pose_world_cv": [ + [ + -0.8205233812332153, + 0.040690839290618896, + 0.5701627731323242, + -6.506474018096924 + ], + [ + -0.5715723633766174, + -0.04652142524719238, + -0.8192318081855774, + -5.083229064941406 + ], + [ + -0.0068104565143585205, + -0.9980881810188293, + 0.061429619789123535, + 0.9931346774101257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2693139960546948, + 0.27745078373448306, + 0.2781830841243264 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9455715431827859, + 0.9901332478845284, + 1.0614319754073165 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6384.197710754096, + "intensity": 1.0079579297652255 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7519980102102037, + 0.7318498016129611, + 0.6973100154462595 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5106.7067986425445, + "intensity": 0.7318498016129611 + }, + "point_color_scale": [ + 1.0886832836480358, + 1.1210278417040493, + 1.1727791345936716 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee809aca27927035cf4703d70a94a3e4e8c4889 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.923386242490249, + "K": [ + [ + 481.24490393180673, + 0.0, + 296.1711812455642 + ], + [ + 0.0, + 482.3545923488481, + 231.4028152578799 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.556366343131116, + -4.651348352672839, + 1.70053545507721 + ], + "camera_target": [ + -6.046145850286017, + -5.880858049161849, + 1.0693742627804852 + ], + "camera_roll_rad": 0.0501381937664115, + "camera_pose_world_cv": [ + [ + -0.6093406677246094, + 0.30206578969955444, + -0.7331169843673706, + -4.556366443634033 + ], + [ + 0.787178099155426, + 0.11949539184570312, + -0.6050387024879456, + -4.65134859085083 + ], + [ + -0.09515738487243652, + -0.9457681775093079, + -0.31059277057647705, + 1.7005354166030884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3612270314872507, + 0.33615091256585966, + 0.34807366415311225 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9751912884523649, + 0.9912404182452854, + 1.0169190259139582 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5821.735434200692, + "intensity": 0.9976600701624535 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7867492172982988, + 0.8067843391374939, + 0.8388405340802062 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5991.781086889282, + "intensity": 0.8147983878731719 + }, + "point_color_scale": [ + 1.232253578208132, + 1.179418970617084, + 1.0888453576038586 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb865cd0f08f7dd89a9c6dd4c9befbe7be798aa3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1866260895304115, + "K": [ + [ + 363.93778319370887, + 0.0, + 310.5578065496177 + ], + [ + 0.0, + 355.8905516957638, + 235.34251627819063 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.936101266685138, + -4.898531355091296, + 1.1004190165021441 + ], + "camera_target": [ + -6.009341837288516, + -5.843363345175335, + 1.0185759958434277 + ], + "camera_roll_rad": -0.03494471551609894, + "camera_pose_world_cv": [ + [ + -0.995039701461792, + -0.06299015134572983, + -0.07699841260910034, + -5.93610143661499 + ], + [ + 0.07110577076673508, + 0.09097278118133545, + -0.9933117032051086, + -4.898531436920166 + ], + [ + 0.06957359611988068, + -0.9938593506813049, + -0.08604222536087036, + 1.100419044494629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21765794592843463, + 0.22954031095564656, + 0.2316836077605414 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.231820076067677, + 1.173137561536445, + 1.0725389651971902 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4785.402101470082, + "intensity": 1.173137561536445 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8725361806331701, + 0.8779089209433212, + 0.8865053054395629 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5622.099684474319, + "intensity": 0.8800580170673815 + }, + "point_color_scale": [ + 0.8689877291218057, + 0.844660299413855, + 0.8029561342002254 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb4ac87d531690d160e80749f64188d83bf2a2ce --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0282059853032683, + "K": [ + [ + 408.10664728861894, + 0.0, + 308.21047224691546 + ], + [ + 0.0, + 424.96086756389064, + 253.87002561143163 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.6491679632154135, + -6.173398750837489, + 1.6028493145749798 + ], + "camera_target": [ + -6.0118115186284875, + -5.812205743589634, + 1.07934464493316 + ], + "camera_roll_rad": -0.04170588890279387, + "camera_pose_world_cv": [ + [ + 0.22729253768920898, + 0.3566848635673523, + -0.9061535000801086, + -4.649168014526367 + ], + [ + 0.9706894755363464, + -0.008353352546691895, + 0.2401922047138214, + -6.173398971557617 + ], + [ + 0.07810342311859131, + -0.9341875314712524, + -0.3481287956237793, + 1.6028493642807007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2557037096541575, + 0.2537474425728612, + 0.26873317314869866 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9792484883310892, + 1.0085256134268523, + 1.0553690135800737 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6073.928224371155, + "intensity": 1.0202364634651577 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5702965935277294, + 0.5508175150573098, + 0.517424809108019 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4994.800833360446, + "intensity": 0.5508175150573098 + }, + "point_color_scale": [ + 0.8991331409826628, + 0.8750734060961348, + 0.8338281462906582 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..907cb0be5a09ed60e90f64f64dd9614bc882332e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.793623146870177, + "K": [ + [ + 563.8639693712579, + 0.0, + 316.8778854854655 + ], + [ + 0.0, + 572.7378299735013, + 222.40838233758566 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.328035178874482, + -5.062679287284987, + 1.4595881352747813 + ], + "camera_target": [ + -6.017186219122442, + -5.819061705267984, + 1.0036734162825343 + ], + "camera_roll_rad": 0.010899892105742687, + "camera_pose_world_cv": [ + [ + -0.7330448627471924, + 0.2901489734649658, + -0.6151902675628662, + -5.328035354614258 + ], + [ + 0.6798889636993408, + 0.2860894203186035, + -0.6752066016197205, + -5.062679290771484 + ], + [ + -0.019911080598831177, + -0.9132177233695984, + -0.406985342502594, + 1.4595881700515747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2441145621566881, + 0.23754874126653625, + 0.2240163218153054 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9024272297773122, + 0.8814392015589769, + 0.8454597246132594 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5159.841570448255, + "intensity": 0.8814392015589769 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9084658934590464, + 0.9188289500761464, + 0.9354098406635063 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5724.557889556682, + "intensity": 0.9229741727229863 + }, + "point_color_scale": [ + 1.151271500410189, + 1.1640617791907764, + 1.184526225239716 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b04d33fb1c011655b2b28f1b0472d1ac947dba00 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8344604623355834, + "K": [ + [ + 554.8851521632132, + 0.0, + 349.8825554596764 + ], + [ + 0.0, + 541.4496561431288, + 249.52304476516898 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.2055941618493184, + -5.060965413558265, + 1.601563053675482 + ], + "camera_target": [ + -5.9870283413069245, + -5.8039980742995425, + 1.0060851287066457 + ], + "camera_roll_rad": -0.013122561749087255, + "camera_pose_world_cv": [ + [ + -0.6980324983596802, + 0.33212655782699585, + -0.6343841552734375, + -5.205594062805176 + ], + [ + 0.7156979441642761, + 0.3520166873931885, + -0.6032090187072754, + -5.060965538024902 + ], + [ + 0.0229719877243042, + -0.8750866651535034, + -0.4834209680557251, + 1.6015630960464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23795518109303634, + 0.23201224349356145, + 0.21654278399499555 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9252074132247742, + 0.9458762944206744, + 0.978946504334115 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5933.244552445087, + "intensity": 0.9541438468990345 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7639240263012603, + 0.7761667926189965, + 0.7957552187273744 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5813.489493782026, + "intensity": 0.781063899146091 + }, + "point_color_scale": [ + 0.9919257749192176, + 0.9990465261465351, + 1.010439728110243 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54236ada3dbfc5bc2f868ab7669f3a5147e8cd92 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9125874821042178, + "K": [ + [ + 469.7376458938591, + 0.0, + 322.3459461665184 + ], + [ + 0.0, + 488.9565333202199, + 221.98776394865774 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.752840856642612, + -5.685641477910287, + 1.6579143986535483 + ], + "camera_target": [ + -6.05840260374938, + -5.808780810334836, + 1.0112870004681358 + ], + "camera_roll_rad": -0.027479144514145078, + "camera_pose_world_cv": [ + [ + -0.11794662475585938, + 0.4344778060913086, + -0.8929264545440674, + -4.752840995788574 + ], + [ + 0.9917970895767212, + 0.09615397453308105, + -0.0842200219631195, + -5.685641288757324 + ], + [ + 0.04926663637161255, + -0.8955353498458862, + -0.44225484132766724, + 1.657914400100708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8555322885513306, + -0.5177492499351501, + 0.0, + -6.023752212524414 + ], + [ + 0.5177492499351501, + -0.8555322885513306, + 0.0, + -5.833716869354248 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3192647682792219, + 0.3181744730366898, + 0.33319305155856926 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1076524866763813, + 1.0924153736548001, + 1.066294608474947 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5300.741505095087, + "intensity": 1.0924153736548001 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6800084397824729, + 0.688539516865415, + 0.7021892401981223 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5746.580043926928, + "intensity": 0.6919519476985919 + }, + "point_color_scale": [ + 1.2042599675592163, + 1.1768929188216575, + 1.1299779781286996 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5b9190a0f1a1a806daf0dd2a8c0f2129cd7aa1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8618970135794212, + "K": [ + [ + 526.2675067520913, + 0.0, + 325.9588651403641 + ], + [ + 0.0, + 522.0006610085703, + 240.7368591292615 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.950225336387251, + -4.831667637051485, + 1.4447905863939519 + ], + "camera_target": [ + -6.333360122959512, + -5.62400891663592, + 0.9637382556429999 + ], + "camera_roll_rad": 0.013951027065650642, + "camera_pose_world_cv": [ + [ + -0.8940982818603516, + 0.23382265865802765, + -0.3819889426231384, + -5.950225353240967 + ], + [ + 0.447201669216156, + 0.4194704294204712, + -0.7899718284606934, + -4.831667423248291 + ], + [ + -0.024480268359184265, + -0.8771383762359619, + -0.47961342334747314, + 1.4447906017303467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3419187976783209, + 0.33493211017945645, + 0.3330532131750909 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.121082454859563, + 1.052712455956415, + 0.9355067435510181 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4572.19272982041, + "intensity": 1.052712455956415 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9364951114360384, + 0.934670167194501, + 0.9315416913518654 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5472.107131545434, + "intensity": 0.934670167194501 + }, + "point_color_scale": [ + 0.8243012177869863, + 0.8534347853603129, + 0.9000484934776357 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37123c7ad9c6e6f72000b226ae71a24e1ad86af4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1041662207790457, + "K": [ + [ + 408.0372277332328, + 0.0, + 324.9930447765222 + ], + [ + 0.0, + 389.6261833257992, + 222.71807543886536 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.473558082151911, + -4.83819188532425, + 1.165843661710611 + ], + "camera_target": [ + -6.281944993888201, + -5.717775609284735, + 1.1100981591011951 + ], + "camera_roll_rad": 0.025935863274658258, + "camera_pose_world_cv": [ + [ + -0.7336515188217163, + 0.06967410445213318, + -0.6759448051452637, + -5.473557949066162 + ], + [ + 0.6775496006011963, + -0.0008112192153930664, + -0.7354768514633179, + -4.838191986083984 + ], + [ + -0.05179211497306824, + -0.9975695610046387, + -0.04661226272583008, + 1.1658436059951782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3434147366205343, + 0.36583298365001077, + 0.37420943241490495 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8194676529616743, + 0.8528029099201953, + 0.9061393210538289 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6269.745582271486, + "intensity": 0.8661370127036037 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8445164497084484, + 0.8121990785541312, + 0.7567978708610161 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4931.5719594291695, + "intensity": 0.8121990785541312 + }, + "point_color_scale": [ + 0.8980034513528495, + 0.8919868237989751, + 0.8816726051351902 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a684593d1cd6d29d114ed7a74feae5365414b0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.04832814211204, + "K": [ + [ + 405.45954109157134, + 0.0, + 333.66598076043016 + ], + [ + 0.0, + 415.15004095232683, + 231.9946325129038 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.708267615673233, + -6.199982883795856, + 1.340643322483225 + ], + "camera_target": [ + -6.362539151395838, + -5.707072254857117, + 1.0819541168527829 + ], + "camera_roll_rad": -0.015337534926099856, + "camera_pose_world_cv": [ + [ + 0.2810651659965515, + 0.1507302224636078, + -0.9477778673171997, + -4.708267688751221 + ], + [ + 0.9592092037200928, + -0.012909114360809326, + 0.2824021875858307, + -6.1999831199646 + ], + [ + 0.030331581830978394, + -0.9884907007217407, + -0.14821016788482666, + 1.340643286705017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31592648503423393, + 0.3184979161640362, + 0.2882724043857218 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0419004582028992, + 1.0685797572029874, + 1.1112666356031282 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5994.403752480711, + "intensity": 1.0792514768030226 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7884750034253604, + 0.755017573390887, + 0.6976619790460756 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4866.950779622038, + "intensity": 0.755017573390887 + }, + "point_color_scale": [ + 0.829298878061293, + 0.8623677596917029, + 0.9152779703003591 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa3320145a4667226a6acc7e24283d3b0523ba0 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2439392398253286, + "K": [ + [ + 338.27471745337306, + 0.0, + 349.274362856429 + ], + [ + 0.0, + 334.78095135162675, + 255.23890832440046 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.801146218858604, + -5.469133878521941, + 1.3667243293575808 + ], + "camera_target": [ + -6.302943409713523, + -5.689110021196743, + 1.0550276183351799 + ], + "camera_roll_rad": -0.008609713714014373, + "camera_pose_world_cv": [ + [ + -0.14833438396453857, + 0.19651126861572266, + -0.9692164659500122, + -4.801146030426025 + ], + [ + 0.9887936115264893, + 0.04618644714355469, + -0.1419660449028015, + -5.4691338539123535 + ], + [ + 0.016866564750671387, + -0.9794133305549622, + -0.20115995407104492, + 1.3667243719100952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36965435777072475, + 0.38483442836736775, + 0.37168800009720454 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.083010322699114, + 1.0377475487787267, + 0.9601542220580631 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4876.9090982036105, + "intensity": 1.0377475487787267 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8035804031117867, + 0.7729850838442718, + 0.7205359650999607 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4934.560900758622, + "intensity": 0.7729850838442718 + }, + "point_color_scale": [ + 1.1530311963860056, + 1.118378215406583, + 1.0589731051561444 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f464958b01d37d52c3a68517f47138fbdfa0e9ba --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9700195638604173, + "K": [ + [ + 448.6437360392995, + 0.0, + 308.6298804128048 + ], + [ + 0.0, + 455.4121519360697, + 220.75675212948136 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.554210770901903, + -6.1113810024190345, + 1.4039135132412033 + ], + "camera_target": [ + -6.281593393683622, + -5.662215010116524, + 1.0864623007012422 + ], + "camera_roll_rad": 0.027218700333625584, + "camera_pose_world_cv": [ + [ + 0.540745735168457, + 0.26716336607933044, + -0.7976326942443848, + -5.554210662841797 + ], + [ + 0.8396382331848145, + -0.22892427444458008, + 0.49254587292671204, + -6.1113810539245605 + ], + [ + -0.051007360219955444, + -0.9360649585723877, + -0.3481103181838989, + 1.4039134979248047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3688994484388501, + 0.37134251061962886, + 0.3506087242110922 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8216131081363542, + 0.853642637721065, + 0.9048898850566021 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6239.324025657957, + "intensity": 0.8664544495549492 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9501642025472873, + 0.9400942955340357, + 0.9228315977970328 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5346.977249879701, + "intensity": 0.9400942955340357 + }, + "point_color_scale": [ + 1.082855123488584, + 1.1214941883614542, + 1.1833166921580465 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e6fa3edf1f29cf188cc5bc6424e3e1c44f81efc --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9229013331890494, + "K": [ + [ + 461.9554057169525, + 0.0, + 293.2578653144311 + ], + [ + 0.0, + 482.64797002299906, + 239.821129571333 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.883509146031829, + -4.939634282999751, + 1.7469152265983907 + ], + "camera_target": [ + -6.27016932696485, + -5.693571153636487, + 1.0640901588859508 + ], + "camera_roll_rad": 0.050125971052548984, + "camera_pose_world_cv": [ + [ + -0.8566789627075195, + 0.3739631772041321, + -0.3553210496902466, + -5.883509159088135 + ], + [ + 0.5099300146102905, + 0.5098608732223511, + -0.6928300261497498, + -4.939634323120117 + ], + [ + -0.07792867720127106, + -0.7747216820716858, + -0.6274818778038025, + 1.7469152212142944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22670552546036699, + 0.2262059952432502, + 0.2239320295945995 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.144812280441958, + 1.1499922628360297, + 1.1582802346665444 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5589.925234083462, + "intensity": 1.1520642557936585 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8752119809471108, + 0.8538327191840276, + 0.8171825561615991 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5142.297585551911, + "intensity": 0.8538327191840276 + }, + "point_color_scale": [ + 1.088400293872092, + 1.1112925539082599, + 1.1479201699661281 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..427349bf467b01fc48985ec442166c8e86e55bcb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8307882389988605, + "K": [ + [ + 554.3566451062388, + 0.0, + 326.6985890211766 + ], + [ + 0.0, + 544.1443578894864, + 217.7178502558906 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.8192608410818805, + -4.685063147787307, + 0.8728432952643732 + ], + "camera_target": [ + -6.359674950915257, + -5.709598507076941, + 0.9887902433343865 + ], + "camera_roll_rad": -0.007605021339358496, + "camera_pose_world_cv": [ + [ + -0.5529428720474243, + -0.060499995946884155, + -0.831019937992096, + -4.819261074066162 + ], + [ + 0.8330810070037842, + -0.021972358226776123, + -0.5527145266532898, + -4.685063362121582 + ], + [ + 0.015179693698883057, + -0.9979264140129089, + 0.06255090236663818, + 0.8728432655334473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28504720072821527, + 0.2665016865233629, + 0.26916711411528976 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1654668013228127, + 1.1449340062258666, + 1.1097349289168164 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5243.805631899259, + "intensity": 1.1449340062258666 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7411193206995307, + 0.7118032915375472, + 0.6615472415455754 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4911.634616503213, + "intensity": 0.7118032915375472 + }, + "point_color_scale": [ + 0.8183085699021586, + 0.8470417558630803, + 0.8930148534005549 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71d93da214a16755e1d49bf74fe131678eb9bbf2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2488037867937114, + "K": [ + [ + 340.3478964592111, + 0.0, + 308.23611479771375 + ], + [ + 0.0, + 333.06716258672674, + 259.7757942067797 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.673195295758283, + -4.895268976332409, + 1.4390694290055834 + ], + "camera_target": [ + -6.319969785868455, + -5.631431275298545, + 1.064063674194416 + ], + "camera_roll_rad": 0.048167223013067056, + "camera_pose_world_cv": [ + [ + -0.3883455991744995, + 0.22421318292617798, + -0.8938213586807251, + -4.6731953620910645 + ], + [ + 0.9166895747184753, + -0.005127966403961182, + -0.399567574262619, + -4.89526891708374 + ], + [ + -0.0941719114780426, + -0.9745267629623413, + -0.20354217290878296, + 1.439069390296936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34215875317295985, + 0.3728190706875095, + 0.38037160441036777 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1681403649873743, + 1.1459455537342849, + 1.1078973058718458 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5223.312568250942, + "intensity": 1.1459455537342849 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9470599139448935, + 0.9459111321997421, + 0.9439417920651969 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5482.650412677022, + "intensity": 0.9459111321997421 + }, + "point_color_scale": [ + 1.1715267638621343, + 1.1358361066267995, + 1.074652122794797 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e385bf0bf56d0b0b086d253b5c4bd820bd9c3423 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9347864455966898, + "K": [ + [ + 479.55610557018724, + 0.0, + 350.3990617634513 + ], + [ + 0.0, + 475.53866346666064, + 220.0930258010929 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.593687663554127, + -5.619962342239009, + 1.457500582722727 + ], + "camera_target": [ + -6.3530345201820415, + -5.655061119961633, + 1.0286581403383583 + ], + "camera_roll_rad": -0.050500508009940555, + "camera_pose_world_cv": [ + [ + -0.04371345043182373, + 0.23350811004638672, + -0.9713718891143799, + -4.593687534332275 + ], + [ + 0.994229793548584, + 0.10550808906555176, + -0.019378960132598877, + -5.619962215423584 + ], + [ + 0.09796234965324402, + -0.9666138291358948, + -0.23677265644073486, + 1.4575005769729614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3130866480199401, + 