diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d36025a6f9c2351d9af2af32702273b223f6346f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.108027816614791, + "K": [ + [ + 389.23204440135413, + 0.0, + 327.3019808577997 + ], + [ + 0.0, + 387.94675540115554, + 242.861740484042 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.153280166119734, + -4.8262069336565485, + 1.24180741969091 + ], + "camera_target": [ + -4.767057887218862, + -5.2185549922120735, + 1.0726939391768306 + ], + "camera_roll_rad": -0.03961754349132127, + "camera_pose_world_cv": [ + [ + -0.5519876480102539, + 0.14730608463287354, + -0.8207379579544067, + -4.153280258178711 + ], + [ + 0.8302801847457886, + 0.18810534477233887, + -0.5246440768241882, + -4.826207160949707 + ], + [ + 0.07710188627243042, + -0.971039354801178, + -0.2261369228363037, + 1.241807460784912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23380412532190886, + 0.21067597186405013, + 0.22784416638374502 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.237256319531399, + 1.1958798474309025, + 1.1249487524014803 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5005.725880531931, + "intensity": 1.1958798474309025 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7069291584122809, + 0.6815437642748048, + 0.6380259457534173 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 4967.901392856108, + "intensity": 0.6815437642748048 + }, + "point_color_scale": [ + 1.0476763315418494, + 1.0278965084376275, + 0.9939882402589614 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96cee78218972e5354397f7d3ca9d57a3eaf4600 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9056348040111438, + "K": [ + [ + 502.077040405051, + 0.0, + 302.428313615368 + ], + [ + 0.0, + 493.28451590784266, + 239.3161981063192 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.264503738056459, + -5.91342918121596, + 1.147093492260783 + ], + "camera_target": [ + -4.755294350285374, + -5.245122325787459, + 1.0956484670869644 + ], + "camera_roll_rad": -0.015693838837417512, + "camera_pose_world_cv": [ + [ + 0.7961888313293457, + -0.012059181928634644, + 0.6049280166625977, + -5.2645039558410645 + ], + [ + -0.6042368412017822, + -0.06760811805725098, + 0.7939314246177673, + -5.913429260253906 + ], + [ + 0.0313238799571991, + -0.9976391196250916, + -0.061115384101867676, + 1.1470935344696045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30167749478459527, + 0.2925534304621684, + 0.30155914297047814 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.1303002081699018, + 1.1635943307724166, + 1.21686492693644 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6065.787810364422, + "intensity": 1.1769119798134224 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7586700930738397, + 0.7657111479388266, + 0.7769768357228056 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5683.234932379644, + "intensity": 0.7685275698848213 + }, + "point_color_scale": [ + 1.0935712047419128, + 1.077604313216636, + 1.050232499173304 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09b63af312d7e96253b90c33ee48da33c738868a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2946838960100358, + "K": [ + [ + 331.87609801121863, + 0.0, + 303.5583921707383 + ], + [ + 0.0, + 317.4524741811699, + 261.7036520650815 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.713182080761013, + -5.312707351209753, + 1.2217203682667326 + ], + "camera_target": [ + -4.7007216527343605, + -5.251727135457897, + 1.0543035924943776 + ], + "camera_roll_rad": 0.019102349304685434, + "camera_pose_world_cv": [ + [ + 0.053867995738983154, + -0.16473689675331116, + 0.9848654270172119, + -5.713181972503662 + ], + [ + -0.997836709022522, + 0.028342485427856445, + 0.05931824445724487, + -5.312707424163818 + ], + [ + -0.03768548369407654, + -0.9859302639961243, + -0.16285371780395508, + 1.2217203378677368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3581224470817395, + 0.38241062251319247, + 0.35235148879867717 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9046077535603503, + 0.9346451660671921, + 0.9827050260781389 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6134.597603110064, + "intensity": 0.9466601310699287 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7033521372278904, + 0.7273907019382055, + 0.7658524054747099 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6152.330117833435, + "intensity": 0.7370061278223317 + }, + "point_color_scale": [ + 1.113553275004448, + 1.0639835545209495, + 0.9790068908349523 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8847c0e696571025f239dfaeca5aedce693b3c2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1596782504944332, + "K": [ + [ + 349.5312615456404, + 0.0, + 289.5636642466901 + ], + [ + 0.0, + 366.44659625334936, + 246.6053012749169 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.64096509718872, + -4.678559081829585, + 1.1195082713773736 + ], + "camera_target": [ + -4.723435745060116, + -5.287943203086468, + 1.1324628544817226 + ], + "camera_roll_rad": -0.013191187620057804, + "camera_pose_world_cv": [ + [ + -0.990546703338623, + -0.02896469086408615, + -0.1340826153755188, + -4.640964984893799 + ], + [ + 0.13461628556251526, + -0.0173264741897583, + -0.9907463192939758, + -4.678559303283691 + ], + [ + 0.0263734832406044, + -0.999430239200592, + 0.02106177806854248, + 1.1195082664489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30141824956422675, + 0.2762879271127016, + 0.29849953118103123 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.1462436463813988, + 1.096936634401223, + 1.0124103281494932 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 4857.860916172628, + "intensity": 1.096936634401223 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7066776379457724, + 0.7150518909080068, + 0.7284506956475819 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5733.135701657841, + "intensity": 0.7184015920929006 + }, + "point_color_scale": [ + 1.192341248271435, + 1.173857456148081, + 1.1421709553651886 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a8e19fe3e373c972b027bbe576b0b352a44fb39 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2617979467021856, + "K": [ + [ + 340.7211019979733, + 0.0, + 340.83626204186027 + ], + [ + 0.0, + 328.54546414087173, + 251.32562173391437 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.437757534046974, + -5.219845530251299, + 1.263684577977703 + ], + "camera_target": [ + -4.763188590867598, + -5.202720494153916, + 1.1845200690949862 + ], + "camera_roll_rad": 0.014688239139901568, + "camera_pose_world_cv": [ + [ + 0.021945595741271973, + -0.11717632412910461, + 0.9928686618804932, + -5.43775749206543 + ], + [ + -0.9993335008621216, + 0.02640712261199951, + 0.025205016136169434, + -5.219845294952393 + ], + [ + -0.02917221188545227, + -0.9927599430084229, + -0.11651867628097534, + 1.263684630393982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28807331974673644, + 0.3007265900860423, + 0.29976156115366914 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9325152200313357, + 0.9496984034824988, + 0.9771914970043598 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5859.265988462352, + "intensity": 0.956571676862964 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7550877093258996, + 0.7720437288551829, + 0.7991733601020364 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5935.4250257149615, + "intensity": 0.7788261366668963 + }, + "point_color_scale": [ + 0.8926333447633982, + 0.8936633701851774, + 0.8953114108600241 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb146904ba75654b588eed54b553a3cae6cb1cdf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1517139848574067, + "K": [ + [ + 376.1521266119552, + 0.0, + 313.32608985559784 + ], + [ + 0.0, + 369.6498562823309, + 227.02690366849828 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.169970347228263, + -5.70842521856831, + 1.310015566452394 + ], + "camera_target": [ + -4.766178628022453, + -5.255344661009022, + 1.1470898553560516 + ], + "camera_roll_rad": -0.048672052534973004, + "camera_pose_world_cv": [ + [ + 0.7597777843475342, + -0.09913033246994019, + 0.6425814628601074, + -5.169970512390137 + ], + [ + -0.6433714032173157, + -0.25730830430984497, + 0.7210171222686768, + -5.708425045013428 + ], + [ + 0.09386688470840454, + -0.9612313508987427, + -0.25927478075027466, + 1.3100155591964722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24396956323780247, + 0.2636174491634754, + 0.2659711251522614 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9052325281209012, + 0.9378154617741928, + 0.9899481556194596 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6185.344279749034, + "intensity": 0.9508486352355094 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.848757339386745, + 0.862346480119425, + 0.8840891052917129 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5813.192451480019, + "intensity": 0.867782136412497 + }, + "point_color_scale": [ + 0.8672184984782992, + 0.8302201496503389, + 0.7667944088024066 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f98cf9ffa6ab0ae585f60b967ef7bbfb1b6834c1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7919064833836753, + "K": [ + [ + 576.425353483204, + 0.0, + 291.7023698167516 + ], + [ + 0.0, + 574.1198164400364, + 238.14059965526857 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.071844010469876, + -5.67439111407516, + 1.3109646676000608 + ], + "camera_target": [ + -4.764866185291199, + -5.227265640358686, + 1.1844887502602022 + ], + "camera_roll_rad": 0.02004825272629296, + "camera_pose_world_cv": [ + [ + 0.8185888528823853, + -0.16148339211940765, + 0.5512126684188843, + -5.071844100952148 + ], + [ + -0.5730517506599426, + -0.16438430547714233, + 0.8028632998466492, + -5.674391269683838 + ], + [ + -0.039038389921188354, + -0.9730883240699768, + -0.22710150480270386, + 1.3109647035598755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32648305128018645, + 0.3133423882529447, + 0.35229734334919516 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9333179364118185, + 0.9251798412989249, + 0.9112288211053929 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5374.339564673672, + "intensity": 0.9251798412989249 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.6449500085485934, + 0.6268361391556646, + 0.5957837916249298 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5087.181487167155, + "intensity": 0.6268361391556646 + }, + "point_color_scale": [ + 1.1394784502224198, + 1.1580241733336145, + 1.1876973303115261 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..027d2acbd1d67f1e1eaf66253128cbde4563b016 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8530004753212641, + "K": [ + [ + 535.9233310784043, + 0.0, + 312.4173375436797 + ], + [ + 0.0, + 528.1784112108147, + 246.09652536211644 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.556988548272375, + -5.203935028778115, + 1.315993644661976 + ], + "camera_target": [ + -4.673787867512644, + -5.269804260993285, + 1.0813726505455628 + ], + "camera_roll_rad": 0.008128675887205797, + "camera_pose_world_cv": [ + [ + -0.07851529121398926, + -0.25412753224372864, + 0.9639784097671509, + -5.556988716125488 + ], + [ + -0.9967889785766602, + 0.035254597663879395, + -0.07189375162124634, + -5.203935146331787 + ], + [ + -0.015714645385742188, + -0.9665278792381287, + -0.25607967376708984, + 1.3159936666488647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2338886174087649, + 0.24176147828882166, + 0.24334600931775888 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.844542031455286, + 0.8553628668148711, + 0.872676203390207 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5751.737725069604, + "intensity": 0.859691200958705 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.5815774025372766, + 0.5895882998711055, + 0.6024057356052316 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5770.276536486897, + "intensity": 0.5927926588046369 + }, + "point_color_scale": [ + 1.0700514806218127, + 1.0596584613323907, + 1.0418418568362389 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5394453755675c4908c59f15ccd21a8630d47cb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.279627244654955, + "K": [ + [ + 313.5326779875048, + 0.0, + 341.60606472974155 + ], + [ + 0.0, + 322.4704819999728, + 250.36865769203973 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.703805349414303, + -4.258123516237545, + 1.018820048870721 + ], + "camera_target": [ + -4.703562944771048, + -5.2279411179967905, + 1.063667295521657 + ], + "camera_roll_rad": -0.01615004164598305, + "camera_pose_world_cv": [ + [ + -0.999478816986084, + -0.03228286653757095, + 0.0002500433474779129, + -4.703805446624756 + ], + [ + 0.0012416169047355652, + -0.04617762565612793, + -0.9989324808120728, + -4.258123397827148 + ], + [ + 0.032259948551654816, + -0.9984114170074463, + 0.046193599700927734, + 1.01882004737854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27657659504468846, + 0.2828790388551541, + 0.2869322684837828 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9575471014484996, + 0.9596473808974966, + 0.9630078280158917 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5543.733613711991, + "intensity": 0.9604874926770954 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.8501189015043337, + 0.8242247716223585, + 0.77983483468183 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5051.195069710234, + "intensity": 0.8242247716223585 + }, + "point_color_scale": [ + 0.8523986551487788, + 0.8415301052175742, + 0.8228983053355095 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b210ca120e57bb8e9fcad1f8cc04eedc622067b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0320190886565563, + "K": [ + [ + 440.0632331314478, + 0.0, + 336.6281537021184 + ], + [ + 0.0, + 423.0750446665113, + 248.67236056306146 