0.30372633472019145, + 0.31191180662767015 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8583528125939784, + 0.8560952641421692, + 0.8522251810819246 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5462.3281502426935, + "intensity": 0.8560952641421692 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8192689709005736, + 0.823757103582222, + 0.8309381158728595 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5608.730418984793, + "intensity": 0.8255523566548814 + }, + "point_color_scale": [ + 0.9217488276419891, + 0.9220790436157438, + 0.9226073891737513 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29eeb6b9fbe3eb894b8107245b9ebb9ee817c183 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.877518215184064, + "K": [ + [ + 514.6540501843714, + 0.0, + 340.31479536906295 + ], + [ + 0.0, + 511.43756070790016, + 259.1555460518848 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.9191735867157425, + -6.328043566393356, + 0.8286413391507368 + ], + "camera_target": [ + -6.320471059760402, + -5.686506600847501, + 0.9765601886104637 + ], + "camera_roll_rad": -0.042960954802320594, + "camera_pose_world_cv": [ + [ + 0.42218518257141113, + -0.050825536251068115, + -0.9050837755203247, + -4.919173717498779 + ], + [ + 0.9024758338928223, + 0.11765098571777344, + 0.41436201333999634, + -6.328043460845947 + ], + [ + 0.08542367815971375, + -0.9917536377906799, + 0.09553933143615723, + 0.8286413550376892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3304239331502095, + 0.3316700959905946, + 0.32846581139306563 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9010377938657574, + 0.8668580404332034, + 0.808264177405968 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4936.7218516544945, + "intensity": 0.8668580404332034 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8111525771322641, + 0.7766354358573677, + 0.717463193671831 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4865.0791665610195, + "intensity": 0.7766354358573677 + }, + "point_color_scale": [ + 1.0486743765775512, + 1.0243945241395198, + 0.9827719199600377 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0968bbb1a3ed23ffa05424945c2601f10b9165b2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2260758799223725, + "K": [ + [ + 347.79241456495555, + 0.0, + 317.8880554512301 + ], + [ + 0.0, + 341.1754239435941, + 224.5218786910598 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.32154320032074, + -5.809897852419472, + 0.9800422367298792 + ], + "camera_target": [ + -6.299754658830135, + -5.667817401347726, + 1.0413179202316738 + ], + "camera_roll_rad": -0.032457334822231454, + "camera_pose_world_cv": [ + [ + 0.147405743598938, + -0.05177581310272217, + -0.9877200722694397, + -5.321543216705322 + ], + [ + 0.9869548082351685, + 0.07306993007659912, + 0.14346134662628174, + -5.8098978996276855 + ], + [ + 0.06474477052688599, + -0.9959820508956909, + 0.06187129020690918, + 0.9800422191619873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25801028086279315, + 0.24406897550253973, + 0.2493181775301189 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.234260846370829, + 1.1801422854786818, + 1.0873676096635727 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4844.890605164906, + "intensity": 1.1801422854786818 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6576548884447282, + 0.6396005929020216, + 0.6086503719716675 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5096.750674381471, + "intensity": 0.6396005929020216 + }, + "point_color_scale": [ + 1.144026159634972, + 1.0981988367665276, + 1.0196377118491946 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7aa78023e374e569c22b6b2d66ea39a16dd4caed --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0760404813112714, + "K": [ + [ + 389.47908856376773, + 0.0, + 301.00072688759275 + ], + [ + 0.0, + 402.18406647920887, + 238.9636164491101 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.9432097541400974, + -4.146713356328637, + 1.639790087656989 + ], + "camera_target": [ + -6.284023767511616, + -5.689341944491081, + 1.0440379103538444 + ], + "camera_roll_rad": -0.009930639102955871, + "camera_pose_world_cv": [ + [ + -0.9777728319168091, + 0.05671137571334839, + -0.20185329020023346, + -5.943209648132324 + ], + [ + 0.20884352922439575, + 0.3487532138824463, + -0.9136497974395752, + -4.1467132568359375 + ], + [ + 0.01858261227607727, + -0.9354974031448364, + -0.35284483432769775, + 1.6397900581359863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2567194970030611, + 0.23782673355624545, + 0.2321703328420785 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0156985823447267, + 0.949522481144648, + 0.8360777362302274 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4504.370203907976, + "intensity": 0.949522481144648 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.581843568237516, + 0.593383031460007, + 0.6118461726159928 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5885.935988476529, + "intensity": 0.5979988167490035 + }, + "point_color_scale": [ + 1.0081946702178521, + 1.0014017961951889, + 0.9897568692991945 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdc7b858cb43608b097864ce6dbf8a4c87fa82b3 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2063316260862909, + "K": [ + [ + 342.05780505012166, + 0.0, + 335.93539011373895 + ], + [ + 0.0, + 348.4348572398342, + 261.9784717371398 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.756322791192019, + -5.420128720000848, + 0.7767812741030389 + ], + "camera_target": [ + -6.30254025251304, + -5.655651666983852, + 0.9920344996580617 + ], + "camera_roll_rad": -0.011203399092970495, + "camera_pose_world_cv": [ + [ + -0.14752745628356934, + -0.13812550902366638, + -0.9793657064437866, + -4.756322860717773 + ], + [ + 0.9888089895248413, + 0.001623988151550293, + -0.1491788923740387, + -5.42012882232666 + ], + [ + 0.022195786237716675, + -0.9904135465621948, + 0.13634026050567627, + 0.7767812609672546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34166244063744555, + 0.3545882513343696, + 0.3685039271926252 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0150082837628789, + 1.0091650355805917, + 0.9991480386966707 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5417.283129032855, + "intensity": 1.0091650355805917 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9461627847822687, + 0.9319976925440151, + 0.9077146772784376 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5282.876650698443, + "intensity": 0.9319976925440151 + }, + "point_color_scale": [ + 0.9566735083266947, + 0.9640403699081515, + 0.9758273484384821 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..455461e42a6c1aefe76bccd98120cc9b6e90bb80 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.847728690143798, + "K": [ + [ + 507.30110937287446, + 0.0, + 342.7318911156818 + ], + [ + 0.0, + 531.8965249160345, + 227.14832998650166 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.6103382253497545, + -5.820738679081479, + 1.2206367587120568 + ], + "camera_target": [ + -6.353437769870054, + -5.69022594044876, + 1.0836772703235213 + ], + "camera_roll_rad": -0.044557287557946884, + "camera_pose_world_cv": [ + [ + 0.06743621826171875, + 0.08423146605491638, + -0.9941617250442505, + -4.61033821105957 + ], + [ + 0.9937707185745239, + 0.0829390287399292, + 0.07443675398826599, + -5.820738792419434 + ], + [ + 0.0887247622013092, + -0.9929884672164917, + -0.07811367511749268, + 1.2206367254257202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32656635747794316, + 0.30085434856150206, + 0.3280376981602224 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0016385400879722, + 0.9508943631845969, + 0.8639043456359534 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4737.647376016011, + "intensity": 0.9508943631845969 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.669671072057053, + 0.656027076938848, + 0.6326373710219252 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5202.886934356635, + "intensity": 0.656027076938848 + }, + "point_color_scale": [ + 1.1501430408366415, + 1.1705596484838539, + 1.2032262207193936 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..722918dee1f0a81fa972576efa7806005f72f1cd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8629282235802515, + "K": [ + [ + 502.89514458820906, + 0.0, + 307.1865466337799 + ], + [ + 0.0, + 521.2923164934131, + 243.2719973075339 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.257737421786279, + -5.656158681547867, + 1.4959656025561576 + ], + "camera_target": [ + -6.331979976298955, + -5.647968798772302, + 1.0288778779807632 + ], + "camera_roll_rad": 0.005159199532821686, + "camera_pose_world_cv": [ + [ + 0.011737227439880371, + 0.3986234664916992, + -0.9170395135879517, + -5.257737636566162 + ], + [ + 0.9998862743377686, + -0.01335752010345459, + 0.006991207599639893, + -5.656158447265625 + ], + [ + -0.009462445974349976, + -0.9170173406600952, + -0.39873504638671875, + 1.495965600013733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27385776086481184, + 0.2686543071942712, + 0.27988252155150034 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8133551483965273, + 0.8497822486379202, + 0.9080656090241486 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6342.875457175185, + "intensity": 0.8643530887344772 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6850147423829106, + 0.6858173158199681, + 0.6871014333192601 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5523.3939246415275, + "intensity": 0.6861383451947911 + }, + "point_color_scale": [ + 1.1307177339865893, + 1.1040551867314585, + 1.0583479628655201 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df5ffbac7e674b04bb04fd1e6a71a390054df19b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.170565001636168, + "K": [ + [ + 350.8336688273112, + 0.0, + 350.2823030950074 + ], + [ + 0.0, + 362.1303776522922, + 259.8704378695278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.565652604860594, + -6.229515809188941, + 1.200549660974744 + ], + "camera_target": [ + -6.36204000393401, + -5.6403527295211155, + 0.9865732995277747 + ], + "camera_roll_rad": -0.037633465509608985, + "camera_pose_world_cv": [ + [ + 0.5802893042564392, + 0.2139739692211151, + -0.7857986688613892, + -5.565652370452881 + ], + [ + 0.811086893081665, + -0.06476032733917236, + 0.5813296437263489, + -6.22951602935791 + ], + [ + 0.07350084185600281, + -0.9746903777122498, + -0.21113121509552002, + 1.200549602508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.034997761249542236, + -0.9993873834609985, + 0.0, + -6.319620132446289 + ], + [ + 0.9993873834609985, + 0.034997761249542236, + 0.0, + -5.674007415771484 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2465197875936543, + 0.2626832032130776, + 0.24990949893222575 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8856402105590722, + 0.90290004139004, + 0.9305157707195886 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5879.4186732412245, + "intensity": 0.9098039737224272 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7402440941603969, + 0.7291923479007965, + 0.7102464971700526 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5283.483617350927, + "intensity": 0.7291923479007965 + }, + "point_color_scale": [ + 0.9038442998988241, + 0.9200368159630838, + 0.9459448416658996 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b9d3d973a0ba02a4c329b8571c0eadeb84a6be --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2276029089288483, + "K": [ + [ + 353.2096373236316, + 0.0, + 308.8867686467736 + ], + [ + 0.0, + 340.6224738538258, + 255.77308896658096 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.521086181972769, + -5.251754773498554, + 0.8682627486116006 + ], + "camera_target": [ + -5.942002426622336, + -6.290713822069603, + 1.1051467191132363 + ], + "camera_roll_rad": 0.049169520496770105, + "camera_pose_world_cv": [ + [ + -0.5979564189910889, + -0.04919224977493286, + -0.8000175952911377, + -4.5210862159729 + ], + [ + 0.7956004738807678, + -0.15759551525115967, + -0.5849645733833313, + -5.2517547607421875 + ], + [ + -0.09730345010757446, + -0.9862777590751648, + 0.13337266445159912, + 0.868262767791748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22013602895238585, + 0.2309887754575877, + 0.22844548230408823 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0495272269677225, + 0.9908791191127753, + 0.8903395056471513 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4654.457798077611, + "intensity": 0.9908791191127753 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8749663859449959, + 0.911982998990114, + 0.9712095798623032 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6298.813695781953, + "intensity": 0.9267896442081612 + }, + "point_color_scale": [ + 1.0709698987920966, + 1.0664358833490402, + 1.0586632854466578 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0fe109acdf87713c4d69ce7e87cf3c699d5f18b1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2166442465033807, + "K": [ + [ + 338.0733215325885, + 0.0, + 310.261944236614 + ], + [ + 0.0, + 344.6175048850879, + 245.87677813732603 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.7770049131164445, + -5.646394235924814, + 1.1336159106615749 + ], + "camera_target": [ + -5.982707540200934, + -6.280780129520978, + 1.1003799194490649 + ], + "camera_roll_rad": 0.011292941589037347, + "camera_pose_world_cv": [ + [ + -0.4650287628173828, + 0.03209280967712402, + -0.884713888168335, + -4.777004718780518 + ], + [ + 0.8850078582763672, + -0.00863337516784668, + -0.46549636125564575, + -5.6463942527771 + ], + [ + -0.022577255964279175, + -0.999447762966156, + -0.024387478828430176, + 1.1336158514022827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34851251405118056, + 0.3747249289306369, + 0.35782116359145566 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.173769130153497, + 1.1775831868142035, + 1.1836856774713345 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5564.69388796092, + "intensity": 1.1791088094784863 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6609366906716976, + 0.6318074907621007, + 0.5818717194885062 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 4841.363574562868, + "intensity": 0.6318074907621007 + }, + "point_color_scale": [ + 0.9332780469126838, + 0.9044593021100344, + 0.8550557395912068 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92a0efe91713f11d9696956f9644f2842d79d18b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9019108889391948, + "K": [ + [ + 506.52435635984006, + 0.0, + 325.27647297789537 + ], + [ + 0.0, + 495.62814664842375, + 254.81778558692622 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.106515673656434, + -6.118523588737991, + 1.5087903938505198 + ], + "camera_target": [ + -5.926516971208059, + -6.3121812273234, + 1.0940092809108386 + ], + "camera_roll_rad": 0.0029156381979959234, + "camera_pose_world_cv": [ + [ + -0.2273341417312622, + 0.4311778247356415, + -0.8731580972671509, + -5.106515884399414 + ], + [ + 0.9738028049468994, + 0.09583842754364014, + -0.2062113881111145, + -6.118523597717285 + ], + [ + -0.005231708288192749, + -0.8971626162528992, + -0.4416694641113281, + 1.508790373802185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3165246218627538, + 0.3101137502151506, + 0.30796313855998 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.2052823911166162, + 1.1611847554502424, + 1.0855888085936016 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4957.479767239044, + "intensity": 1.1611847554502424 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.549804300546208, + 0.5673902592780247, + 0.5955277932489315 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6112.29819970781, + "intensity": 0.5744246427707513 + }, + "point_color_scale": [ + 0.8559341288633592, + 0.8863346180806384, + 0.9349754008282853 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c65ae8a2d8326b7464de5d40cc57b9af2033c68 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0003833323383573, + "K": [ + [ + 454.8401843231338, + 0.0, + 332.11284217229456 + ], + [ + 0.0, + 439.1169923940794, + 249.5095270242444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.378312673895227, + -5.519214372053866, + 1.4860057453765079 + ], + "camera_target": [ + -5.9266951642956, + -6.326387807580642, + 0.9712161639386839 + ], + "camera_roll_rad": 0.00864792967835356, + "camera_pose_world_cv": [ + [ + -0.8225040435791016, + 0.2764742076396942, + -0.4970405101776123, + -5.378312587738037 + ], + [ + 0.5685536861419678, + 0.3761711120605469, + -0.7316024899482727, + -5.519214153289795 + ], + [ + -0.015296950936317444, + -0.8843401074409485, + -0.46659260988235474, + 1.4860057830810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3839284365781166, + 0.3522816604622599, + 0.37791553446542325 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.880698794457237, + 0.9009123020664342, + 0.9332539142411502 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5944.74276437802, + "intensity": 0.9089977051101132 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9154026048721837, + 0.8896900205375076, + 0.8456113045352054 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5087.134142371745, + "intensity": 0.8896900205375076 + }, + "point_color_scale": [ + 0.8722415468633792, + 0.8710220962278629, + 0.8689316094241206 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbad109e3a6bce300e2e277e53bea5aed09a07f2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9781638025958336, + "K": [ + [ + 458.5194400285555, + 0.0, + 333.08608973182305 + ], + [ + 0.0, + 450.95030188484424, + 226.55278135015928 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.584884443045482, + -5.016500562130111, + 1.4678590054968206 + ], + "camera_target": [ + -5.910914076548659, + -6.255466098631243, + 0.9802302222497546 + ], + "camera_roll_rad": -0.026713897455119703, + "camera_pose_world_cv": [ + [ + -0.6918636560440063, + 0.15288114547729492, + -0.7056572437286377, + -4.5848846435546875 + ], + [ + 0.7201839685440063, + 0.21592843532562256, + -0.6593254208564758, + -5.016500473022461 + ], + [ + 0.0515730082988739, + -0.9643662571907043, + -0.25949549674987793, + 1.4678590297698975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3019764821244548, + 0.2776205456896824, + 0.28572863899668904 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8449263767198979, + 0.8744886911842142, + 0.9217883943271203 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6167.08474062221, + "intensity": 0.8863136169699407 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7816439576673063, + 0.7597259127545246, + 0.7221521214754703 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5087.8580392365475, + "intensity": 0.7597259127545246 + }, + "point_color_scale": [ + 1.1589301045556524, + 1.1679658178645167, + 1.1824229591586994 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b585be87c6394d3c077c70a2325e30a0dce22cb6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0967452382821163, + "K": [ + [ + 383.38072480470885, + 0.0, + 298.9082316942225 + ], + [ + 0.0, + 392.8833547190162, + 260.9858830193629 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.214042403977024, + -5.8827832851781965, + 1.1277754612163775 + ], + "camera_target": [ + -5.958695849822603, + -6.2845835998338115, + 1.0228166713058253 + ], + "camera_roll_rad": 0.03024743289493026, + "camera_pose_world_cv": [ + [ + -0.46744418144226074, + 0.13684719800949097, + -0.8733664155006409, + -5.2140421867370605 + ], + [ + 0.881984293460846, + 0.005142569541931152, + -0.47125089168548584, + -5.88278341293335 + ], + [ + -0.05999809503555298, + -0.9905788898468018, + -0.1231008768081665, + 1.1277754306793213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3318162886220477, + 0.33193225251092706, + 0.3077659428605834 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8733479348131691, + 0.9133239585435156, + 0.9772855965120703 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6360.3337063397885, + "intensity": 0.9293143680356543 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7922146942702363, + 0.7831915148429357, + 0.7677232072532774 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5335.413738780096, + "intensity": 0.7831915148429357 + }, + "point_color_scale": [ + 0.9162560070911469, + 0.9111649566483496, + 0.9024374416035544 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f247a4010aa72bf14ff3052ed1a701f21c51f6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.105823528108197, + "K": [ + [ + 400.9316890904367, + 0.0, + 346.6506426198585 + ], + [ + 0.0, + 388.9041246384226, + 224.82725297302724 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.56225285950466, + -5.247103083557919, + 1.069791534663595 + ], + "camera_target": [ + -5.954268180143964, + -6.320096348156891, + 1.033935726959059 + ], + "camera_roll_rad": 0.016199063509408543, + "camera_pose_world_cv": [ + [ + -0.6096575260162354, + 0.03592163324356079, + -0.7918503880500793, + -4.562252998352051 + ], + [ + 0.7920028567314148, + -0.013209700584411621, + -0.6103743314743042, + -5.247103214263916 + ], + [ + -0.03238570690155029, + -0.9992672204971313, + -0.020396769046783447, + 1.069791555404663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3313784558444507, + 0.3545931291490747, + 0.3297152257040912 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1185127447868035, + 1.1329800097062668, + 1.156127633577408 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5754.08649865631, + "intensity": 1.138766915674052 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5507643162030451, + 0.5563141407021133, + 0.5651938599006224 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5698.728234934092, + "intensity": 0.5585340705017406 + }, + "point_color_scale": [ + 0.9836353737295079, + 0.9640533238697102, + 0.9304840955386282 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28be05a37a9fefb4be5c470bf63716c2adb40e83 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8262607679488169, + "K": [ + [ + 549.0010920805246, + 0.0, + 321.1244308581836 + ], + [ + 0.0, + 547.4976895570693, + 263.570287516293 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.173309653895474, + -6.315696985640928, + 1.3686608217846672 + ], + "camera_target": [ + -5.9306433468489645, + -6.32319110797488, + 1.0078049999551397 + ], + "camera_roll_rad": 0.026240529279244848, + "camera_pose_world_cv": [ + [ + 0.00629270076751709, + 0.20108908414840698, + -0.9795528650283813, + -4.173309803009033 + ], + [ + 0.9986591935157776, + -0.051599860191345215, + -0.004177212715148926, + -6.315697193145752 + ], + [ + -0.05138483643531799, + -0.9782130718231201, + -0.20114398002624512, + 1.368660807609558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25067157766321146, + 0.2503349397509442, + 0.2701809283742253 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9620525854186318, + 0.9812582454984322, + 1.0119873016261127 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5888.40880507405, + "intensity": 0.9889405095303523 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.9053023693589412, + 0.8892107777082252, + 0.8616251920212837 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5241.478751171927, + "intensity": 0.8892107777082252 + }, + "point_color_scale": [ + 0.9151914137091565, + 0.9495788602158077, + 1.00459877462645 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1f6797be11ab66adb6c23779c69207e3b70cbde --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8362191901968645, + "K": [ + [ + 522.2470010031423, + 0.0, + 335.28774973753343 + ], + [ + 0.0, + 540.1669817770689, + 227.58005368072787 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.116564674727, + -6.027310708649356, + 0.9582826369001278 + ], + "camera_target": [ + -5.970245671424092, + -6.265793516027894, + 1.0476385260289156 + ], + "camera_roll_rad": -0.01576380099706607, + "camera_pose_world_cv": [ + [ + -0.265877366065979, + -0.10503754019737244, + -0.958267331123352, + -5.116564750671387 + ], + [ + 0.9634964466094971, + 0.003386259078979492, + -0.2676994800567627, + -6.027310848236084 + ], + [ + 0.031363487243652344, + -0.9944624900817871, + 0.10030293464660645, + 0.9582826495170593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3423147003711113, + 0.33805408225068667, + 0.32632537746513485 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.8857239604090826, + 0.9165240574970911, + 0.9658042128379046 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6163.191965360561, + "intensity": 0.9288440963322945 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.8833046075769537, + 0.867867580063581, + 0.8414041043263708 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5245.895607183995, + "intensity": 0.867867580063581 + }, + "point_color_scale": [ + 1.028166129627672, + 0.9918368049851028, + 0.9295579627406984 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb7a5e09b237c915d8418a109be40151546459b6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9666196678424182, + "K": [ + [ + 465.8281751782637, + 0.0, + 307.04116856254404 + ], + [ + 0.0, + 457.2952556907466, + 253.5033708943496 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.460290298369886, + -5.568276462589264, + 1.0506940818205648 + ], + "camera_target": [ + -5.969077281601075, + -6.27667384942874, + 1.014288316920684 + ], + "camera_roll_rad": 0.006112074780003078, + "camera_pose_world_cv": [ + [ + -0.8219987154006958, + -0.013996481895446777, + 0.5693174600601196, + -6.460290431976318 + ], + [ + -0.5693585276603699, + 0.04163682460784912, + -0.82103431224823, + -5.568276405334473 + ], + [ + -0.012212932109832764, + -0.9990348815917969, + -0.04219430685043335, + 1.0506941080093384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2871526436788509, + 0.2858075043485206, + 0.2825571208106569 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.221249723311024, + 1.1914188857228338, + 1.1402803070002223 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5142.313188253784, + "intensity": 1.1914188857228338 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.7623492701702442, + 0.7893064761782568, + 0.8324380057910769 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6173.854881804878, + "intensity": 0.8000893585814618 + }, + "point_color_scale": [ + 1.123583548823997, + 1.119693307564541, + 1.1130243225483307 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66e60d81673a28126ff50e5980e8b7f0b2b6cff9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3062175418555577, + "K": [ + [ + 316.5896806885456, + 0.0, + 296.9287347700765 + ], + [ + 0.0, + 313.6757128029591, + 231.99345179796174 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.33763040800589, + -5.783227718972967, + 1.1351731404840133 + ], + "camera_target": [ + -5.931209213376703, + -6.311450070072458, + 1.0697061810020263 + ], + "camera_roll_rad": 0.013089000236175846, + "camera_pose_world_cv": [ + [ + -0.31355881690979004, + 0.04520958662033081, + -0.9484920501708984, + -4.337630271911621 + ], + [ + 0.9492086172103882, + -0.012589812278747559, + -0.3143957555294037, + -5.783227920532227 + ], + [ + -0.026155084371566772, + -0.9988982677459717, + -0.038965582847595215, + 1.1351730823516846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2672676093335202, + 0.2868758015180047, + 0.26120818800225265 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.855383560383929, + 0.8831624086319322, + 0.9276085658287372 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6121.260371327342, + "intensity": 0.8942739479311335 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5794054665383334, + 0.587565110639992, + 0.6006205412026457 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5776.210021502623, + "intensity": 0.5908289682806555 + }, + "point_color_scale": [ + 1.1093476441031842, + 1.152722395087861, + 1.2221219966633439 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcb5bdf028a95ba2e656a6e6480e93e6aedd0d59 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1552040616496926, + "K": [ + [ + 367.7822417619575, + 0.0, + 330.5846995310729 + ], + [ + 0.0, + 368.2413154870673, + 254.76958016085672 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.464569214246274, + -6.109105648442153, + 1.0853938883589942 + ], + "camera_target": [ + -5.981998148776629, + -6.3055131128592645, + 0.9927044440558653 + ], + "camera_roll_rad": 0.0012828307176503614, + "camera_pose_world_cv": [ + [ + -0.12820911407470703, + 0.06029596924781799, + -0.9899124503135681, + -4.464569091796875 + ], + [ + 0.991743803024292, + 0.005217313766479492, + -0.12812861800193787, + -6.109105587005615 + ], + [ + -0.0025609731674194336, + -0.9981667995452881, + -0.06046712398529053, + 1.0853939056396484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31972055966693674, + 0.33015572596544734, + 0.2991917528325275 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1493084244131622, + 1.0848665457334494, + 0.974394753711085 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 4651.417959680335, + "intensity": 1.0848665457334494 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5848803378543169, + 0.6085799203800295, + 0.6464992524211697 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6266.902630229862, + "intensity": 0.6180597533903145 + }, + "point_color_scale": [ + 1.1491610677836082, + 1.1644451028170275, + 1.1888995588704987 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..536db9b87734b2335de5d4f43071469b5602284f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9334620704441747, + "K": [ + [ + 497.1860045363896, + 0.0, + 294.43968118842565 + ], + [ + 0.0, + 476.3225551398167, + 216.9180988682743 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.437127810363647, + -5.1785729875906465, + 0.9996532972194236 + ], + "camera_target": [ + -5.931796824043488, + -6.234483986962994, + 1.0863383258861892 + ], + "camera_roll_rad": -0.01471303370616802, + "camera_pose_world_cv": [ + [ + -0.9025720357894897, + 0.005326703190803528, + 0.4305059313774109, + -6.437127590179443 + ], + [ + -0.42953795194625854, + -0.07928603887557983, + -0.8995615243911743, + -5.178573131561279 + ], + [ + 0.02934141457080841, + -0.9968377351760864, + 0.07384943962097168, + 0.9996532797813416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3561455451130884, + 0.33570135381398714, + 0.3664151791788974 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.1184342033629509, + 1.1752298670679202, + 1.2661029289958714 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6448.2157392587, + "intensity": 1.197948132549908 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6040281220734095, + 0.622109187096336, + 0.6510388911330186 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6074.602557542792, + "intensity": 0.6293416131055066 + }, + "point_color_scale": [ + 1.070448785343398, + 1.0219358888600834, + 0.9387709234601156 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ebca7e061ba6535994706ce6d6962f710075765 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8015619327409638, + "K": [ + [ + 541.5996542987403, + 0.0, + 330.2779901891479 + ], + [ + 0.0, + 566.4196813219362, + 225.56269726746314 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.653660748835051, + -6.47299073180542, + 0.8981858457242321 + ], + "camera_target": [ + -5.901770470716811, + -6.279924257017534, + 1.104846713823891 + ], + "camera_roll_rad": -0.0023273650388682954, + "camera_pose_world_cv": [ + [ + 0.15360987186431885, + -0.1588740348815918, + -0.9752758741378784, + -4.653660774230957 + ], + [ + 0.9881209135055542, + 0.029285788536071777, + 0.15086236596107483, + -6.4729905128479 + ], + [ + 0.004593640565872192, + -0.986864447593689, + 0.1614854335784912, + 0.8981858491897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2629045365517149, + 0.2585003976688584, + 0.2560849544784911 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.997240616596289, + 1.0478475258018631, + 1.128818580530782 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 6447.614816908753, + "intensity": 1.068090289484093 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5974748009897385, + 0.622416468284862, + 0.6623231359570596 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 6288.802594674615, + "intensity": 0.6323931352029114 + }, + "point_color_scale": [ + 1.138894844969994, + 1.1068613109358614, + 1.0519466811630624 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4469cd8a939ee86996ebd47c29451dbd086625df --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9291203238039142, + "K": [ + [ + 501.09600109580526, + 0.0, + 297.29718894301925 + ], + [ + 0.0, + 478.90693118144316, + 257.39319168835806 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.925126586332959, + -6.3289072142640785, + 0.9596623231687682 + ], + "camera_target": [ + -5.985363832797857, + -6.264624087422101, + 1.0404007745146957 + ], + "camera_roll_rad": -0.000393988446392074, + "camera_pose_world_cv": [ + [ + 0.06057906150817871, + -0.07560637593269348, + -0.9952958822250366, + -4.925126552581787 + ], + [ + 0.998163104057312, + 0.005373477935791016, + 0.06034541130065918, + -6.328907012939453 + ], + [ + 0.0007856786251068115, + -0.9971232414245605, + 0.07579302787780762, + 0.9596623182296753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3403926909418586, + 0.3648126238698327, + 0.34565542960951373 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 0.9611082862916563, + 0.9648135976020469, + 0.9707420956986715 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5576.691042411684, + "intensity": 0.966295722126203 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.5683726014975578, + 0.5781006000852494, + 0.5936653978255562 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5834.30019446011, + "intensity": 0.5819917995203261 + }, + "point_color_scale": [ + 0.9690708559493324, + 0.9780132158480992, + 0.9923209916861261 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2de4c955468102e11ea1852b7ed38806b18748cf --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000151/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 151, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2570526709287233, + "K": [ + [ + 341.04079476645785, + 0.0, + 343.60420112434053 + ], + [ + 0.0, + 330.1873480171728, + 226.008081439109 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.483868548343054, + -6.043064255621821, + 0.9568643388922904 + ], + "camera_target": [ + -5.92252651533375, + -6.323627822859316, + 0.9764728169553332 + ], + "camera_roll_rad": -0.03731327251513082, + "camera_pose_world_cv": [ + [ + -0.18990039825439453, + -0.027363747358322144, + -0.981421947479248, + -4.483868598937988 + ], + [ + 0.9789688587188721, + 0.0706254243850708, + -0.19139480590820312, + -6.043064117431641 + ], + [ + 0.07455059885978699, + -0.9971275329589844, + 0.013376474380493164, + 0.9568643569946289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.3418424129486084, + 0.9397573471069336, + 0.0, + -5.947924613952637 + ], + [ + -0.9397573471069336, + -0.3418424129486084, + -0.0, + -6.279720783233643 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8634700775146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32722528249145494, + 0.2960957857975654, + 0.31947358806892034 + ], + "directional_primary": { + "direction": [ + 0.5488803769577494, + -0.08876320695607491, + -0.8311747246407292 + ], + "color": [ + 1.0106831315410996, + 0.9858205641646305, + 0.9431990200906836 + ], + "azimuth_rad": -0.16032881052023962, + "elevation_rad": 0.9812171326016792, + "color_temp_k": 5139.711782386553, + "intensity": 0.9858205641646305 + }, + "directional_fill": { + "direction": [ + 0.21967393254184098, + -0.2355602037011528, + -0.9467073210839103 + ], + "color": [ + 0.6504625643033792, + 0.6672883068144148, + 0.6942094948320715 + ], + "azimuth_rad": -0.8202809321985614, + "elevation_rad": 1.2428546429643512, + "color_temp_k": 5999.266412401819, + "intensity": 0.6740186038188289 + }, + "point_color_scale": [ + 1.1813333617068782, + 1.1773414441400099, + 1.1704981568825215 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0eedcdd0b7faa307503ce7a37037b97d9206c6f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0143002902782958, + "K": [ + [ + 447.2557133672276, + 0.0, + 295.95426562321876 + ], + [ + 0.0, + 431.9474552602078, + 253.53283560552018 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.466074517192053, + -3.690622687211534, + 0.9092808454703546 + ], + "camera_target": [ + -7.248493949527417, + -3.342801487643831, + 0.9991624937206787 + ], + "camera_roll_rad": -0.041157838850451836, + "camera_pose_world_cv": [ + [ + 0.41268372535705566, + -0.06167331337928772, + -0.9087841510772705, + -6.466074466705322 + ], + [ + 0.9071964025497437, + 0.11739778518676758, + 0.4039957523345947, + -3.690622568130493 + ], + [ + 0.08177343010902405, + -0.9911681413650513, + 0.10439801216125488, + 0.9092808365821838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2622344369206632, + 0.28275706011731144, + 0.2801089739825825 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1433133308618932, + 1.1329616932141435, + 1.1152160286751436 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5369.474370836431, + "intensity": 1.1329616932141435 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.706720020139209, + 0.7173746251582642, + 0.7344219931887528 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5795.290094218757, + "intensity": 0.7216364671658864 + }, + "point_color_scale": [ + 0.9739236483603982, + 0.9582469899525828, + 0.9313727183963278 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d3b64c8fbd32f0507fa4a71705774227afc13b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1915853689435907, + "K": [ + [ + 348.56054428916525, + 0.0, + 307.97810510666267 + ], + [ + 0.0, + 353.99379857516396, + 257.8197292489892 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.97588358942408, + -2.309807848065038, + 1.211359606819825 + ], + "camera_target": [ + -7.185064189505164, + -3.3565239057462923, + 1.0424714783491607 + ], + "camera_roll_rad": 0.04786111762080135, + "camera_pose_world_cv": [ + [ + -0.9731936454772949, + 0.124208465218544, + -0.1935621201992035, + -6.975883483886719 + ], + [ + 0.2097196727991104, + 0.13381600379943848, + -0.9685612916946411, + -2.309807777404785 + ], + [ + -0.09440179914236069, + -0.9831914901733398, + -0.1562778353691101, + 1.2113596200942993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33934901883582663, + 0.3336579421691981, + 0.3243834415263445 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.126476716630517, + 1.0676572576340593, + 0.9668238993544179 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4712.970286432798, + "intensity": 1.0676572576340593 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7831206942736503, + 0.8098274767773063, + 0.8525583287831558 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6150.979910703043, + "intensity": 0.8205101897787687 + }, + "point_color_scale": [ + 0.9339654969621786, + 0.8969480643920227, + 0.8334896085574698 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6256be74aed4e0f2a2488b5eba805b0f76ddee4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2911727964777187, + "K": [ + [ + 303.1622486770382, + 0.0, + 299.3855372244233 + ], + [ + 0.0, + 318.6136595881854, + 220.0995772015521 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.09997451883549, + -3.4590265483965537, + 1.2952317666011077 + ], + "camera_target": [ + -7.261666436514801, + -3.299574302552, + 1.0064289335978955 + ], + "camera_roll_rad": 0.045694655901297496, + "camera_pose_world_cv": [ + [ + 0.15733599662780762, + -0.3306693732738495, + 0.9305391311645508, + -8.099974632263184 + ], + [ + -0.9837542772293091, + 0.030002713203430176, + 0.1769951581954956, + -3.459026575088501 + ], + [ + -0.08644556999206543, + -0.9432696104049683, + -0.3205769658088684, + 1.295231819152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30846273584048006, + 0.31944242212584684, + 0.3378584524635463 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8809317729025312, + 0.9044162519307275, + 0.9419914183758412 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6013.990389888216, + "intensity": 0.9138100435420059 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8856377083512145, + 0.8762616769899867, + 0.860188480370739 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5347.142344943692, + "intensity": 0.8762616769899867 + }, + "point_color_scale": [ + 0.9613404465087646, + 0.9404847059275364, + 0.904732007788288 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04188a8f8a42d880a564f35182a209c153799cba --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8005910738890156, + "K": [ + [ + 581.8478128043495, + 0.0, + 333.2328776772931 + ], + [ + 0.0, + 567.1859829108439, + 217.90206650802037 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.565615624099848, + -3.026217010107565, + 1.0050977802718446 + ], + "camera_target": [ + -7.201484078669413, + -3.2814128810617746, + 0.959927898082765 + ], + "camera_roll_rad": -0.004191200225106287, + "camera_pose_world_cv": [ + [ + -0.1543564796447754, + 0.025653153657913208, + -0.9876822233200073, + -5.565615653991699 + ], + [ + 0.9879797697067261, + 0.012485742568969727, + -0.1540786623954773, + -3.026216983795166 + ], + [ + 0.008379250764846802, + -0.9995929598808289, + -0.02727198600769043, + 1.00509774684906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29694476723182855, + 0.3247101898254615, + 0.31261209949908825 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0992032134684258, + 1.0816210864861642, + 1.0514802973737158 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5267.780745270307, + "intensity": 1.0816210864861642 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5906011599597122, + 0.6044095801507192, + 0.6265030524563305 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5952.784858766646, + "intensity": 0.6099329482271221 + }, + "point_color_scale": [ + 0.7703690723212597, + 0.7950946782261346, + 0.8346556476739345 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79c8a297cd5d933464cdb63b8b4bb5e9eb47e0ec --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1576928006788911, + "K": [ + [ + 358.4509954836357, + 0.0, + 308.2515803754152 + ], + [ + 0.0, + 367.2414978078643, + 246.78482799673165 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.146735770402731, + -2.9280948680007604, + 1.5847930289214074 + ], + "camera_target": [ + -7.1954073971866706, + -3.289426653547057, + 1.039483226112202 + ], + "camera_roll_rad": 0.038392327087265504, + "camera_pose_world_cv": [ + [ + -0.29280805587768555, + 0.44089093804359436, + -0.8484566807746887, + -6.146735668182373 + ], + [ + 0.9536900520324707, + 0.07077884674072266, + -0.2923453450202942, + -2.9280948638916016 + ], + [ + -0.0688396692276001, + -0.8947656750679016, + -0.4411977529525757, + 1.584792971611023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3462813593656327, + 0.3471793410632869, + 0.35184096245501945 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8852176966498937, + 0.9128503275844432, + 0.9570625370797223 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6098.171443767157, + "intensity": 0.923903379958263 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9113686099017643, + 0.9361421277221481, + 0.9757797562347621 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6023.72448873631, + "intensity": 0.9460515348503016 + }, + "point_color_scale": [ + 1.0339170816189536, + 1.0504047992787617, + 1.0767851475344552 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb70f28fd02c89b361200a3fde99b63255c292cb --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.081839667946602, + "K": [ + [ + 412.5213929299842, + 0.0, + 289.2880897595381 + ], + [ + 0.0, + 399.5467420387715, + 235.75318315442235 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.9320369186908675, + -3.4160623697068395, + 1.2348169258285122 + ], + "camera_target": [ + -7.253122492626507, + -3.2799769430017998, + 1.0646098954407257 + ], + "camera_roll_rad": -0.03292464299819305, + "camera_pose_world_cv": [ + [ + 0.0939253568649292, + 0.1329202651977539, + -0.986666202545166, + -5.932036876678467 + ], + [ + 0.9934375286102295, + 0.05245780944824219, + 0.1016368567943573, + -3.416062355041504 + ], + [ + 0.0652678906917572, + -0.9897375106811523, + -0.12712085247039795, + 1.2348169088363647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33080276312318263, + 0.36251432248656695, + 0.3505862786390667 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0611824459395687, + 1.0832868259037, + 1.1186538338463101 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5904.794461231851, + "intensity": 1.0921285778893526 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.636845748835772, + 0.6573850022628354, + 0.6902478077461369 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6117.1644144886, + "intensity": 0.6656007036336608 + }, + "point_color_scale": [ + 0.9864700462542971, + 0.9414716010793771, + 0.8643314093509429 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c3fba5fd89ec629d8d5792b5169da1ac15d8ce8 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0020964358833693, + "K": [ + [ + 418.6315819810128, + 0.0, + 315.51581777969886 + ], + [ + 0.0, + 438.22463695121, + 254.76297757996 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.609512849331584, + -2.4467113029116994, + 1.697109644420327 + ], + "camera_target": [ + -7.198915286782135, + -3.3090108766098747, + 1.0611951506194237 + ], + "camera_roll_rad": -0.010288470551895856, + "camera_pose_world_cv": [ + [ + -0.4827693700790405, + 0.2817324101924896, + -0.8291929960250854, + -5.609512805938721 + ], + [ + 0.8755326271057129, + 0.17625713348388672, + -0.44986259937286377, + -2.446711301803589 + ], + [ + 0.01941022276878357, + -0.9431651830673218, + -0.33175718784332275, + 1.6971096992492676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23807573386445666, + 0.22699646853268937, + 0.23619543444276106 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1557170376840329, + 1.1724771955747355, + 1.1992934481998594 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5784.267711458356, + "intensity": 1.1791812587310164 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7531949730446375, + 0.774668253104865, + 0.809025501201229 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6048.306994179932, + "intensity": 0.783257565128956 + }, + "point_color_scale": [ + 0.8003165713606262, + 0.8190407377025156, + 0.8489994038495391 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e949b0bc3cad46b28a740c77286c23ba6dadd30 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2576549689003098, + "K": [ + [ + 319.7427030058943, + 0.0, + 328.0679100388268 + ], + [ + 0.0, + 329.9783572918183, + 225.11756205755356 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.557446359209503, + -2.5348325828146385, + 1.6929803694269043 + ], + "camera_target": [ + -7.256266841049106, + -3.3599486998663552, + 0.9312949032085907 + ], + "camera_roll_rad": -0.02462311293678148, + "camera_pose_world_cv": [ + [ + -0.9271798133850098, + -0.2706097364425659, + 0.2590518295764923, + -7.557446479797363 + ], + [ + -0.37276577949523926, + 0.5978024005889893, + -0.7097026705741882, + -2.53483247756958 + ], + [ + 0.03719063848257065, + -0.754587709903717, + -0.655144453048706, + 1.692980408668518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29560487212771036, + 0.2867304963931506, + 0.2753201313097083 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0179398709682586, + 1.0214615899323884, + 1.0270963402749957 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5568.859542437288, + "intensity": 1.0228702775180403 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9578482087585936, + 0.9450770191074462, + 0.9231835511340506 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5306.951642293377, + "intensity": 0.9450770191074462 + }, + "point_color_scale": [ + 1.1887296385397126, + 1.135891500803047, + 1.0453118361116205 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5f40792749d0c064036744ec2a8ba980655140a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9779249292966177, + "K": [ + [ + 442.16072729642605, + 0.0, + 311.2505509560505 + ], + [ + 0.0, + 451.0801965826977, + 218.2783891393243 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.469628826682183, + -2.841327827887985, + 1.6416677285176793 + ], + "camera_target": [ + -7.1715412267670615, + -3.3297467434119734, + 1.0519243046018423 + ], + "camera_roll_rad": -0.0033590683447261988, + "camera_pose_world_cv": [ + [ + -0.5742864608764648, + 0.4621683359146118, + -0.6757186651229858, + -6.469628810882568 + ], + [ + 0.8186358213424683, + 0.32977986335754395, + -0.47019222378730774, + -2.8413279056549072 + ], + [ + 0.0055303871631622314, + -0.8231924772262573, + -0.5677355527877808, + 1.6416677236557007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24617093008088817, + 0.25819746516541914, + 0.2624701131169992 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0239803423273441, + 1.0733271481100346, + 1.1522820373623393 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6402.906350256622, + "intensity": 1.0930658704231107 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8286516195988034, + 0.8132747188040651, + 0.7869143174416565 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5229.894454758863, + "intensity": 0.8132747188040651 + }, + "point_color_scale": [ + 0.870974804159086, + 0.8782119057345465, + 0.8897912682552834 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c6d6ffc47dbe88f87114d0643ca8d432b81e36 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8522576499489926, + "K": [ + [ + 508.96246447933567, + 0.0, + 322.62677211922244 + ], + [ + 0.0, + 528.699700961262, + 234.72053063468326 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.448717118746816, + -2.3347964805640125, + 1.720434620536581 + ], + "camera_target": [ + -7.222169165557791, + -3.3424931862764495, + 0.9403168253111259 + ], + "camera_roll_rad": -0.030927691499897516, + "camera_pose_world_cv": [ + [ + -0.965610146522522, + -0.1922571063041687, + 0.1750272810459137, + -7.44871711730957 + ], + [ + -0.2552728056907654, + 0.5733462572097778, + -0.7785307168960571, + -2.33479642868042 + ], + [ + 0.04932683706283569, + -0.7964367866516113, + -0.6027066707611084, + 1.7204346656799316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37677459807842084, + 0.3599210087463638, + 0.34008419784746957 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9983903935010412, + 0.9741171129692541, + 0.9325057749147619 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5144.025193852594, + "intensity": 0.9741171129692541 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7011784527929695, + 0.7011580452217658, + 0.7011230608139879 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5499.584206822599, + "intensity": 0.7011580452217658 + }, + "point_color_scale": [ + 0.9676478906206264, + 0.9315104361346821, + 0.8695605141587779 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cacd0d32f1d4d0725e654bdde1e92eed148e2460 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2477022381865543, + "K": [ + [ + 343.2402947922038, + 0.0, + 344.8234358160978 + ], + [ + 0.0, + 333.4542253553487, + 234.2876214861573 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.943759320823004, + -3.1572415088512766, + 1.6571817214994964 + ], + "camera_target": [ + -7.258312474831773, + -3.275203686992915, + 0.949065125296623 + ], + "camera_roll_rad": -0.050489876887755414, + "camera_pose_world_cv": [ + [ + -0.1363896131515503, + 0.45947152376174927, + -0.8776581287384033, + -5.943759441375732 + ], + [ + 0.9866645932197571, + 0.14244413375854492, + -0.07875707745552063, + -3.1572415828704834 + ], + [ + 0.08883064985275269, + -0.8766958713531494, + -0.47277212142944336, + 1.657181739807129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2855755040129202, + 0.3033307609242096, + 0.28322857142782176 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.048826950223434, + 1.0046078094902449, + 0.9288035682333496 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4871.195401323165, + "intensity": 1.0046078094902449 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.826164224392044, + 0.8585025941147134, + 0.9102439856709846 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6242.184111201556, + "intensity": 0.8714379420037812 + }, + "point_color_scale": [ + 0.7918189335540278, + 0.797672801307134, + 0.8070389897121041 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ea518ac71e15be2f84fdad79352714782c56e67 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0646306697487662, + "K": [ + [ + 390.9682284668848, + 0.0, + 337.862037438546 + ], + [ + 0.0, + 407.4485467857607, + 247.88095911429653 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.094989566806227, + -3.994060843656464, + 1.1660543119113038 + ], + "camera_target": [ + -7.216176054165449, + -3.2895615798506967, + 0.986185799669483 + ], + "camera_roll_rad": 0.049673523968324446, + "camera_pose_world_cv": [ + [ + 0.5407185554504395, + 0.06063765287399292, + -0.8390153646469116, + -6.094989776611328 + ], + [ + 0.8354426622390747, + -0.15524029731750488, + 0.5271966457366943, + -3.994060754776001 + ], + [ + -0.09828117489814758, + -0.9860141277313232, + -0.13460052013397217, + 1.166054368019104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31849489828899524, + 0.28711353364135095, + 0.2846049336016352 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9553941500866582, + 0.9652498033378132, + 0.9810188485396614 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5703.378744229264, + "intensity": 0.9691920646382752 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7906269616664333, + 0.7823413911144697, + 0.7681375558825321 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5348.703782077969, + "intensity": 0.7823413911144697 + }, + "point_color_scale": [ + 0.893984728712474, + 0.8955144872870925, + 0.897962101006482 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de9eda75fc4b51a290f805571587cdb6a9879f00 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2858483199310853, + "K": [ + [ + 312.8194356799515, + 0.0, + 351.0007887453086 + ], + [ + 0.0, + 320.38492870675975, + 221.10407789180897 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.755150365267045, + -2.2678094303135072, + 1.6903869804745981 + ], + "camera_target": [ + -7.236729118375512, + -3.2996731478380306, + 0.9353260660173278 + ], + "camera_roll_rad": 0.03163790216421196, + "camera_pose_world_cv": [ + [ + -0.9073107242584229, + -0.18868955969810486, + 0.3757445216178894, + -7.755150318145752 + ], + [ + -0.4171171486377716, + 0.5164189338684082, + -0.7478805184364319, + -2.2678093910217285 + ], + [ + -0.05292424559593201, + -0.8352892994880676, + -0.547257661819458, + 1.6903870105743408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34871944670291527, + 0.3587893581277759, + 0.34315240283265636 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.034617388026168, + 1.077938120807466, + 1.1472512932575436 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6291.053797153376, + "intensity": 1.0952664139199855 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8816432872485797, + 0.8962666891204041, + 0.919664132115323 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5824.202232605122, + "intensity": 0.9021160498691337 + }, + "point_color_scale": [ + 0.8520903512058465, + 0.8201507882804902, + 0.7653972518370225 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0952a49e0abf0f0f707d68d7e90f2dca562bfd75 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8263812813564853, + "K": [ + [ + 544.7346746442496, + 0.0, + 332.92019519005225 + ], + [ + 0.0, + 547.4079812329595, + 225.56146714599993 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.544709929685864, + -2.6684267457045068, + 0.9818071647331152 + ], + "camera_target": [ + -7.191423364614899, + -3.3004732702335287, + 0.9704663559548818 + ], + "camera_roll_rad": -0.011579823564857386, + "camera_pose_world_cv": [ + [ + -0.698971152305603, + -0.0072200000286102295, + -0.7151137590408325, + -6.544710159301758 + ], + [ + 0.7147752046585083, + 0.025324463844299316, + -0.6988958120346069, + -2.668426752090454 + ], + [ + 0.023155778646469116, + -0.9996533393859863, + -0.012540161609649658, + 0.9818071722984314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459324836730957, + 0.0, + -7.221251964569092 + ], + [ + -0.38459324836730957, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24378500741611286, + 0.22987179068186409, + 0.2428092188180206 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9725087816693828, + 0.9779198844360661, + 0.9865776488627596 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5610.421167355918, + "intensity": 0.9800843255427395 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7394048879929668, + 0.7368164657862805, + 0.7323791705748184 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5449.814557881714, + "intensity": 0.7368164657862805 + }, + "point_color_scale": [ + 0.9099405226627544, + 0.9028720499381276, + 0.8907546681244819 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28b3abb7dd768b5c20ec3e444e2492606ecc4544 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1182119044388463, + "K": [ + [ + 401.0770029052806, + 0.0, + 312.50031117531876 + ], + [ + 0.0, + 383.5674800251681, + 235.6200019391352 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.00867958920803, + -3.245117895404815, + 1.2096140247246874 + ], + "camera_target": [ + -7.220089835251928, + -3.297419080618188, + 0.9526015385310588 + ], + "camera_roll_rad": 0.002246593442951396, + "camera_pose_world_cv": [ + [ + -0.04220235347747803, + 0.2073541283607483, + -0.9773552417755127, + -6.008679389953613 + ], + [ + 0.9990994334220886, + 0.004454851150512695, + -0.04219609498977661, + -3.2451179027557373 + ], + [ + -0.004395544528961182, + -0.9782558083534241, + -0.20735538005828857, + 1.2096140384674072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36407775445509033, + 0.3514832050293776, + 0.3634853143233549 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8783951582429057, + 0.8803234300405819, + 0.8834086649168638 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5543.7699083390435, + "intensity": 0.8810947387596524 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8698929897594229, + 0.8992589206484659, + 0.9462444100709348 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6144.692870931794, + "intensity": 0.9110052930040832 + }, + "point_color_scale": [ + 1.0394252257581877, + 1.0346773500594781, + 1.026538134575976 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a9429bfe51443c13f027a93eaba0d5d0710b49 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b00_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.268116960357709, + "K": [ + [ + 330.48611780038925, + 0.0, + 345.7840230592517 + ], + [ + 0.0, + 326.37554442982287, + 220.23526897454724 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.438247957000623, + -3.836715936232882, + 1.1346226217017574 + ], + "camera_target": [ + -7.26048045016684, + -3.291966469346564, + 0.9291129608873537 + ], + "camera_roll_rad": -0.033250457316570836, + "camera_pose_world_cv": [ + [ + 0.5397868156433105, + 0.20637214183807373, + -0.8161132335662842, + -6.438248157501221 + ], + [ + 0.8392843008041382, + -0.057013630867004395, + 0.5406953692436218, + -3.8367159366607666 + ], + [ + 0.06505477428436279, + -0.9768112301826477, + -0.20398008823394775, + 1.134622573852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9230861663818359, + 0.38459330797195435, + 0.0, + -7.221251964569092 + ], + [ + -0.38459330797195435, + 0.9230861663818359, + -0.0, + -3.3147482872009277 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22311117490201993, + 0.22257788881597562, + 0.21569513666661042 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1599532561550738, + 1.1249310324249073, + 1.0648929346017644 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5055.246084036781, + "intensity": 1.1249310324249073 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7207706271458232, + 0.7441092897261894, + 0.7814511498547754 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6119.5188813240065, + "intensity": 0.7534447547583358 + }, + "point_color_scale": [ + 0.8514813553619601, + 0.8736985586976106, + 0.9092460840346515 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e841881b18be3fc05504010c1fa9544eaa4353a2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1918795132397089, + "K": [ + [ + 358.41423035802836, + 0.0, + 350.93977554061996 + ], + [ + 0.0, + 353.88173453704184, + 236.91896809502225 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.143538181905962, + -3.1450354172148334, + 1.1871186595181271 + ], + "camera_target": [ + -7.588813489381568, + -2.290791846940965, + 0.9410626968173421 + ], + "camera_roll_rad": 0.01979913846750199, + "camera_pose_world_cv": [ + [ + 0.8329623937606812, + -0.1609887182712555, + 0.5293923616409302, + -8.143538475036621 + ], + [ + -0.5519899129867554, + -0.17522388696670532, + 0.8152324557304382, + -3.1450355052948 + ], + [ + -0.03848101198673248, + -0.9712771773338318, + -0.23481905460357666, + 1.187118649482727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35713805040932434, + 0.34868044191639463, + 0.3702032057491352 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9436298187628975, + 0.9472474876727343, + 0.9530357579284731 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5576.266252185545, + "intensity": 0.948694555236669 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6193549712416532, + 0.6217906692670142, + 0.625687786107592 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5578.222065365659, + "intensity": 0.6227649484771587 + }, + "point_color_scale": [ + 1.1349430001082224, + 1.1803614390483266, + 1.2530309413524936 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17138b783aaad5d82254a7419a7ac79f780492b4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1264705717261654, + "K": [ + [ + 385.37608394559174, + 0.0, + 336.39672503899027 + ], + [ + 0.0, + 380.0681632270979, + 243.043473993268 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.265552103590922, + -3.6253521603823424, + 1.0970576571700454 + ], + "camera_target": [ + -7.521022841047264, + -2.323595245457525, + 0.9353077243744002 + ], + "camera_roll_rad": 0.03819566032618865, + "camera_pose_world_cv": [ + [ + 0.8614562153816223, + -0.1193327009677887, + 0.4936120808124542, + -8.265552520751953 + ], + [ + -0.5021313428878784, + -0.05492681264877319, + 0.863045334815979, + -3.625352144241333 + ], + [ + -0.07587698101997375, + -0.9913338422775269, + -0.10723769664764404, + 1.0970577001571655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2343141492568466, + 0.22297470320325644, + 0.2193045665682254 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9805884818600661, + 0.9992164803007806, + 1.029021277805924 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5870.092311828077, + "intensity": 1.0066676796770664 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6650024823149548, + 0.6817334566575995, + 0.7085030156058313 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5986.064677271089, + "intensity": 0.6884258463946575 + }, + "point_color_scale": [ + 0.8157022722726275, + 0.8142351850678173, + 0.8117201784309999 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3bfca27901595f7c92f18fef3058c209d7c26ff2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.268172827929681, + "K": [ + [ + 333.25519910731776, + 0.0, + 322.46820040020555 + ], + [ + 0.0, + 326.35644298551756, + 240.55686005454208 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.1048963835883665, + -3.415799608073192, + 1.4845456904201901 + ], + "camera_target": [ + -7.52877402536625, + -2.303411696432539, + 0.9627174395414781 + ], + "camera_roll_rad": -0.0019869887974048386, + "camera_pose_world_cv": [ + [ + 0.9338812828063965, + 0.14666986465454102, + -0.32611918449401855, + -7.104896545410156 + ], + [ + 0.3575647473335266, + -0.3737472891807556, + 0.8558390736579895, + -3.415799617767334 + ], + [ + 0.003639623522758484, + -0.9158608317375183, + -0.4014795422554016, + 1.4845457077026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33661367826535193, + 0.3319394767161289, + 0.32496957978530683 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9859644019295285, + 0.9225134339921698, + 0.8137403460995551 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4517.420922335516, + "intensity": 0.9225134339921698 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8053182987308126, + 0.8198492075468892, + 0.8430986616526115 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5851.982200096512, + "intensity": 0.8256615710733197 + }, + "point_color_scale": [ + 1.0486983591012877, + 1.064447371583618, + 1.0896457915553466 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab895e2a593f43e02997ae96f2dadd380006323d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.236560838617055, + "K": [ + [ + 339.25331690119344, + 0.0, + 328.9907167277199 + ], + [ + 0.0, + 337.4026935743111, + 224.40893334589336 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.301913218293596, + -3.8310886939225073, + 1.5405785777755545 + ], + "camera_target": [ + -7.56787826023168, + -2.3088417947099455, + 1.0607470552182132 + ], + "camera_roll_rad": 0.04752279561269357, + "camera_pose_world_cv": [ + [ + 0.8854227662086487, + -0.20358070731163025, + 0.41782939434051514, + -8.301913261413574 + ], + [ + -0.4557322561740875, + -0.20369106531143188, + 0.8664975762367249, + -3.8310887813568115 + ], + [ + -0.091294065117836, + -0.9576349854469299, + -0.27313101291656494, + 1.5405786037445068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3327578345838072, + 0.35166101978990416, + 0.33978378006849963 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.02455783823993, + 1.0545214700656544, + 1.1024632809868136 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6061.902247144765, + "intensity": 1.0665069227959443 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9038514859106933, + 0.9086015682267379, + 0.9162016999324093 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5604.339900336882, + "intensity": 0.9105016011531557 + }, + "point_color_scale": [ + 0.8898973612248036, + 0.8674347796410902, + 0.8289274969261532 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d53bcf434d5c4857282fc561dec7f2e9d0f81f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9994869541253932, + "K": [ + [ + 432.460538813214, + 0.0, + 329.001747198922 + ], + [ + 0.0, + 439.5850311865086, + 242.118223788819 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.572951227887732, + -2.8980527417421587, + 0.9353606098185542 + ], + "camera_target": [ + -7.56483041768078, + -2.3016551670198737, + 0.9498972224682187 + ], + "camera_roll_rad": 0.016230145222900283, + "camera_pose_world_cv": [ + [ + 0.5146816968917847, + -0.027481377124786377, + -0.8569408655166626, + -6.572951316833496 + ], + [ + 0.8567670583724976, + -0.02134549617767334, + 0.5152618885040283, + -2.89805269241333 + ], + [ + -0.032452017068862915, + -0.9993945360183716, + 0.012559056282043457, + 0.9353606104850769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33211349355031355, + 0.33514426166122174, + 0.32294248946664805 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0359753025953842, + 0.9750942242558984, + 0.8707266613882086 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4608.055745866223, + "intensity": 0.9750942242558984 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6879221468877038, + 0.6724034746323132, + 0.6458000364802148 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5170.294211291247, + "intensity": 0.6724034746323132 + }, + "point_color_scale": [ + 1.144825814180702, + 1.130828884058047, + 1.1068341467049243 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..422b7fdd3aff480ccee3d0fe8664aa52d349bf82 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2814902451423376, + "K": [ + [ + 333.48038779750317, + 0.0, + 289.2056386365075 + ], + [ + 0.0, + 321.8441052552562, + 225.10989557967196 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.152360064979442, + -3.1683184603723342, + 1.4983838025434761 + ], + "camera_target": [ + -7.533674734875207, + -2.254609517084422, + 0.9730163560682338 + ], + "camera_roll_rad": -0.02110938590865296, + "camera_pose_world_cv": [ + [ + 0.8374706506729126, + -0.20585542917251587, + 0.5062276721000671, + -8.152359962463379 + ], + [ + -0.5451520085334778, + -0.37929636240005493, + 0.7476252913475037, + -3.168318510055542 + ], + [ + 0.03810757398605347, + -0.9020852446556091, + -0.4298720955848694, + 1.4983837604522705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37931781684073884, + 0.39279299822666236, + 0.37481159224473765 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0464488925937103, + 1.007743221052704, + 0.941390641268122 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4951.310459529651, + "intensity": 1.007743221052704 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8777489088216107, + 0.8783888858204532, + 0.8794128490186007 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5514.567364264485, + "intensity": 0.87864487661999 + }, + "point_color_scale": [ + 1.0666612442763466, + 1.0772837076986355, + 1.0942796491742979 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a14be91bb78bfe4771d0aa1349ce762d233db20e --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8599053579630813, + "K": [ + [ + 528.3014546175226, + 0.0, + 300.7516277942157 + ], + [ + 0.0, + 523.3732490287838, + 260.06627748052074 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.09205169428406, + -3.0426140845105865, + 1.0729582402671036 + ], + "camera_target": [ + -7.528661224979857, + -2.251223200427858, + 1.0647210579508908 + ], + "camera_roll_rad": -0.004263673523512014, + "camera_pose_world_cv": [ + [ + 0.8755175471305847, + 0.011868327856063843, + -0.48304060101509094, + -7.0920515060424805 + ], + [ + 0.4831111431121826, + -0.00385969877243042, + 0.8755507469177246, + -3.042613983154297 + ], + [ + 0.008526861667633057, + -0.9999222755432129, + -0.009112954139709473, + 1.07295823097229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3031667169677726, + 0.2742415022606661, + 0.2822669824008715 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1223694895713774, + 1.1608758770040126, + 1.222486096896229 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6154.715522887119, + "intensity": 1.1762784319770667 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6697689372722168, + 0.6893142194576123, + 0.720586670954245 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6060.733774031692, + "intensity": 0.6971323323317704 + }, + "point_color_scale": [ + 1.1467350820958113, + 1.1355079153405137, + 1.1162613437600035 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1a22012bc4c832252c588396ea48abaab0af3f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2267738986412535, + "K": [ + [ + 341.2387261057608, + 0.0, + 325.72808068541724 + ], + [ + 0.0, + 340.92251665078476, + 251.41511724452138 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.62313925145776, + -3.3178167081994805, + 0.9634415525851472 + ], + "camera_target": [ + -7.531801661446112, + -2.285924799021471, + 1.0346353992321906 + ], + "camera_roll_rad": -0.015533944027529271, + "camera_pose_world_cv": [ + [ + 0.751197338104248, + -0.010844796895980835, + -0.6599886417388916, + -6.623139381408691 + ], + [ + 0.6593483686447144, + 0.05931854248046875, + 0.7494940161705017, + -3.317816734313965 + ], + [ + 0.03102138638496399, + -0.9981803297996521, + 0.05171048641204834, + 0.9634415507316589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2563649394301642, + 0.24811135491295058, + 0.23186876952602406 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1822711779700066, + 1.1419959531387371, + 1.0729527105708467 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4996.180040611298, + "intensity": 1.1419959531387371 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7814622730373438, + 0.7898081405558063, + 0.8031615285853463 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5710.449586534858, + "intensity": 0.7931464875631913 + }, + "point_color_scale": [ + 1.0988340085315673, + 1.079602622289124, + 1.0466345315877927 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb826bb8091c52454938924801c3785cc067b83 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1969527865663774, + "K": [ + [ + 368.1820213798612, + 0.0, + 303.05224919976797 + ], + [ + 0.0, + 351.9565184812833, + 238.90097631858606 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.688575590525567, + -2.427702707772404, + 0.8891235924445303 + ], + "camera_target": [ + -7.513408237999429, + -2.2413679908279454, + 0.9959795668631434 + ], + "camera_roll_rad": -0.006026933782150037, + "camera_pose_world_cv": [ + [ + 0.2218111753463745, + -0.11962097883224487, + -0.9677245616912842, + -6.688575744628906 + ], + [ + 0.9750164151191711, + 0.039380550384521484, + 0.2186148762702942, + -2.4277026653289795 + ], + [ + 0.011958479881286621, + -0.9920384287834167, + 0.1253676414489746, + 0.8891236186027527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23802412182888075, + 0.21719897147974557, + 0.2360960033107935 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1027415279337152, + 1.1506791225720112, + 1.2273792739932847 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6319.548218228931, + "intensity": 1.1698541604273296 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7372013353818594, + 0.7677878990966099, + 0.8167264010402108 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6284.248217219658, + "intensity": 0.7800225245825101 + }, + "point_color_scale": [ + 0.9040639933496093, + 0.9373001440724872, + 0.9904779852290918 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10478fb7c897a23678dea6a7fa394f5eae7826b2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9403663841970838, + "K": [ + [ + 451.68046915327517, + 0.0, + 289.28479481836314 + ], + [ + 0.0, + 472.2583820327151, + 261.75356253334746 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.501079353255239, + -3.1121916505871483, + 1.6427273650442022 + ], + "camera_target": [ + -7.520434281918453, + -2.243185125529685, + 0.9277491105464921 + ], + "camera_roll_rad": -0.027960683973491322, + "camera_pose_world_cv": [ + [ + 0.9973986744880676, + 0.07000140100717545, + -0.017196644097566605, + -7.501079559326172 + ], + [ + 0.05772905796766281, + -0.6328613758087158, + 0.7721099853515625, + -3.112191677093506 + ], + [ + 0.04316568747162819, + -0.7710942029953003, + -0.6352562308311462, + 1.6427273750305176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23027705988936617, + 0.22972602889774554, + 0.2217802881917487 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8696825287865436, + 0.9081129401133307, + 0.9696015982361901 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6332.290875803567, + "intensity": 0.9234851046440455 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6005818534172482, + 0.59399998510527, + 0.5827167822847359 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5341.70590483356, + "intensity": 0.59399998510527 + }, + "point_color_scale": [ + 0.976568798220546, + 0.9314339341086542, + 0.8540598813454111 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3caa4efb6a8db8049b65c0f78006047bb387b708 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2792443603298964, + "K": [ + [ + 329.48674259658844, + 0.0, + 318.93564736877545 + ], + [ + 0.0, + 322.59940935369565, + 241.6287056084593 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.217965918386969, + -3.2678946088406624, + 0.9513657683186947 + ], + "camera_target": [ + -7.535401842230931, + -2.2393256806837467, + 1.0343276055983135 + ], + "camera_roll_rad": -0.024706929966016256, + "camera_pose_world_cv": [ + [ + 0.6165711283683777, + -0.008631855249404907, + -0.787251889705658, + -6.217966079711914 + ], + [ + 0.7857520580291748, + 0.06940412521362305, + 0.6146355867385864, + -3.2678945064544678 + ], + [ + 0.04933297634124756, + -0.9975513219833374, + 0.049575090408325195, + 0.9513657689094543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27721990239978017, + 0.26278660851469365, + 0.2824044532105329 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.125081239690993, + 1.0862715994322385, + 1.0197407875600881 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4989.608830279923, + "intensity": 1.0862715994322385 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5764408739716833, + 0.5971217512247334, + 0.6302111548296138 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6183.220308239722, + "intensity": 0.6053941021259536 + }, + "point_color_scale": [ + 1.2003630417296227, + 1.1854068158400366, + 1.159767571457889 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe3d54a63c8aa67511eb806f724166635f528533 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2984858357220193, + "K": [ + [ + 321.35064886315325, + 0.0, + 350.76215109929916 + ], + [ + 0.0, + 316.20116842841406, + 216.78364056427716 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.395840267225984, + -3.261856896294271, + 1.5086936366036667 + ], + "camera_target": [ + -7.597175710109102, + -2.2766171736169185, + 0.9587358944950594 + ], + "camera_roll_rad": 0.03488558787010758, + "camera_pose_world_cv": [ + [ + 0.9840657711029053, + 0.027531087398529053, + -0.17566058039665222, + -7.395840167999268 + ], + [ + 0.16695338487625122, + -0.482924222946167, + 0.859599232673645, + -3.2618567943573 + ], + [ + -0.06116505339741707, + -0.8752292394638062, + -0.47982561588287354, + 1.5086936950683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31974586191344967, + 0.32492321858963585, + 0.30865345888544915 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.141930638765991, + 1.0759056245437608, + 0.9627198858770807 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4623.329716499092, + "intensity": 1.0759056245437608 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9106991972124125, + 0.9147369566355389, + 0.9211973717125412 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5588.126814956748, + "intensity": 0.9163520604047894 + }, + "point_color_scale": [ + 0.8680351061550521, + 0.8649320667513193, + 0.8596125706306342 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f20551a6115a6eeaa53a596a4ab2a1abba19f84b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7929331363585892, + "K": [ + [ + 568.7917393926036, + 0.0, + 345.7024936848428 + ], + [ + 0.0, + 573.2926363693683, + 219.10154249318498 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.884459293230082, + -2.895349133315141, + 1.218703011305128 + ], + "camera_target": [ + -7.562073130358051, + -2.269806330226792, + 1.0411972337372455 + ], + "camera_roll_rad": 0.017928536384459903, + "camera_pose_world_cv": [ + [ + 0.3524676561355591, + 0.07985538244247437, + -0.932410717010498, + -5.884459495544434 + ], + [ + 0.9351438879966736, + -0.06803655624389648, + 0.34767407178878784, + -2.8953490257263184 + ], + [ + -0.035674482583999634, + -0.9944819808006287, + -0.09865683317184448, + 1.218703031539917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3438372482182018, + 0.3267007701264542, + 0.34955340326457507 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0939910451359962, + 1.0296386999722018, + 0.9193203939771256 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4607.143878089999, + "intensity": 1.0296386999722018 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9496280217697111, + 0.9256822072901152, + 0.8846322396108081 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5130.453020161578, + "intensity": 0.9256822072901152 + }, + "point_color_scale": [ + 0.9519804965370264, + 0.9853114547257493, + 1.0386409878277059 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3fc75646765b1e10005aa621262a6cf89fac2f9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8141235477757122, + "K": [ + [ + 558.3633000047961, + 0.0, + 343.73668765966175 + ], + [ + 0.0, + 556.6606553845295, + 254.70957280934186 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.910814670932415, + -2.7767462447654765, + 1.10046903767975 + ], + "camera_target": [ + -7.584672968567116, + -2.2915569987291615, + 1.0618951808669432 + ], + "camera_roll_rad": -0.0404846983756809, + "camera_pose_world_cv": [ + [ + 0.5793534517288208, + 0.08479499816894531, + -0.810653805732727, + -6.9108147621154785 + ], + [ + 0.8110623359680176, + 0.038611412048339844, + 0.5836843252182007, + -2.7767462730407715 + ], + [ + 0.0807938277721405, + -0.9956501722335815, + -0.04640430212020874, + 1.1004689931869507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22178505091272682, + 0.21334521019825947, + 0.2230200748626472 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9470727688626974, + 0.9067014701800279, + 0.8374935295811657 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4863.922021424163, + "intensity": 0.9067014701800279 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5518227979578785, + 0.5681216755058974, + 0.5941998795827276 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6067.271431135539, + "intensity": 0.574641226525105 + }, + "point_color_scale": [ + 0.9367845104995282, + 0.9514077012401861, + 0.974804806425239 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a751d2c61aa1effcb98f8a0a857a6ee2ee7761db --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.016702288463344, + "K": [ + [ + 432.66379903647095, + 0.0, + 317.20475646167415 + ], + [ + 0.0, + 430.7281806710936, + 218.23974392802495 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.474581744603345, + -2.746246358675235, + 1.2463347826514686 + ], + "camera_target": [ + -7.521411416419495, + -2.3050100203498687, + 0.985673336333734 + ], + "camera_roll_rad": -0.017778643158138617, + "camera_pose_world_cv": [ + [ + 0.38083362579345703, + 0.21975910663604736, + -0.8981490135192871, + -6.474581718444824 + ], + [ + 0.9239941835403442, + -0.05404937267303467, + 0.3785676956176758, + -2.746246337890625 + ], + [ + 0.034649282693862915, + -0.9740557670593262, + -0.22363990545272827, + 1.2463347911834717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2656418770433463, + 0.28132533376002516, + 0.2622457614712199 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9472143684595005, + 0.906256813261612, + 0.8360438614938032 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4854.368515815504, + "intensity": 0.906256813261612 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8867558871934614, + 0.8461446292535448, + 0.7765253299279736 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4814.34791682729, + "intensity": 0.8461446292535448 + }, + "point_color_scale": [ + 1.0137142848953213, + 1.0403376711578887, + 1.0829350891779965 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f515fe526cbe1f5f524cecdbe82978d2cb37fda7 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b01_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9334922670174327, + "K": [ + [ + 461.2893489782627, + 0.0, + 333.22270018857665 + ], + [ + 0.0, + 476.3046589738261, + 218.29296015288506 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.026446509544344, + -3.1660328027272286, + 1.5626805090854536 + ], + "camera_target": [ + -7.548870661922676, + -2.2840876626290747, + 0.9932000621028629 + ], + "camera_roll_rad": -0.04424333163136634, + "camera_pose_world_cv": [ + [ + 0.8966893553733826, + -0.156486377120018, + 0.4140774607658386, + -8.026446342468262 + ], + [ + -0.4359387755393982, + -0.4745723605155945, + 0.764681875705719, + -3.1660327911376953 + ], + [ + 0.0768473893404007, + -0.8661945462226868, + -0.4937624931335449, + 1.5626804828643799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7241983413696289, + 0.6895917057991028, + 0.0, + -7.557638645172119 + ], + [ + -0.6895917057991028, + 0.7241983413696289, + -0.0, + -2.275127410888672 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2274134757981424, + 0.21507109217348136, + 0.21917935664012209 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0808368997876014, + 1.081151774861319, + 1.0816555749792676 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5505.824129480697, + "intensity": 1.0812777248908063 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6453871535702465, + 0.6666843179557281, + 0.7007597809724989 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6130.837202765067, + "intensity": 0.6752031837099208 + }, + "point_color_scale": [ + 0.9463275367166646, + 0.9679901991161749, + 1.0026504589553915 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dae6fdeb3016ad4623c7c7599038bd2b21dacd89 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.290042185102395, + "K": [ + [ + 333.3697277597639, + 0.0, + 288.51237832885 + ], + [ + 0.0, + 318.9887262089084, + 241.05111361092656 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.605942624278745, + -3.635610320607279, + 1.4495762777899792 + ], + "camera_target": [ + -8.212352965890274, + -2.465492474355483, + 1.0159138912824028 + ], + "camera_roll_rad": 0.040404338243656315, + "camera_pose_world_cv": [ + [ + 0.8965649604797363, + 0.07168188691139221, + -0.4370732307434082, + -7.605942726135254 + ], + [ + 0.43622472882270813, + -0.31374746561050415, + 0.8433685898780823, + -3.635610342025757 + ], + [ + -0.0766763836145401, + -0.9467968344688416, + -0.3125644326210022, + 1.4495762586593628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3471177273911522, + 0.3304693616164862, + 0.3396452850587677 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1122166103324316, + 1.1446084211688659, + 1.196435318507161 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6059.654218378297, + "intensity": 1.1575651455034397 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7858350603325832, + 0.8164613319848436, + 0.8654633666284606 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6239.129577982039, + "intensity": 0.8287118406457479 + }, + "point_color_scale": [ + 1.0536476206815948, + 1.05642436102769, + 1.060867145581442 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..747f969d1f105ed49516470a56addcf093ae7bf6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8874653100191905, + "K": [ + [ + 508.27408176708, + 0.0, + 312.57924784930975 + ], + [ + 0.0, + 504.89271008979586, + 224.10335189160378 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.903782049609351, + -3.5170209044370617, + 1.510978660337853 + ], + "camera_target": [ + -8.20599593163911, + -2.43480207992667, + 1.0206851313118457 + ], + "camera_roll_rad": -0.011984406173720617, + "camera_pose_world_cv": [ + [ + 0.9602957963943481, + 0.1306200921535492, + -0.24651654064655304, + -7.903781890869141 + ], + [ + 0.2781177759170532, + -0.37863999605178833, + 0.882769763469696, + -3.5170209407806396 + ], + [ + 0.021966412663459778, + -0.9162806868553162, + -0.3999341130256653, + 1.5109786987304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23291622396773815, + 0.21905104630266084, + 0.21863388869106312 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8981693807152877, + 0.8590254315322476, + 0.7919215186470361 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4849.030595001148, + "intensity": 0.8590254315322476 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6576636008657234, + 0.6650900335409641, + 0.6769723258213491 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5722.328112202678, + "intensity": 0.6680606066110604 + }, + "point_color_scale": [ + 0.8680529132435476, + 0.891543831741147, + 0.9291293013373061 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e49a280e8d869c7066b3ee25a4fe738b690b939 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8795142094270157, + "K": [ + [ + 515.3172199682147, + 0.0, + 291.00572071952763 + ], + [ + 0.0, + 510.1131721948073, + 232.13914938431589 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.4328941086492515, + -2.7616633435496665, + 1.480650268654108 + ], + "camera_target": [ + -8.178355597598419, + -2.479223165282049, + 0.948318799499258 + ], + "camera_roll_rad": -0.01608768196019964, + "camera_pose_world_cv": [ + [ + 0.33741259574890137, + 0.5304425954818726, + -0.7776782512664795, + -7.432894229888916 + ], + [ + 0.940976619720459, + -0.1665724515914917, + 0.29464662075042725, + -2.7616634368896484 + ], + [ + 0.02675330638885498, + -0.8311945199966431, + -0.5553377270698547, + 1.4806503057479858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2973976215104155, + 0.3037379067955815, + 0.3011411576558033 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9658248704749292, + 0.9141819009729453, + 0.8256510961124018 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4692.986968582493, + "intensity": 0.9141819009729453 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6965076012448257, + 0.7083408638906464, + 0.7272740841239598 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5831.89430107284, + "intensity": 0.7130741689489748 + }, + "point_color_scale": [ + 1.0906185092298386, + 1.0787450055221561, + 1.0583904277375575 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a4cb8f8af7dc24c31cce5c1da66f33f65d9c8ce --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.996909207736548, + "K": [ + [ + 445.8871038763385, + 0.0, + 341.88243889392845 + ], + [ + 0.0, + 440.9352799209715, + 242.5995511808591 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.655874802155702, + -3.3125123474970652, + 1.484563420115162 + ], + "camera_target": [ + -8.225190478498405, + -2.5132711256544344, + 1.017450091992636 + ], + "camera_roll_rad": -0.008760956713076577, + "camera_pose_world_cv": [ + [ + 0.8099958896636963, + 0.263599693775177, + -0.5238529443740845, + -7.655874729156494 + ], + [ + 0.5862221121788025, + -0.3398587107658386, + 0.7354180216789246, + -3.3125123977661133 + ], + [ + 0.01581999659538269, + -0.902779757976532, + -0.42981213331222534, + 1.4845634698867798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23412241909451212, + 0.22254279748248235, + 0.22819378291102865 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0934822892244405, + 1.1018388086459532, + 1.115209239720374 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5651.224392618238, + "intensity": 1.1051814164145584 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5983953366768223, + 0.6019777443300959, + 0.6077095965753334 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5618.738617309612, + "intensity": 0.6034107073914052 + }, + "point_color_scale": [ + 1.059512249637568, + 1.0444867179719322, + 1.0187286636879853 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a5552f13d46c12af288aeb08bc2befd803b5d00 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1680143276464667, + "K": [ + [ + 371.9892773627454, + 0.0, + 299.0118612789389 + ], + [ + 0.0, + 363.1352497201414, + 237.7831072767653 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.212540966389863, + -3.5622939852397195, + 1.039143729356881 + ], + "camera_target": [ + -8.16516524870418, + -2.437727016079874, + 1.053635194769627 + ], + "camera_roll_rad": 0.02788981990043561, + "camera_pose_world_cv": [ + [ + 0.9975901246070862, + -0.0551602877676487, + 0.042087070643901825, + -8.212540626525879 + ], + [ + -0.04130800440907478, + 0.015189170837402344, + 0.999031126499176, + -3.5622940063476562 + ], + [ + -0.05574610084295273, + -0.998362123966217, + 0.012874007225036621, + 1.039143681526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2935080956276288, + 0.3021753479120249, + 0.3049675540561421 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9592540628242772, + 0.9193646310927401, + 0.8509827481243907 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4880.170820734171, + "intensity": 0.9193646310927401 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5810695899750629, + 0.5863233994220948, + 0.5947294945373458 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5678.571955057657, + "intensity": 0.5884249232009076 + }, + "point_color_scale": [ + 0.8218655638513007, + 0.835205931591316, + 0.8565505199753405 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2e255a1a1586af736584d93578ebed720494499 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9476918352221335, + "K": [ + [ + 451.81748253234855, + 0.0, + 345.35493294815535 + ], + [ + 0.0, + 468.00624587134433, + 236.8634469286202 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.494412352961592, + -3.9353802577781245, + 1.2388222673924179 + ], + "camera_target": [ + -8.235171653043203, + -2.421349602546713, + 1.0167265461354897 + ], + "camera_roll_rad": 0.04065631031742062, + "camera_pose_world_cv": [ + [ + 0.8999471664428711, + -0.015735983848571777, + -0.4357149600982666, + -7.494412422180176 + ], + [ + 0.4284979999065399, + -0.15265315771102905, + 0.8905540704727173, + -3.935380220413208 + ], + [ + -0.08052702248096466, + -0.9881545305252075, + -0.13063693046569824, + 1.2388222217559814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28231990160783255, + 0.30143594228942655, + 0.2945309997543155 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.2039633744400648, + 1.1265055866865348, + 0.9937208076804831 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4517.723624163135, + "intensity": 1.1265055866865348 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5812573109095601, + 0.5618852605497004, + 0.52867603136137 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5007.47315154934, + "intensity": 0.5618852605497004 + }, + "point_color_scale": [ + 1.091076175413309, + 1.1181530230574355, + 1.161475979288038 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef8bdad14ab3e1d9e6971a24b346fbb9a02471c6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2083577052545587, + "K": [ + [ + 338.03853455654234, + 0.0, + 324.80338828172336 + ], + [ + 0.0, + 347.6803790226699, + 254.4331795676789 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.465659755593497, + -2.9023327253230593, + 1.4910415489045272 + ], + "camera_target": [ + -8.174881861483547, + -2.4822614548314426, + 1.0633631900406049 + ], + "camera_roll_rad": 0.001652335810263729, + "camera_pose_world_cv": [ + [ + 0.510921835899353, + 0.39456743001937866, + -0.7637247443199158, + -7.4656596183776855 + ], + [ + 0.8596221804618835, + -0.23754256963729858, + 0.4523531198501587, + -2.9023327827453613 + ], + [ + -0.0029333829879760742, + -0.8876317739486694, + -0.4605445861816406, + 1.4910415410995483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35777621450351177, + 0.3375863310196346, + 0.3490637349545097 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.129016311159044, + 1.130303960204202, + 1.1323641986764543 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5522.773742262669, + "intensity": 1.130819019822265 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.838162958120109, + 0.8668396802504323, + 0.91272243565895 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6152.997462835939, + "intensity": 0.8783103691025618 + }, + "point_color_scale": [ + 1.1256106559311247, + 1.1478612892417615, + 1.18346230253878 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cdb8f8af9e8baad302a2bc8fd2bb1f6196d4557 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8879837599184682, + "K": [ + [ + 528.1388961629286, + 0.0, + 342.5361652826669 + ], + [ + 0.0, + 504.55534359170514, + 231.62973113093898 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.078340748647699, + -2.126717460744596, + 1.4682993482519486 + ], + "camera_target": [ + -8.18536247102096, + -2.4410703270376275, + 1.0199917007602706 + ], + "camera_roll_rad": 0.012241064105253871, + "camera_pose_world_cv": [ + [ + -0.26453280448913574, + 0.35577064752578735, + -0.8963534832000732, + -7.078340530395508 + ], + [ + 0.9641068577766418, + 0.07557797431945801, + -0.25453072786331177, + -2.1267175674438477 + ], + [ + -0.022809982299804688, + -0.9315122961997986, + -0.3629937767982483, + 1.468299388885498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22660668914668036, + 0.22669851578987235, + 0.2293108035480922 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1343290063166518, + 1.1370273406809612, + 1.1413446756638566 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5547.417951672567, + "intensity": 1.138106674426685 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6898723799882295, + 0.6643483287292248, + 0.6205928122852168 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4951.147405762976, + "intensity": 0.6643483287292248 + }, + "point_color_scale": [ + 0.9440232588809102, + 0.9734191857350063, + 1.0204526687015603 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0381d41d0ef1c106c92cebe2c0c0e6cc11caee3d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8702128853186084, + "K": [ + [ + 525.0908588025269, + 0.0, + 304.19529055036026 + ], + [ + 0.0, + 516.3332526266095, + 236.06368612360168 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.599951260583548, + -3.5475696863088073, + 1.1725490011141397 + ], + "camera_target": [ + -8.226799527877379, + -2.4199473102777276, + 0.9433696602002382 + ], + "camera_roll_rad": 0.041278713244461834, + "camera_pose_world_cv": [ + [ + 0.8780591487884521, + 0.012614727020263672, + -0.4783857762813568, + -7.599951267242432 + ], + [ + 0.4716140925884247, + -0.19241422414779663, + 0.8605561852455139, + -3.547569751739502 + ], + [ + -0.08119258284568787, + -0.9812327027320862, + -0.1749003529548645, + 1.1725490093231201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23421606211872306, + 0.25249675536183586, + 0.24093249154929702 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9236664244990721, + 0.9681008262320758, + 1.0391958690048821 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6401.4209783332535, + "intensity": 0.9858745869252774 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7099401346861343, + 0.6933173579520155, + 0.6648211692649548 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5157.489840207816, + "intensity": 0.6933173579520155 + }, + "point_color_scale": [ + 1.1394047688320856, + 1.1554275438736996, + 1.181063983940282 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e12bb32911848bdbf9317732b8b07ca1fd55200 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1186728024819041, + "K": [ + [ + 392.55482856612525, + 0.0, + 318.3448671466662 + ], + [ + 0.0, + 383.37097552746343, + 249.79268282979305 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.338343663570092, + -2.24547597509353, + 1.3441191452535926 + ], + "camera_target": [ + -8.187518669607542, + -2.4419768771272756, + 1.0247440985063614 + ], + "camera_roll_rad": -0.05171876182688974, + "camera_pose_world_cv": [ + [ + -0.2588491439819336, + 0.3101220726966858, + -0.9147793650627136, + -7.338343620300293 + ], + [ + 0.9610399603843689, + 0.17774438858032227, + -0.21168166399002075, + -2.245476007461548 + ], + [ + 0.0969497561454773, + -0.9339331984519958, + -0.34404873847961426, + 1.3441191911697388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21665329283464843, + 0.22176163361620796, + 0.21459828305700127 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.196482740706002, + 1.1515431765403994, + 1.074503923685081 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4942.49265952574, + "intensity": 1.1515431765403994 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8272708764594117, + 0.8139414145805671, + 0.791090908502548 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5266.050872246599, + "intensity": 0.8139414145805671 + }, + "point_color_scale": [ + 1.036199630549025, + 1.0753380189660604, + 1.137959440433317 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..568ea05dd04f786fdd6050bb9d643d1347b48a4d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.270331037349087, + "K": [ + [ + 340.26679134441616, + 0.0, + 332.4240927766053 + ], + [ + 0.0, + 325.61964767416544, + 218.0021265523377 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.119073615796554, + -3.933776354153725, + 0.8507393640515785 + ], + "camera_target": [ + -8.153441294097009, + -2.4381448977638462, + 0.9896261666750826 + ], + "camera_roll_rad": -0.040330829721135074, + "camera_pose_world_cv": [ + [ + 0.9966566562652588, + 0.07843627035617828, + -0.0228741355240345, + -8.119073867797852 + ], + [ + 0.015451520681381226, + 0.09396576881408691, + 0.9954555630683899, + -3.933776378631592 + ], + [ + 0.08022920787334442, + -0.9924808144569397, + 0.09243965148925781, + 0.8507393598556519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31301817832316997, + 0.3302698167732101, + 0.321800657471302 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.104571458002852, + 1.1600798862090358, + 1.2488933713389299 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6439.003878376115, + "intensity": 1.1822832574915092 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8147161250762559, + 0.8085416172783169, + 0.7979567467675645 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5390.905734013803, + "intensity": 0.8085416172783169 + }, + "point_color_scale": [ + 1.1357727375446334, + 1.1564866863130192, + 1.1896290043424367 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e00aceeb966ae1cdca771dfa7250bd7e56e8f22 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2373722253528954, + "K": [ + [ + 333.211788801108, + 0.0, + 349.6868849408397 + ], + [ + 0.0, + 337.1130574777583, + 252.89387500375852 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.626594569523092, + -3.089409298310918, + 1.6246962481249714 + ], + "camera_target": [ + -8.18702093959554, + -2.457048209166324, + 0.9317350662694869 + ], + "camera_roll_rad": 0.0482238141788249, + "camera_pose_world_cv": [ + [ + 0.7854152917861938, + 0.3465687036514282, + -0.5128479599952698, + -7.626594543457031 + ], + [ + 0.6144742369651794, + -0.536242663860321, + 0.5786754488945007, + -3.089409351348877 + ], + [ + -0.07446016371250153, + -0.7696323990821838, + -0.6341307163238525, + 1.6246962547302246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25569030464954473, + 0.25939723878538895, + 0.2873855209801729 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9130505035631361, + 0.8874598496288748, + 0.8435901571701413 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5088.059368947985, + "intensity": 0.8874598496288748 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5656252498445117, + 0.5676036529174489, + 0.5707690978341484 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5569.613667386141, + "intensity": 0.5683950141466237 + }, + "point_color_scale": [ + 0.8682359065960283, + 0.8806195974888823, + 0.9004335029174486 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65c13e41bc0d30fefcb680d53934a34033f4c1a9 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9128250363896524, + "K": [ + [ + 471.9153573359649, + 0.0, + 322.07270376381086 + ], + [ + 0.0, + 488.80974124327804, + 245.12610122811034 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.350323989944315, + -2.1851485286321513, + 1.6416553721534675 + ], + "camera_target": [ + -8.244878376185508, + -2.482908002111663, + 0.997150746248002 + ], + "camera_roll_rad": 0.0058559975186005045, + "camera_pose_world_cv": [ + [ + -0.15156400203704834, + 0.31648918986320496, + -0.9364097118377686, + -6.3503241539001465 + ], + [ + 0.9883852005004883, + 0.03788590431213379, + -0.1471717655658722, + -2.1851484775543213 + ], + [ + -0.01110154390335083, + -0.9478393793106079, + -0.31855523586273193, + 1.6416553258895874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2842775805486495, + 0.2917191134147657, + 0.30730195941566407 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0881561089364342, + 1.1360982749277992, + 1.2128057405139832 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6329.969663095264, + "intensity": 1.1552751413243452 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7274046680265035, + 0.7572059049372103, + 0.804887883994341 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6274.937303472432, + "intensity": 0.769126399701493 + }, + "point_color_scale": [ + 1.0981103251320252, + 1.0953665870204645, + 1.0906630359720748 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8de9ad3238d444bd7b3fc062befdcfeb5cc8b183 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.199709160102823, + "K": [ + [ + 339.80162198650413, + 0.0, + 297.12192505478714 + ], + [ + 0.0, + 350.91651881450383, + 221.9968470668406 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.918709271551709, + -3.499145494924007, + 1.43742653032503 + ], + "camera_target": [ + -8.214784095213677, + -2.4650861699531132, + 0.9590738609188934 + ], + "camera_roll_rad": 0.022623367391112065, + "camera_pose_world_cv": [ + [ + 0.9654446840286255, + 0.06825514137744904, + -0.2515110373497009, + -7.9187092781066895 + ], + [ + 0.257310152053833, + -0.4027066230773926, + 0.8784184455871582, + -3.4991455078125 + ], + [ + -0.041328586637973785, + -0.91278076171875, + -0.4063537120819092, + 1.4374265670776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35312048684578823, + 0.3376126596394655, + 0.3493131189675349 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9741089905264255, + 0.9737280516548539, + 0.9730750135893026 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5494.4111871170335, + "intensity": 0.9737280516548539 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8897225066512433, + 0.9174305965447607, + 0.9617635403743883 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6096.826647565375, + "intensity": 0.9285138325021676 + }, + "point_color_scale": [ + 1.1180077235760093, + 1.0671841533617843, + 0.9800580329945414 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd2f6e0f42348d4fc37780f42d7647f832b83c4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0981699773645826, + "K": [ + [ + 407.076461989814, + 0.0, + 324.57104550664496 + ], + [ + 0.0, + 392.25495431814886, + 216.14911898721346 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.7633606851982515, + -3.5830066016748368, + 1.5902906368281104 + ], + "camera_target": [ + -8.195762234944866, + -2.465832383412787, + 0.9386886226486321 + ], + "camera_roll_rad": -0.004277585561434989, + "camera_pose_world_cv": [ + [ + 0.9310731887817383, + 0.18044570088386536, + -0.3170836269855499, + -7.763360500335693 + ], + [ + 0.3647550046443939, + -0.44250673055648804, + 0.8192323446273804, + -3.5830066204071045 + ], + [ + 0.007515281438827515, + -0.8784230947494507, + -0.4778246283531189, + 1.5902906656265259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3349400964789705, + 0.3296198025848047, + 0.3026188350503055 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1502870252888715, + 1.1014870702373032, + 1.017830004434615 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4867.089969678707, + "intensity": 1.1014870702373032 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5916060591270401, + 0.5998839777098756, + 0.6131286474424125 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5774.469005577721, + "intensity": 0.6031951451430099 + }, + "point_color_scale": [ + 1.1371721463788922, + 1.1761689263604986, + 1.2385637743310698 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b952bbcd4694266f6b1e4fc8b87a2c377b7292b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b02_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1860673450559807, + "K": [ + [ + 341.8410891485198, + 0.0, + 332.4550213340938 + ], + [ + 0.0, + 356.10512639994363, + 252.50030952366288 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.384496799621803, + -2.5915361156586894, + 1.1618235510078763 + ], + "camera_target": [ + -8.235917678041025, + -2.464255807132804, + 1.052475930641902 + ], + "camera_roll_rad": -0.047681383496755936, + "camera_pose_world_cv": [ + [ + 0.13531053066253662, + 0.13813257217407227, + -0.9811272025108337, + -7.384496688842773 + ], + [ + 0.9862903356552124, + 0.07562685012817383, + 0.1466701328754425, + -2.591536045074463 + ], + [ + 0.09445935487747192, + -0.9875222444534302, + -0.1260056495666504, + 1.1618235111236572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5713289976119995, + -0.8207211494445801, + 0.0, + -8.199700355529785 + ], + [ + 0.8207211494445801, + 0.5713289976119995, + 0.0, + -2.4697883129119873 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29528372963957716, + 0.2884016014898034, + 0.297059653797531 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8578081690412499, + 0.8975530084388685, + 0.9611447514750584 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6370.212892111416, + "intensity": 0.913450944197916 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6539585547371127, + 0.658292954097638, + 0.6652279930744783 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5631.340119108081, + "intensity": 0.6600267138418481 + }, + "point_color_scale": [ + 0.9594619488601503, + 0.933044250574232, + 0.8877567677983721 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef28e050bb72091c3138cbfadadf5a27652c26d6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.106015330661937, + "K": [ + [ + 394.1977792587717, + 0.0, + 311.3000279545422 + ], + [ + 0.0, + 388.82068494578766, + 226.10957591762477 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.002620035367757, + -2.8290771163206925, + 1.1222998603386467 + ], + "camera_target": [ + -7.073336425606028, + -3.0371215576795696, + 1.071879365326561 + ], + "camera_roll_rad": -0.0444469049407704, + "camera_pose_world_cv": [ + [ + -0.19400787353515625, + 0.02821686863899231, + -0.9805940389633179, + -6.002620220184326 + ], + [ + 0.9769833087921143, + 0.09591972827911377, + -0.19053339958190918, + -2.8290770053863525 + ], + [ + 0.08868205547332764, + -0.9949890375137329, + -0.04617667198181152, + 1.1222999095916748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2888947940614059, + 0.28334874848471686, + 0.3011630103980077 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8959033617939757, + 0.9238257639513876, + 0.9685016074032465 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6097.27400414919, + "intensity": 0.9349947248143523 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8398288978345722, + 0.8040958177745945, + 0.7428391091003469 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4865.159523278987, + "intensity": 0.8040958177745945 + }, + "point_color_scale": [ + 0.7927252095924994, + 0.8079336912108336, + 0.8322672618001682 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53e1f7801119421df44502f78cd8af12e6813050 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.834934104159712, + "K": [ + [ + 522.580011209846, + 0.0, + 300.70606176359945 + ], + [ + 0.0, + 541.1037195720654, + 232.9892250913813 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.560869591869009, + -2.1429461405709214, + 1.6327679577371534 + ], + "camera_target": [ + -7.047137262319415, + -2.999816890609399, + 1.0403074327591963 + ], + "camera_roll_rad": -0.003792339496362089, + "camera_pose_world_cv": [ + [ + -0.8716182708740234, + 0.2477455735206604, + -0.42297041416168213, + -6.5608696937561035 + ], + [ + 0.4901424050331116, + 0.4519294500350952, + -0.7453324198722839, + -2.142946243286133 + ], + [ + 0.006499931216239929, + -0.8569609522819519, + -0.5153403282165527, + 1.632767915725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2723534156814952, + 0.25680262703259277, + 0.276619785292928 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.2057822193282972, + 1.1934010641240458, + 1.1721762266310436 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5351.790273117576, + "intensity": 1.1934010641240458 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5338045721547882, + 0.552382052638516, + 0.5821060214124807 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6163.703022115276, + "intensity": 0.5598130448320072 + }, + "point_color_scale": [ + 1.0142670620532468, + 1.037500261362244, + 1.0746733802566397 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b18afc197f1c760acd8812a774a729f5eaa74c34 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2018251991953801, + "K": [ + [ + 343.26240522765494, + 0.0, + 351.06116877188293 + ], + [ + 0.0, + 350.1209617521028, + 235.07779406029977 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.120563116660513, + -3.103550620381182, + 1.3172422914473072 + ], + "camera_target": [ + -7.071043042205702, + -2.982221458462906, + 1.0211564345307989 + ], + "camera_roll_rad": 0.04796931114558037, + "camera_pose_world_cv": [ + [ + 0.1540936827659607, + 0.2793784737586975, + -0.9477356672286987, + -6.12056303024292 + ], + [ + 0.9838084578514099, + -0.13223153352737427, + 0.1209789514541626, + -3.103550672531128 + ], + [ + -0.09152171015739441, + -0.9510324001312256, + -0.2952308654785156, + 1.3172422647476196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3443655068377879, + 0.35469451241077254, + 0.36536599450069496 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.035855860888387, + 0.977276141553328, + 0.8768537655503699 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4643.688157547926, + "intensity": 0.977276141553328 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9107521311251743, + 0.8825482593398163, + 0.8341987648506313 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5043.4669438043675, + "intensity": 0.8825482593398163 + }, + "point_color_scale": [ + 1.0439004118262694, + 1.0454417709667183, + 1.0479079455914366 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbf52ed3d24a3fd7dde677c7316c5f92425dec13 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0130227905176525, + "K": [ + [ + 450.4509682808468, + 0.0, + 334.50075685067185 + ], + [ + 0.0, + 432.5980743658395, + 257.3936698085564 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.796814857210012, + -3.82848143357993, + 1.4924351250491372 + ], + "camera_target": [ + -7.090720085693725, + -3.0024940503587305, + 1.0086207067590627 + ], + "camera_roll_rad": 0.003963029175907504, + "camera_pose_world_cv": [ + [ + 0.943389356136322, + 0.15449881553649902, + -0.29350751638412476, + -6.796814918518066 + ], + [ + 0.3316148519515991, + -0.45784449577331543, + 0.824869692325592, + -3.828481435775757 + ], + [ + -0.006939396262168884, + -0.8755046725273132, + -0.48315972089767456, + 1.492435097694397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3696606310323105, + 0.3665284918141492, + 0.3463526875760531 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0080685523527941, + 0.9650491681558444, + 0.8913016523896448 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4863.1799791513295, + "intensity": 0.9650491681558444 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7411938863391315, + 0.7154528686153849, + 0.6713254096603908 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4986.0194979207845, + "intensity": 0.7154528686153849 + }, + "point_color_scale": [ + 0.9720853224389419, + 0.9283959750220787, + 0.8534999508788845 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b058b1f1b7dd7d74f549773dc0a9cafd9bccb09d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9148250086558603, + "K": [ + [ + 475.13503223676224, + 0.0, + 333.00389244854654 + ], + [ + 0.0, + 487.5767069144387, + 218.72669441468292 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.188297719673725, + -3.6776008112463554, + 1.1559090792767672 + ], + "camera_target": [ + -7.055091156688934, + -2.977330861075591, + 0.9601907178267478 + ], + "camera_roll_rad": 0.033864588715829494, + "camera_pose_world_cv": [ + [ + 0.5161083936691284, + -0.15895026922225952, + 0.841645359992981, + -8.188297271728516 + ], + [ + -0.8539020419120789, + -0.018667280673980713, + 0.520098865032196, + -3.677600860595703 + ], + [ + -0.06695863604545593, + -0.9871100783348083, + -0.1453622579574585, + 1.1559090614318848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2833252581313177, + 0.2738375052089879, + 0.28366037503353514 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0595503978748728, + 1.0654096483858737, + 1.0747844492034755 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5609.749138576561, + "intensity": 1.0677533485902742 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.566577722544042, + 0.5620662667517212, + 0.5543323425363141 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5385.334928861343, + "intensity": 0.5620662667517212 + }, + "point_color_scale": [ + 0.8388610156229432, + 0.8434805502653235, + 0.8508718056931321 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c3776f18f262fde7b5e5b0b8b7b7c44565b9c36 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1580119670917761, + "K": [ + [ + 363.19871665978144, + 0.0, + 342.9814457469733 + ], + [ + 0.0, + 367.1135524159476, + 244.2031416300964 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.490290630901315, + -3.791726197589602, + 1.2672518688953054 + ], + "camera_target": [ + -7.052307827888267, + -3.0486667413065223, + 0.9445710190246119 + ], + "camera_roll_rad": -0.005955552873385082, + "camera_pose_world_cv": [ + [ + 0.8635414838790894, + -0.1676497757434845, + 0.47559410333633423, + -7.490290641784668 + ], + [ + -0.5041544437408447, + -0.30788224935531616, + 0.8068686127662659, + -3.7917261123657227 + ], + [ + 0.011155679821968079, + -0.9365373253822327, + -0.3503904342651367, + 1.2672518491744995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32480736086893236, + 0.3366742473087116, + 0.31932768745402573 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1271215370832355, + 1.1496123171738861, + 1.1855975653189272 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5888.237745233839, + "intensity": 1.1586086292101465 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9164460112370569, + 0.9298378566575771, + 0.9512648093304098 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5786.396980791255, + "intensity": 0.9351945948257854 + }, + "point_color_scale": [ + 0.9858102778404868, + 0.995325519124574, + 1.0105499051791136 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f04e7a2369b08e353f5d6aeee297cbefd26a12c6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8535434220717337, + "K": [ + [ + 549.3865020926949, + 0.0, + 311.7422887910639 + ], + [ + 0.0, + 527.7979282905483, + 256.68576801269876 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.861729787554012, + -3.652089486916244, + 1.707154772889437 + ], + "camera_target": [ + -7.101708762737892, + -3.0142145958925197, + 1.0273432146256118 + ], + "camera_roll_rad": 0.043852388030588996, + "camera_pose_world_cv": [ + [ + 0.48981988430023193, + 0.3481121361255646, + -0.7993087768554688, + -5.861729621887207 + ], + [ + 0.8682612180709839, + -0.27758002281188965, + 0.41118356585502625, + -3.6520895957946777 + ], + [ + -0.0787341296672821, + -0.8954145908355713, + -0.4382164478302002, + 1.7071547508239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2893816326730037, + 0.301569538180275, + 0.30232464952437693 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8283728310164908, + 0.850815818194404, + 0.8867245976790651 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6022.0555840037205, + "intensity": 0.8597930130655693 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.557486487549811, + 0.5766018927292972, + 0.6071865410164753 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6154.359223703163, + "intensity": 0.5842480548010918 + }, + "point_color_scale": [ + 1.116177810713192, + 1.1527937434634636, + 1.211379235863898 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e4919693e800abb9d942babffe7d5a5744e7a92 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1070575173709618, + "K": [ + [ + 391.65821673647963, + 0.0, + 306.64960310402256 + ], + [ + 0.0, + 388.36775616939354, + 248.10065094110627 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.930461901186598, + -3.2641163858068554, + 1.2792126865690405 + ], + "camera_target": [ + -7.049051960571823, + -3.041920298375932, + 0.9951873428515338 + ], + "camera_roll_rad": -0.04599823724311744, + "camera_pose_world_cv": [ + [ + 0.269977867603302, + -0.2655169367790222, + 0.9255337715148926, + -7.930461883544922 + ], + [ + -0.9588655829429626, + -0.16167545318603516, + 0.23331931233406067, + -3.2641162872314453 + ], + [ + 0.08768585324287415, + -0.950453519821167, + -0.2982438802719116, + 1.2792127132415771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2728957548453737, + 0.27193836775969055, + 0.2690927139926097 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1824645209243465, + 1.1927794119669295, + 1.2092832376350624 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5672.359341265383, + "intensity": 1.1969053683839628 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8142384659532401, + 0.8032594030677804, + 0.7844381524069924 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5304.740840994136, + "intensity": 0.8032594030677804 + }, + "point_color_scale": [ + 0.9639200920914578, + 0.9811273814559294, + 1.008659044439084 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fcdb8f23a75d095def5fa7ebe1725e73ecaaa38a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0140019500470643, + "K": [ + [ + 444.746215972197, + 0.0, + 308.057020445071 + ], + [ + 0.0, + 432.09926331196925, + 235.43257699068192 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.568314954973183, + -2.18190547739664, + 1.5596086339225748 + ], + "camera_target": [ + -7.0271365122339775, + -3.0066630943666692, + 0.9417571429082976 + ], + "camera_roll_rad": 0.010585781479744316, + "camera_pose_world_cv": [ + [ + -0.868044376373291, + 0.28471243381500244, + -0.4067407250404358, + -6.568315029144287 + ], + [ + 0.4961708188056946, + 0.4682406187057495, + -0.7311398386955261, + -2.181905508041382 + ], + [ + -0.017712116241455078, + -0.836474597454071, + -0.5477194786071777, + 1.5596085786819458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35360769052351826, + 0.35393977611581107, + 0.3657872258806709 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0122256336887108, + 1.0129976983802633, + 1.0142330018867476 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5515.238522067521, + "intensity": 1.0133065242568844 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5461151169882602, + 0.5642237548560541, + 0.5931975754445244 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6133.759472138161, + "intensity": 0.5714672100031717 + }, + "point_color_scale": [ + 0.7814539917285059, + 0.7964202952036659, + 0.8203663807639217 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0beb918b4ee49df13f3a71128db317c58fc07c4 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1899177491745898, + "K": [ + [ + 360.9474955166663, + 0.0, + 297.0877087205506 + ], + [ + 0.0, + 354.63005417002483, + 233.49051613004713 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.312896193151035, + -3.9068303677415956, + 1.333912161321185 + ], + "camera_target": [ + -7.0288206333950125, + -3.0404833710589703, + 0.9281104370519478 + ], + "camera_roll_rad": 0.04172260869907013, + "camera_pose_world_cv": [ + [ + 0.786203145980835, + 0.15133477747440338, + -0.5991514325141907, + -6.312896251678467 + ], + [ + 0.6129754781723022, + -0.31397438049316406, + 0.7250388264656067, + -3.906830310821533 + ], + [ + -0.07839465141296387, + -0.9372928738594055, + -0.33961212635040283, + 1.3339121341705322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25167307129909205, + 0.23204206400946797, + 0.2520693582205424 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9531849928476528, + 1.00435528450506, + 1.0862277511569118 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6498.616768490785, + "intensity": 1.024823401168023 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6895438483383093, + 0.6836150314460046, + 0.6734513453449108 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5376.103683681989, + "intensity": 0.6836150314460046 + }, + "point_color_scale": [ + 0.9706609716937429, + 1.0089325078104603, + 1.0701669655972084 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2938b9b6985dab26b849c9585ec4dece66a43541 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8751256418558291, + "K": [ + [ + 515.9788638858068, + 0.0, + 327.5843940103562 + ], + [ + 0.0, + 513.0325311315852, + 230.81554474070037 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.946819299544179, + -3.9435420901473686, + 1.509819507762325 + ], + "camera_target": [ + -7.031152966176515, + -2.998219952754963, + 0.9529121239488593 + ], + "camera_roll_rad": 0.01624150319503631, + "camera_pose_world_cv": [ + [ + 0.996979296207428, + 0.012598318979144096, + -0.07663888484239578, + -6.946819305419922 + ], + [ + 0.07244047522544861, + -0.5067108273506165, + 0.8590672612190247, + -3.943542003631592 + ], + [ + -0.028010951355099678, + -0.8620240092277527, + -0.5060928463935852, + 1.509819507598877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2329820974506398, + 0.2524140334035092, + 0.23485148678130088 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1912053096490574, + 1.1136522379429807, + 0.9807041150182785 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4505.164281428721, + "intensity": 1.1136522379429807 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6510134714138461, + 0.6550490917980414, + 0.6615060844127539 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5622.912918649974, + "intensity": 0.6566633399517195 + }, + "point_color_scale": [ + 0.9601526595211897, + 0.9897292904267484, + 1.0370518998756424 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..521d0c9e3956221978c3f51d2985057f6b37ce80 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8645965149613393, + "K": [ + [ + 529.6920646179098, + 0.0, + 310.6992356749561 + ], + [ + 0.0, + 520.1497102480427, + 241.2614371758501 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.163009172370382, + -2.9785207350659606, + 1.629097305365443 + ], + "camera_target": [ + -7.0363842679768265, + -3.012784759353589, + 0.9287600932402978 + ], + "camera_roll_rad": 0.02586588877645868, + "camera_pose_world_cv": [ + [ + -0.05763554573059082, + -0.525238037109375, + 0.849001407623291, + -8.163009643554688 + ], + [ + -0.9973711967468262, + 0.06770682334899902, + -0.025820642709732056, + -2.978520631790161 + ], + [ + -0.043921083211898804, + -0.8482576608657837, + -0.5277593731880188, + 1.62909734249115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29611294523535164, + 0.29329524909669236, + 0.30555467424358423 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1635612901516936, + 1.1700742116165195, + 1.1804948859602413 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5611.077615497967, + "intensity": 1.17267938020245 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8409322899555954, + 0.8172428578773427, + 0.7766324028860525 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5085.89976651525, + "intensity": 0.8172428578773427 + }, + "point_color_scale": [ + 0.9668961855685734, + 0.9429203574046215, + 0.9018189376949898 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6aa77b2bed08a40b0b751dad16ed58c39b0554d2 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1164804512715822, + "K": [ + [ + 403.21764605376893, + 0.0, + 322.59611808624874 + ], + [ + 0.0, + 384.3069826344016, + 221.7516993587722 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.410667969030432, + -2.78740265804096, + 0.7481873383144436 + ], + "camera_target": [ + -7.031222692347865, + -3.057511132228056, + 0.9798218117246877 + ], + "camera_roll_rad": -0.03513712998707764, + "camera_pose_world_cv": [ + [ + -0.154333233833313, + -0.1489139199256897, + -0.9767322540283203, + -5.410667896270752 + ], + [ + 0.985569417476654, + 0.046364784240722656, + -0.16279834508895874, + -2.787402629852295 + ], + [ + 0.06952878832817078, + -0.9877626299858093, + 0.13960933685302734, + 0.7481873631477356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26785627651634897, + 0.29111632817986455, + 0.29577298335141244 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0228443126088602, + 0.977601545765022, + 0.9000425168898709 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4838.866388431826, + "intensity": 0.977601545765022 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6405124986837533, + 0.6359516655491158, + 0.6281330944611657 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5397.547624142171, + "intensity": 0.6359516655491158 + }, + "point_color_scale": [ + 0.9091008521924783, + 0.9450429381514655, + 1.0025502756858449 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd92590d87e1e74aa63553ca3d0b3b004722649 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.146842109667479, + "K": [ + [ + 354.7149906925174, + 0.0, + 303.08679921194073 + ], + [ + 0.0, + 371.62878063187185, + 218.56898175686612 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -8.16283165382064, + -3.9548256963868997, + 0.9432220934969799 + ], + "camera_target": [ + -7.104521286624931, + -3.0248427507561955, + 1.0264916056407487 + ], + "camera_roll_rad": -0.0010789527703931948, + "camera_pose_world_cv": [ + [ + 0.6599985361099243, + 0.04574495553970337, + 0.7498729228973389, + -8.16283130645752 + ], + [ + -0.7512638568878174, + 0.037325501441955566, + 0.6589457988739014, + -3.9548256397247314 + ], + [ + 0.002154141664505005, + -0.9982556104660034, + 0.05900132656097412, + 0.9432221055030823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2530638417632324, + 0.2618852774328186, + 0.26036662834628943 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8683666355472585, + 0.8922353503313787, + 0.930425293985971 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6029.367245078831, + "intensity": 0.9017828362450268 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8493248643923867, + 0.8807379600371673, + 0.9309989130688164 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6203.301985366992, + "intensity": 0.8933031982950796 + }, + "point_color_scale": [ + 1.1070676556911323, + 1.1127963355302875, + 1.1219622232729358 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..552b4f481109ce0a78f50b123e46cafacb55186a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9253984992967609, + "K": [ + [ + 461.10267197032647, + 0.0, + 318.20978603054283 + ], + [ + 0.0, + 481.1401941923874, + 249.1141954000737 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.898266839472242, + -3.642730333969644, + 1.4551880714288674 + ], + "camera_target": [ + -7.078243297805807, + -3.055565715222561, + 0.9352788424972572 + ], + "camera_roll_rad": -0.0026428293463963554, + "camera_pose_world_cv": [ + [ + 0.5841398239135742, + -0.36946016550064087, + 0.7226893305778503, + -7.898266792297363 + ], + [ + -0.8116394877433777, + -0.2710467576980591, + 0.5174698829650879, + -3.642730236053467 + ], + [ + 0.00469815731048584, + -0.8888379335403442, + -0.4581976532936096, + 1.4551880359649658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22770471979364212, + 0.2364074699182218, + 0.23535623314046233 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9178683214136959, + 0.9153850507667454, + 0.9111280153719731 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5461.245494530722, + "intensity": 0.9153850507667454 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7029686332586577, + 0.715554538984399, + 0.7356919881455853 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5849.32277484367, + "intensity": 0.7205889012746957 + }, + "point_color_scale": [ + 0.9139463472708175, + 0.9410950022953755, + 0.9845328503346684 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8949e9a8e063fb1a27db6722676a39ee84f34dd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b03_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9038115628919381, + "K": [ + [ + 497.18518963361487, + 0.0, + 317.3832193146954 + ], + [ + 0.0, + 494.42971875471386, + 234.9233967553874 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.038702387606476, + -3.956487503466575, + 0.8030728319333752 + ], + "camera_target": [ + -7.038573185492267, + -3.0445995687240393, + 1.0357587541204547 + ], + "camera_roll_rad": -0.00888621007426734, + "camera_pose_world_cv": [ + [ + 0.9998414516448975, + 0.01780650205910206, + 0.00013737846165895462, + -7.038702487945557 + ], + [ + -0.0045356969349086285, + 0.24720537662506104, + 0.9689524173736572, + -3.9564874172210693 + ], + [ + 0.01721969246864319, + -0.968799352645874, + 0.2472468614578247, + 0.8030728101730347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8986599445343018, + -0.438646137714386, + 0.0, + -7.065718650817871 + ], + [ + 0.438646137714386, + -0.8986599445343018, + 0.0, + -3.0216293334960938 + ], + [ + 0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.340353314042506, + 0.34034315759077577, + 0.35859376366153345 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9615052881118796, + 0.9654199360673517, + 0.9716833727961068 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5580.965986774641, + "intensity": 0.9669857952495405 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9360453753272606, + 0.9082571396176502, + 0.860620164115461 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5062.92686450151, + "intensity": 0.9082571396176502 + }, + "point_color_scale": [ + 0.8835011652918215, + 0.8657328550230152, + 0.8352728945622044 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22ab27bb32495d79d910140b3076b8949eb682a1 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_001/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9136044044853, + "K": [ + [ + 497.44616971942077, + 0.0, + 303.0704856118923 + ], + [ + 0.0, + 488.32864411592163, + 226.50984353277147 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -7.709520615888879, + -3.5148995389103543, + 1.3041944734146251 + ], + "camera_target": [ + -7.0558220376081415, + -2.7305283546201, + 0.9317775168448008 + ], + "camera_roll_rad": 0.04878371339146351, + "camera_pose_world_cv": [ + [ + 0.7431708574295044, + -0.29316240549087524, + 0.6014589071273804, + -7.7095208168029785 + ], + [ + -0.6628137230873108, + -0.1996086835861206, + 0.7216886281967163, + -3.514899492263794 + ], + [ + -0.09151551127433777, + -0.9349931478500366, + -0.3426554203033447, + 1.304194450378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.1726190447807312, + 0.9849886894226074, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849886894226074, + 0.1726190447807312, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3813644873743896, + 0.36188188969869495, + 0.37498647823716985 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1265185531184514, + 1.1187366573376933, + 1.1053962645706794 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5400.629036336692, + "intensity": 1.1187366573376933 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6558735993919854, + 0.62941528421997, + 0.584058172496515 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4899.480850711761, + "intensity": 0.62941528421997 + }, + "point_color_scale": [ + 1.0437743361514797, + 1.0226347493486068, + 0.9863954576865385 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a40baf291a0abd9db73ad44ca902d7885e29761 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_002/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.307848606688602, + "K": [ + [ + 303.2559223689132, + 0.0, + 333.27924577829305 + ], + [ + 0.0, + 313.1462066539473, + 257.14380302533516 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.921674967686499, + -3.4351607128499158, + 1.5647975235630376 + ], + "camera_target": [ + -7.07973712685702, + -2.6959613310451735, + 0.970533659434448 + ], + "camera_roll_rad": 0.029689660680723692, + "camera_pose_world_cv": [ + [ + 0.5569517016410828, + 0.30211880803108215, + -0.7736464738845825, + -5.921675205230713 + ], + [ + 0.8287569284439087, + -0.26324814558029175, + 0.49382418394088745, + -3.4351606369018555 + ], + [ + -0.05446740984916687, + -0.9162011742591858, + -0.3969995975494385, + 1.5647975206375122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.1726190447807312, + 0.9849886894226074, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849886894226074, + 0.1726190447807312, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.20932881301917142, + 0.20934337675318496, + 0.21138292815589144 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.168378802192259, + 1.1870813201873422, + 1.2170053489794754 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5813.127537447439, + "intensity": 1.1945623273853756 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.582461707589196, + 0.576265132632478, + 0.5656424327066758 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5346.385813805357, + "intensity": 0.576265132632478 + }, + "point_color_scale": [ + 1.1369048726786048, + 1.1631381908123866, + 1.2051114998264374 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_003/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c69f0b6539e8ff590aab9b5e9118513593cf7ba6 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_003/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1569593888507042, + "K": [ + [ + 366.9748212031713, + 0.0, + 346.26937131927303 + ], + [ + 0.0, + 367.5357401647115, + 241.17747179727246 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.624382590287222, + -3.2210595792036076, + 0.9245218172229179 + ], + "camera_target": [ + -7.115787044231197, + -2.6860345833334778, + 0.9699203154933561 + ], + "camera_roll_rad": -0.034933793250015416, + "camera_pose_world_cv": [ + [ + 0.33872663974761963, + -0.0033196210861206055, + -0.9408789277076721, + -5.624382495880127 + ], + [ + 0.9382935166358948, + 0.07535779476165771, + 0.33752989768981934, + -3.221059560775757 + ], + [ + 0.0697820782661438, + -0.9971510171890259, + 0.0286405086517334, + 0.924521803855896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.1726190447807312, + 0.9849886894226074, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849886894226074, + 0.1726190447807312, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2974266399108414, + 0.2779592462122527, + 0.27895674747024607 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9865537316963394, + 0.9571964979360629, + 0.9068698114898746 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5061.856886624078, + "intensity": 0.9571964979360629 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.704107372072697, + 0.7198526748202322, + 0.7450451592162884 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5933.664821026683, + "intensity": 0.7261507959192463 + }, + "point_color_scale": [ + 1.139791473472784, + 1.108165083497131, + 1.0539484149674403 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_004/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed351c39897d3e1056071395c22f0bc89a09a11 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_004/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8781605909777472, + "K": [ + [ + 511.03200524119194, + 0.0, + 342.9199335983021 + ], + [ + 0.0, + 511.01071526250456, + 222.65087692461543 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.412707219350018, + -3.6887213953356293, + 1.095168606359848 + ], + "camera_target": [ + -7.031902581935595, + -2.683557888794353, + 1.0342615204808128 + ], + "camera_roll_rad": -0.0338024169620686, + "camera_pose_world_cv": [ + [ + 0.8476483821868896, + 0.08447736501693726, + -0.5237898826599121, + -6.412707328796387 + ], + [ + 0.5262517929077148, + -0.008336246013641357, + 0.8502879738807678, + -3.6887214183807373 + ], + [ + 0.06746362149715424, + -0.9963905215263367, + -0.05152255296707153, + 1.0951685905456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2562978580499494, + 0.2655007066521189, + 0.24740614034532632 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.8657831661729882, + 0.8671793355770855, + 0.8694132066236413 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5532.179522402399, + "intensity": 0.8677378033387245 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7721555054411406, + 0.7785954364684353, + 0.7888993261121068 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5664.878820553179, + "intensity": 0.7811714088793532 + }, + "point_color_scale": [ + 0.9399697119432624, + 0.9489342319839746, + 0.9632774640491142 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_005/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd6643d6b9dea25fdd9f955dbc77f4ff30c5db3a --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_005/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.17635067501187, + "K": [ + [ + 372.23945996461634, + 0.0, + 332.6380593142019 + ], + [ + 0.0, + 359.86530241140525, + 241.73020784271898 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.277201855632777, + -2.494021889584783, + 0.9063719241505775 + ], + "camera_target": [ + -7.093091270863241, + -2.7135682678598623, + 0.9695082634016695 + ], + "camera_roll_rad": -0.031163113125803922, + "camera_pose_world_cv": [ + [ + -0.11766266822814941, + -0.04165703058242798, + -0.9921796321868896, + -5.2772016525268555 + ], + [ + 0.9911007285118103, + 0.05770313739776611, + -0.11995738744735718, + -2.4940218925476074 + ], + [ + 0.06224885582923889, + -0.9974643588066101, + 0.03449690341949463, + 0.9063719511032104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.1726190447807312, + 0.9849886894226074, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849886894226074, + 0.1726190447807312, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2734031295476595, + 0.2688555054092331, + 0.26855187127505636 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1246639970816346, + 1.1175591866044112, + 1.1053795115005998 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5409.179492461468, + "intensity": 1.1175591866044112 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.9521111329938574, + 0.9084894812818349, + 0.8337095069183679 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4814.06310599256, + "intensity": 0.9084894812818349 + }, + "point_color_scale": [ + 0.908182064382785, + 0.9351947065211711, + 0.9784149339425886 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..751820df697ed3725260bda79e35f69597ef772b --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_006/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.072356451893761, + "K": [ + [ + 407.71901879657736, + 0.0, + 329.1271541387897 + ], + [ + 0.0, + 403.8728214390325, + 216.66139218960765 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.242827420451823, + -3.3601539044024564, + 1.3228296926897594 + ], + "camera_target": [ + -7.042483469437521, + -2.7570935892019786, + 1.0602233305210893 + ], + "camera_roll_rad": -0.010736674008065362, + "camera_pose_world_cv": [ + [ + 0.5976315140724182, + 0.2153763473033905, + -0.772301435470581, + -6.242827415466309 + ], + [ + 0.8015017509460449, + -0.13553279638290405, + 0.5824307799339294, + -3.360153913497925 + ], + [ + 0.02076968550682068, + -0.9670800566673279, + -0.25362324714660645, + 1.3228297233581543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.1726190447807312, + 0.9849886894226074, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849886894226074, + 0.1726190447807312, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2945100205818598, + 0.2882233504303113, + 0.2641364288871814 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1363855586932141, + 1.098992740837224, + 1.0348907673698122 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5013.9339029469065, + "intensity": 1.098992740837224 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6742998844915937, + 0.6893254850589798, + 0.7133664459667978 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5932.182613979956, + "intensity": 0.6953357252859343 + }, + "point_color_scale": [ + 0.8142814305311743, + 0.8131428214658264, + 0.8111909202109443 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecb95a520613d410a4ab1994059b20faae4222f --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_007/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2456335394375375, + "K": [ + [ + 320.52775010916554, + 0.0, + 321.4847704216162 + ], + [ + 0.0, + 334.1827292708916, + 224.07428877003932 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.810108021077143, + -3.646941828894561, + 1.3380896412326186 + ], + "camera_target": [ + -7.040689043541193, + -2.693336697013237, + 0.9393366302559389 + ], + "camera_roll_rad": 0.04063547564000343, + "camera_pose_world_cv": [ + [ + 0.9759649038314819, + 0.009294286370277405, + -0.21772943437099457, + -6.810108184814453 + ], + [ + 0.2045394629240036, + -0.38385307788848877, + 0.9004557728767395, + -3.646941900253296 + ], + [ + -0.07520703971385956, + -0.923347532749176, + -0.37652814388275146, + 1.3380895853042603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24151403978578131, + 0.22890530815912924, + 0.21688996285802778 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9942535347632133, + 0.9726922356229302, + 0.9357300085253021 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5183.334000348384, + "intensity": 0.9726922356229302 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.547239841209778, + 0.5639731429654791, + 0.5907464257746008 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6086.447700050698, + "intensity": 0.5706664636677595 + }, + "point_color_scale": [ + 1.2080047826528308, + 1.15676784505875, + 1.0689330948974687 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..352c0ac05b243defb7da42f247493430ba4327cd --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_008/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9731281196283276, + "K": [ + [ + 460.8523176377689, + 0.0, + 301.8575437662391 + ], + [ + 0.0, + 453.7010139457247, + 237.60809661776042 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.660031038636028, + -3.0343770722960643, + 1.1356030639380745 + ], + "camera_target": [ + -7.073509277193097, + -2.735801338013705, + 0.95538924396391 + ], + "camera_roll_rad": 0.03370255847113611, + "camera_pose_world_cv": [ + [ + 0.21436238288879395, + 0.10691666603088379, + -0.9708849191665649, + -5.660030841827393 + ], + [ + 0.9744647741317749, + -0.09142494201660156, + 0.20508471131324768, + -3.034377098083496 + ], + [ + -0.06683611869812012, + -0.9900556802749634, + -0.12378466129302979, + 1.1356030702590942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2370141402883462, + 0.24607224213608622, + 0.2306211353687154 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1262172402611517, + 1.1668488619143627, + 1.2318594565595007 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6186.866195165983, + "intensity": 1.1831015105756473 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.728354557733689, + 0.7004542449287374, + 0.6526251372631064 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4930.975113507748, + "intensity": 0.7004542449287374 + }, + "point_color_scale": [ + 0.7838518605990801, + 0.8147720933848226, + 0.8642444658420108 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa7ee68ca09a09ecb94acf6f1a3aec1ae5e163c --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_009/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.147852020692519, + "K": [ + [ + 383.43385930178755, + 0.0, + 315.0431959761299 + ], + [ + 0.0, + 371.2173364363858, + 258.4846023109658 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.224938200779513, + -3.018958008674978, + 0.7296072271832541 + ], + "camera_target": [ + -7.099526888646877, + -2.708772374216372, + 0.9448984381054155 + ], + "camera_roll_rad": 0.028874986039630485, + "camera_pose_world_cv": [ + [ + 0.15656566619873047, + -0.12031298875808716, + -0.9803122282028198, + -5.22493839263916 + ], + [ + 0.9860010743141174, + -0.038594722747802734, + 0.16221097111701965, + -3.01895809173584 + ], + [ + -0.057350993156433105, + -0.991985559463501, + 0.1125861406326294, + 0.7296072244644165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.1726190447807312, + 0.9849886894226074, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849886894226074, + 0.1726190447807312, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2656371322719937, + 0.24397622044692938, + 0.26764722481962755 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1234898462881782, + 1.1310034542948537, + 1.1430252271055348 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5632.514092671694, + "intensity": 1.134008897497524 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.550200755862227, + 0.5619560288131397, + 0.5807644655345996 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5914.898230969986, + "intensity": 0.5666581379935046 + }, + "point_color_scale": [ + 0.8017280351956332, + 0.8217780276964418, + 0.8538580156977358 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_010/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd697e1e6931dc32bbdd6b3188bd0e70395fe870 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_010/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8412638835704149, + "K": [ + [ + 520.2552996774447, + 0.0, + 330.7128919161239 + ], + [ + 0.0, + 536.5157919074625, + 229.7269731391047 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.5868614980365106, + -2.5895183108296633, + 1.5291089529074302 + ], + "camera_target": [ + -7.037119789269358, + -2.7572506968359938, + 1.0362297064712207 + ], + "camera_roll_rad": 0.050136208309035285, + "camera_pose_world_cv": [ + [ + -0.08250594139099121, + 0.32765552401542664, + -0.9411879777908325, + -5.586861610412598 + ], + [ + 0.9920672178268433, + -0.06287598609924316, + -0.10885494947433472, + -2.5895183086395264 + ], + [ + -0.09484517574310303, + -0.9427028298377991, + -0.3198685050010681, + 1.529109001159668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3356764904654834, + 0.34827894326232, + 0.32342725497983116 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.2450765968435178, + 1.1713872897974733, + 1.045062763432826 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4601.318244152992, + "intensity": 1.1713872897974733 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5693449363204341, + 0.5865777415706437, + 0.6141502299709791 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 6080.746463057058, + "intensity": 0.5934708636707275 + }, + "point_color_scale": [ + 0.9540862604825272, + 0.9507063128930161, + 0.9449121170252827 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_011/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..805eb42c278ab4adbd23deaa7729796174c91683 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_011/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.798745691745116, + "K": [ + [ + 580.1900848580943, + 0.0, + 303.36652408691344 + ], + [ + 0.0, + 568.6474061798123, + 246.1516683858726 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.2335470377405375, + -2.3093822152436836, + 1.1726219826732198 + ], + "camera_target": [ + -7.038011819798706, + -2.6887832800375233, + 1.0384658768522699 + ], + "camera_roll_rad": -0.04392571425290797, + "camera_pose_world_cv": [ + [ + -0.21119475364685059, + 0.052684783935546875, + -0.9760230779647827, + -5.233547210693359 + ], + [ + 0.973518967628479, + 0.10073423385620117, + -0.2052154541015625, + -2.309382200241089 + ], + [ + 0.08750715851783752, + -0.9935173988342285, + -0.07256424427032471, + 1.1726219654083252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3360961149009055, + 0.34554342045555614, + 0.3232602390752095 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1933080498162947, + 1.1524968618825118, + 1.082534825424598 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4994.127064666967, + "intensity": 1.1524968618825118 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7858195296567572, + 0.7814012112206242, + 0.7738269510443964 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5419.22352576943, + "intensity": 0.7814012112206242 + }, + "point_color_scale": [ + 0.9444513154912224, + 0.9040823747947088, + 0.8348784764578282 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_012/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fef2e3d43fd90ef6d4765c8866cf7f1c2243364d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_012/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9661527514033309, + "K": [ + [ + 442.0833763424986, + 0.0, + 305.78286082002256 + ], + [ + 0.0, + 457.55482003841144, + 233.71779717421114 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.256620775169208, + -2.492012241847306, + 1.2598805480286983 + ], + "camera_target": [ + -7.100826458930795, + -2.757344549852238, + 1.0505464688604715 + ], + "camera_roll_rad": -0.05159696780099897, + "camera_pose_world_cv": [ + [ + -0.32086479663848877, + 0.187557190656662, + -0.9283685684204102, + -6.25662088394165 + ], + [ + 0.9418051242828369, + 0.16692793369293213, + -0.29178449511528015, + -2.4920122623443604 + ], + [ + 0.10024428367614746, + -0.9679656028747559, + -0.2302035093307495, + 1.259880542755127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2734868491629503, + 0.2747398126795334, + 0.2504449119210358 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1960108158166431, + 1.130755235552078, + 1.0188885265271095 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4675.575274030966, + "intensity": 1.130755235552078 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8446975616094384, + 0.8108821072628233, + 0.7529127569543402 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4904.256284716882, + "intensity": 0.8108821072628233 + }, + "point_color_scale": [ + 0.8097356450357807, + 0.8032420951449546, + 0.79211029533211 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_013/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c43e59df65706ed63ab22b11e11c5fa683aff3ea --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_013/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.998237281527483, + "K": [ + [ + 436.77105191237325, + 0.0, + 291.520953348939 + ], + [ + 0.0, + 440.23882456072323, + 254.28281319661036 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.762695015339278, + -3.746255211062088, + 1.4436702754716313 + ], + "camera_target": [ + -7.072555182774794, + -2.684014728383352, + 1.052591093143692 + ], + "camera_roll_rad": 0.02476066993159233, + "camera_pose_world_cv": [ + [ + 0.9634326100349426, + 0.04568157345056534, + -0.26402798295021057, + -6.762694835662842 + ], + [ + 0.2638547420501709, + -0.33337080478668213, + 0.905121386051178, + -3.7462551593780518 + ], + [ + -0.04667185992002487, + -0.9416884779930115, + -0.3332335948944092, + 1.4436702728271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.1726190447807312, + 0.9849886894226074, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849886894226074, + 0.1726190447807312, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2809458993106766, + 0.2855647132581056, + 0.2999127551697122 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0403683279168168, + 1.0919031704059132, + 1.1743589183884682 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 6426.454831952454, + "intensity": 1.112517107401552 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.5875678132271115, + 0.5697920653368223, + 0.5393193546677549 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5054.329954690666, + "intensity": 0.5697920653368223 + }, + "point_color_scale": [ + 1.0622808677130806, + 1.0580863499259356, + 1.0508957480051158 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5271c684f1a3eb1efc4a831d8772643ae9f20e37 --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_014/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8720808603932981, + "K": [ + [ + 513.0663161296565, + 0.0, + 342.64194736406546 + ], + [ + 0.0, + 515.0741207160646, + 248.70343406682423 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.326164990034708, + -2.2561862283595544, + 1.3445080101605764 + ], + "camera_target": [ + -7.101540847954492, + -2.7764234310077933, + 1.0276158955533023 + ], + "camera_roll_rad": -0.007883438651666942, + "camera_pose_world_cv": [ + [ + -0.5612978935241699, + 0.2580571174621582, + -0.7863532900810242, + -6.326165199279785 + ], + [ + 0.827479362487793, + 0.19212937355041504, + -0.5276026129722595, + -2.2561862468719482 + ], + [ + 0.01492983102798462, + -0.9468331933021545, + -0.3213784694671631, + 1.3445080518722534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.371495411942699, + 0.3541514686117258, + 0.3727613703518156 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 0.9540810422475436, + 0.9001101414280009, + 0.8075885971659279 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4643.423861853821, + "intensity": 0.9001101414280009 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.6256034731866301, + 0.5994222287544019, + 0.5545400954420109 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 4876.036190081795, + "intensity": 0.5994222287544019 + }, + "point_color_scale": [ + 0.8343759604217471, + 0.804678071902251, + 0.7537674058688292 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_015/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d4679050db2aedd746b568d0bc95df3212c00d --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_015/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1939621956523438, + "K": [ + [ + 335.621123083597, + 0.0, + 341.67581562748785 + ], + [ + 0.0, + 353.08965550575283, + 254.970914914977 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.900856554366404, + -3.881913582039096, + 1.522010480345449 + ], + "camera_target": [ + -7.068360281112294, + -2.7140691864265687, + 0.9311905721821444 + ], + "camera_roll_rad": -0.03730540464837563, + "camera_pose_world_cv": [ + [ + 0.9823771715164185, + 0.13718301057815552, + -0.12694846093654633, + -6.9008564949035645 + ], + [ + 0.1746216118335724, + -0.43142008781433105, + 0.8850898742675781, + -3.881913661956787 + ], + [ + 0.06665115058422089, + -0.8916600942611694, + -0.44777238368988037, + 1.5220104455947876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25588935331332835, + 0.24996775621286588, + 0.24176376835422753 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.1963906692660413, + 1.1579397394821858, + 1.0920238598527188 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 5025.623848821474, + "intensity": 1.1579397394821858 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.8039629669407047, + 0.790068567350842, + 0.7662495966253631 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5248.766840101131, + "intensity": 0.790068567350842 + }, + "point_color_scale": [ + 0.8778146706529016, + 0.895721556942738, + 0.9243725750064764 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d97ce5aa92dd27147bb241d4a43d8426f3a2c4aa --- /dev/null +++ b/xarm6_robotiq/ProcTHOR/train/bg_000163/scene_b04_016/scene_meta.json @@ -0,0 +1,199 @@ +{ + "robot_uid": "xarm6_robotiq", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 163, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 12, + "num_links": 21, + "joint_names": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "left_outer_knuckle_joint", + "left_inner_knuckle_joint", + "right_outer_knuckle_joint", + "right_inner_knuckle_joint", + "left_inner_finger_joint", + "right_inner_finger_joint" + ], + "link_names": [ + "world", + "link_base", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "camera_link", + "robotiq_arg2f_base_link", + "eef", + "left_outer_knuckle", + "left_inner_knuckle", + "right_outer_knuckle", + "right_inner_knuckle", + "left_outer_finger", + "right_outer_finger", + "left_inner_finger", + "right_inner_finger", + "left_inner_finger_pad", + "right_inner_finger_pad" + ], + "ee_link_name": "eef", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1577585496657596, + "K": [ + [ + 374.3096595011264, + 0.0, + 326.16946445375487 + ], + [ + 0.0, + 367.2151356643923, + 225.9928324424327 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.224826176718272, + -2.404484002638181, + 1.403789342115838 + ], + "camera_target": [ + -7.089210081725265, + -2.711226115418595, + 1.0350345375948111 + ], + "camera_roll_rad": -0.04788348506368059, + "camera_pose_world_cv": [ + [ + -0.3665170669555664, + 0.31795734167099, + -0.8743960857391357, + -6.224826335906982 + ], + [ + 0.9261718392372131, + 0.2142958641052246, + -0.3102951943874359, + -2.4044840335845947 + ], + [ + 0.08871874213218689, + -0.9235694408416748, + -0.37302613258361816, + 1.4037894010543823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17261916399002075, + 0.9849885702133179, + 0.0, + -7.0746636390686035 + ], + [ + -0.9849885702133179, + 0.17261916399002075, + -0.0, + -2.728555202484131 + ], + [ + -0.0, + 0.0, + 1.0, + 0.8232524394989014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28240312857664, + 0.30598182425795606, + 0.3077674203474567 + ], + "directional_primary": { + "direction": [ + -0.7487899117323764, + -0.22908373100364543, + -0.6219600552103561 + ], + "color": [ + 1.0463223578064094, + 0.9826487896851567, + 0.8734941014772951 + ], + "azimuth_rad": -2.844696554070349, + "elevation_rad": 0.6712433300467249, + "color_temp_k": 4574.315858035478, + "intensity": 0.9826487896851567 + }, + "directional_fill": { + "direction": [ + -0.2808070950589706, + -0.3242040958478364, + -0.9033488128071179 + ], + "color": [ + 0.7484997131556708, + 0.7285153723603552, + 0.6942565024255285 + ], + "azimuth_rad": -2.284587876525281, + "elevation_rad": 1.1275142197272041, + "color_temp_k": 5108.120029279208, + "intensity": 0.7285153723603552 + }, + "point_color_scale": [ + 1.072458140808167, + 1.0390617953360546, + 0.9818109173838622 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + ] +} \ No newline at end of file