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.78076412198846, + -4.842563255803489, + 1.2795559444522278 + ], + "camera_target": [ + -4.711140485588526, + -5.211151215128182, + 1.0420913802204723 + ], + "camera_roll_rad": -0.01577870865405325, + "camera_pose_world_cv": [ + [ + -0.979001522064209, + -0.1302349716424942, + 0.15682640671730042, + -4.780764102935791 + ], + [ + -0.20210136473178864, + 0.5194742679595947, + -0.8302416801452637, + -4.842563152313232 + ], + [ + 0.026659183204174042, + -0.8445028066635132, + -0.5348870754241943, + 1.2795559167861938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2821376444912973, + 0.280367572260252, + 0.27333218219111105 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.0963157269545671, + 1.0411406214353496, + 0.946554726259548 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 4742.930515913383, + "intensity": 1.0411406214353496 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7121893088009088, + 0.6809960617365495, + 0.6275219239119336 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 4845.638190522276, + "intensity": 0.6809960617365495 + }, + "point_color_scale": [ + 0.9083100118677405, + 0.9185537502048026, + 0.9349437315441022 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70f2c21a61f6f24676b076bfa39017297ca1dd06 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3070666509799933, + "K": [ + [ + 300.8167882449025, + 0.0, + 313.40427789792903 + ], + [ + 0.0, + 313.39991870583935, + 243.20619631233765 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.526985559606989, + -4.5507475032884255, + 1.1129676781147035 + ], + "camera_target": [ + -4.761258248419339, + -5.275181025784791, + 1.1009505129748467 + ], + "camera_roll_rad": -0.02465603185418729, + "camera_pose_world_cv": [ + [ + -0.9505670070648193, + -0.042050570249557495, + -0.307659387588501, + -4.5269856452941895 + ], + [ + 0.3065835237503052, + 0.03016495704650879, + -0.9513657093048096, + -4.550747394561768 + ], + [ + 0.04928599298000336, + -0.9986600875854492, + -0.015781641006469727, + 1.1129677295684814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3645001935325271, + 0.3893854096818817, + 0.38354380030722834 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.8507837336305106, + 0.8820370119693763, + 0.9320422573115617 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6198.757728420148, + "intensity": 0.8945383233049227 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7836289920723998, + 0.8131231494414649, + 0.8603138012319693 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6215.0785124125005, + "intensity": 0.824920812389091 + }, + "point_color_scale": [ + 1.0489818085097298, + 1.0530741499048484, + 1.0596218961370378 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2091dad7770870c2eef240485913f7e65d0ecb6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9499124219342803, + "K": [ + [ + 466.26336448453196, + 0.0, + 300.0222284414804 + ], + [ + 0.0, + 466.72925898420357, + 231.77847525711834 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.67487711528139, + -4.823648873245803, + 1.2252968906132802 + ], + "camera_target": [ + -4.734565507236494, + -5.229970724332153, + 1.107120376909884 + ], + "camera_roll_rad": 0.04679984215786476, + "camera_pose_world_cv": [ + [ + -0.9812946319580078, + 0.1324862837791443, + -0.13967233896255493, + -4.674877166748047 + ], + [ + 0.17027518153190613, + 0.25881683826446533, + -0.9507997632026672, + -4.823648929595947 + ], + [ + -0.08981838822364807, + -0.9567974209785461, + -0.2765346169471741, + 1.2252968549728394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36250710366885536, + 0.3523815596433807, + 0.3692961386649577 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9182279671065159, + 0.8787208304060545, + 0.8109943103481208 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 4857.7167541497265, + "intensity": 0.8787208304060545 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.8477957894826545, + 0.8700599616210645, + 0.9056826370425204 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6006.59937923493, + "intensity": 0.8789656304764284 + }, + "point_color_scale": [ + 1.0332766970396992, + 1.054915943956108, + 1.0895387390223628 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0db657787ac0b1573ff52763b91e3664fdfacf75 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1510192531657577, + "K": [ + [ + 355.18303764439344, + 0.0, + 317.19800640875764 + ], + [ + 0.0, + 369.93114301518807, + 220.53848169992926 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.545686451709427, + -4.963944190145118, + 1.1652065634322388 + ], + "camera_target": [ + -4.758852737333229, + -5.258992199063723, + 1.068752018350664 + ], + "camera_roll_rad": 0.02920682141788075, + "camera_pose_world_cv": [ + [ + -0.3567432165145874, + -0.08609268069267273, + 0.9302270412445068, + -5.5456862449646 + ], + [ + -0.9324003458023071, + 0.09463310241699219, + -0.3488183617591858, + -4.963943958282471 + ], + [ + -0.05799952149391174, + -0.9917826056480408, + -0.11403250694274902, + 1.1652065515518188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3803706596411997, + 0.37163469640833946, + 0.34414496706455605 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.8990789249588438, + 0.918361789884201, + 0.9492143737647727 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5916.442863936662, + "intensity": 0.9260749358543439 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7734048774311398, + 0.7740260185006196, + 0.775019844211787 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5516.04446716488, + "intensity": 0.7742744749284114 + }, + "point_color_scale": [ + 0.9249976489136832, + 0.9637901650193349, + 1.0258581907883775 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fac5c77b8215aa8a0e0a68eb204207b9010d8df7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8135152103262302, + "K": [ + [ + 576.600158646974, + 0.0, + 288.5308262708331 + ], + [ + 0.0, + 557.1267059092287, + 224.2699534639049 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.484479240267931, + -5.330709456777105, + 1.2249345783767525 + ], + "camera_target": [ + -4.760912165688875, + -5.231353694602336, + 1.1550067611870238 + ], + "camera_roll_rad": -0.0365373950675303, + "camera_pose_world_cv": [ + [ + 0.14256811141967773, + -0.08423882722854614, + 0.9861937165260315, + -5.4844794273376465 + ], + [ + -0.9871130585670471, + -0.08526211977005005, + 0.13541796803474426, + -5.330709457397461 + ], + [ + 0.07267743349075317, + -0.9927910566329956, + -0.09530901908874512, + 1.2249345779418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23167184083228565, + 0.23103672113393808, + 0.23723669976718686 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.8145139053812406, + 0.8491991180357952, + 0.904695458283083 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6303.760620305847, + "intensity": 0.8630732030976171 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.8865038822131059, + 0.91358304729252, + 0.9569097114195827 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6085.866163510851, + "intensity": 0.9244147133242857 + }, + "point_color_scale": [ + 1.0019089422951775, + 0.9915343703408854, + 0.9737493898478137 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e8d1824ac99712826a785959991663b3c1ca414 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0883485497502376, + "K": [ + [ + 401.31310092598386, + 0.0, + 288.61098139606634 + ], + [ + 0.0, + 396.6168268803612, + 254.30382308870048 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.199804085817997, + -5.0946388909541245, + 1.2485013481985492 + ], + "camera_target": [ + -4.750220982822699, + -5.291074165293214, + 1.1679331731716658 + ], + "camera_roll_rad": 0.04938284377417436, + "camera_pose_world_cv": [ + [ + -0.32180047035217285, + 0.16113924980163574, + -0.9329946637153625, + -4.199804306030273 + ], + [ + 0.9417554140090942, + -0.04718822240829468, + -0.33297187089920044, + -5.094638824462891 + ], + [ + -0.09768134355545044, + -0.9858030676841736, + -0.13656830787658691, + 1.2485013008117676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28452938295704805, + 0.3137221231903556, + 0.2933124891542636 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.8379690414869614, + 0.8510036872878682, + 0.8718591205693192 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5804.47042034504, + "intensity": 0.8562175456082309 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7996812312817684, + 0.8238917162351368, + 0.8626284921605263 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6080.882548467142, + "intensity": 0.8335759102164841 + }, + "point_color_scale": [ + 1.087644660746538, + 1.1177347116198477, + 1.165878793017143 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7ef1c9b801b00e981f3f173bc18a6e648f1e0a1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.176916231553511, + "K": [ + [ + 351.64248115235546, + 0.0, + 312.4213991168691 + ], + [ + 0.0, + 359.64494303586014, + 217.6112257255312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.0541842109435855, + -5.190456027610249, + 1.266101004253 + ], + "camera_target": [ + -4.711263211832614, + -5.265907203305874, + 1.1492798629359466 + ], + "camera_roll_rad": 0.030364152846437217, + "camera_pose_world_cv": [ + [ + -0.10338115692138672, + 0.17940524220466614, + -0.9783282279968262, + -4.054184436798096 + ], + [ + 0.9928445816040039, + -0.04048895835876465, + -0.11233994364738464, + -5.190455913543701 + ], + [ + -0.05976584553718567, + -0.9829416275024414, + -0.17393577098846436, + 1.2661010026931763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9784117341041565, + -0.20666517317295074, + 0.0, + -4.720975399017334 + ], + [ + 0.20666517317295074, + 0.9784117341041565, + 0.0, + -5.244596481323242 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2580890195231221, + 0.27011344487153227, + 0.27174483662145527 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9387229556935062, + 0.9734346198912385, + 1.0289732826076106 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6203.149724816344, + "intensity": 0.9873192855703314 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.807270323420456, + 0.7930765116411621, + 0.7687442628766583 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5244.326383737432, + "intensity": 0.7930765116411621 + }, + "point_color_scale": [ + 0.8272966411165233, + 0.8293431965557526, + 0.8326176852585195 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..314d6e369d80c74fff1bed07bba9282381d2ebb0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1157526517355238, + "K": [ + [ + 388.57569747710573, + 0.0, + 306.85471478549925 + ], + [ + 0.0, + 384.61843771421337, + 216.60736387147125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.0282216021381, + -4.803999657167123, + 1.1714493661120238 + ], + "camera_target": [ + -4.419808372145237, + -5.289674115229962, + 1.1785257819405985 + ], + "camera_roll_rad": -0.01772849445312423, + "camera_pose_world_cv": [ + [ + -0.777739405632019, + -0.03471130132675171, + -0.6276282072067261, + -4.028221607208252 + ], + [ + 0.627587080001831, + 0.013426780700683594, + -0.7784308195114136, + -4.803999423980713 + ], + [ + 0.035447269678115845, + -0.99930739402771, + 0.011342048645019531, + 1.1714494228363037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33599143338980314, + 0.34836898527847043, + 0.3368170412959691 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.1435978941352003, + 1.1166120080735642, + 1.0703504891107598 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5154.74788446125, + "intensity": 1.1166120080735642 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.800791523296896, + 0.8131871287512388, + 0.8330200974781873 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5803.017187280727, + "intensity": 0.8181453709329759 + }, + "point_color_scale": [ + 1.0752303601616717, + 1.034530565850228, + 0.9647594898877531 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1089fd8ab247d20a8708fbdd747bbb5251f4ddd0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0470979725668188, + "K": [ + [ + 403.6472977441686, + 0.0, + 314.9153149845679 + ], + [ + 0.0, + 415.73999568118313, + 242.47793315771372 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.19776429865755, + -4.342545422440609, + 1.0702042511044287 + ], + "camera_target": [ + -4.4576294459773385, + -5.306517464958477, + 1.0550808820120279 + ], + "camera_roll_rad": -0.0002414653785683743, + "camera_pose_world_cv": [ + [ + -0.9655334949493408, + 0.003476053476333618, + -0.2602558732032776, + -4.1977643966674805 + ], + [ + 0.2602786421775818, + 0.014749765396118164, + -0.9654209613800049, + -4.342545509338379 + ], + [ + 0.00048285722732543945, + -0.9998852014541626, + -0.015146076679229736, + 1.070204257965088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3104164720088623, + 0.3184880794845595, + 0.2964226704424573 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9208083006219422, + 0.8623002354200566, + 0.7620006950739673 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 4530.697814344308, + "intensity": 0.8623002354200566 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.6817020580507779, + 0.6974005798610724, + 0.7225182147575435 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5946.183551186605, + "intensity": 0.7036799885851902 + }, + "point_color_scale": [ + 1.1040765022121044, + 1.132519752747983, + 1.1780289536053896 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34855b7e93eb51fbcfa0ff943de02455a082aa43 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0056144103556568, + "K": [ + [ + 443.8401649628266, + 0.0, + 342.9423317868449 + ], + [ + 0.0, + 436.4008467251168, + 244.44567541172904 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.921057629864469, + -4.480793735022346, + 1.0552800139984673 + ], + "camera_target": [ + -4.47730818265792, + -5.2701842279489926, + 1.1387337277396046 + ], + "camera_roll_rad": 0.008716481230317652, + "camera_pose_world_cv": [ + [ + -0.8707923889160156, + 0.06015723943710327, + 0.48795658349990845, + -4.92105770111084 + ], + [ + -0.49134427309036255, + -0.07144033908843994, + -0.8680305480957031, + -4.4807939529418945 + ], + [ + -0.017358556389808655, + -0.995629072189331, + 0.09176766872406006, + 1.0552799701690674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2821517149056587, + 0.2937540312588198, + 0.2945757530875551 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.130279956265711, + 1.0905969165681688, + 1.0225688485152395 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 4980.192398772192, + "intensity": 1.0905969165681688 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7375323626280711, + 0.7610148497970108, + 0.7985868292673146 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6109.611839535809, + "intensity": 0.7704078446645868 + }, + "point_color_scale": [ + 1.1190994999951172, + 1.1632021004947397, + 1.233766261294136 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbd8b133d32438065a85cd0e27c435e6cd9536b7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8539743637039586, + "K": [ + [ + 538.2198201455377, + 0.0, + 327.7803944141009 + ], + [ + 0.0, + 527.4962588791747, + 247.273006010501 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.226447591812133, + -4.909775969825709, + 1.2413000479316216 + ], + "camera_target": [ + -4.460832606012122, + -5.272375675706335, + 1.0894947440811196 + ], + "camera_roll_rad": -0.04545741559789197, + "camera_pose_world_cv": [ + [ + -0.8527014255523682, + 0.10307294130325317, + -0.5121291279792786, + -4.226447582244873 + ], + [ + 0.5153294205665588, + 0.3266991376876831, + -0.7922772765159607, + -4.909775733947754 + ], + [ + 0.085649773478508, + -0.9394912123680115, + -0.33169323205947876, + 1.241300106048584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26996673947973593, + 0.2651469337011085, + 0.2812924946121315 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9818003136457724, + 0.9188452136630263, + 0.810922185121176 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 4521.207753157091, + "intensity": 0.9188452136630263 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7625529592053234, + 0.7276426672041705, + 0.6677964523450513 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 4814.610756574297, + "intensity": 0.7276426672041705 + }, + "point_color_scale": [ + 0.8972411970945116, + 0.8852388705921437, + 0.8646634537309416 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b4801514b30085f5e7b44cd2c6e673fd0db0db6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1791114791047683, + "K": [ + [ + 352.4349114245359, + 0.0, + 314.75025434542755 + ], + [ + 0.0, + 358.79136869759856, + 256.5338640879145 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.765197923061642, + -4.5299349035752545, + 1.0719744859400353 + ], + "camera_target": [ + -4.446206529281006, + -5.2873265887442304, + 1.052012616773666 + ], + "camera_roll_rad": 0.00013691091799693939, + "camera_pose_world_cv": [ + [ + -0.9215991497039795, + -0.009172946214675903, + 0.38803499937057495, + -4.76519775390625 + ], + [ + -0.3881433308124542, + 0.02248513698577881, + -0.9213247895240784, + -4.529934883117676 + ], + [ + -0.00027373433113098145, + -0.9997051358222961, + -0.024282634258270264, + 1.071974515914917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.289999024850716, + 0.2792332364367713, + 0.29781892654740644 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.20298490688912, + 1.1942741505665282, + 1.179341425442085 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5395.803341319917, + "intensity": 1.1942741505665282 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.5719996359060416, + 0.5819881778938624, + 0.5979698450743756 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5840.915413958718, + "intensity": 0.5859835946889906 + }, + "point_color_scale": [ + 0.8174902683051508, + 0.8462386101464346, + 0.8922359570924887 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b75b9e5a7ccb99cf777ffa448d04533b65f8ca1a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9531789224236944, + "K": [ + [ + 480.7238227173366, + 0.0, + 347.4692105606956 + ], + [ + 0.0, + 464.86079092050284, + 233.79517251976972 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.1222329656190455, + -5.079649398748312, + 1.2622374980424858 + ], + "camera_target": [ + -4.462098838439917, + -5.310821363525697, + 1.1036013016717443 + ], + "camera_roll_rad": 0.030691068251445006, + "camera_pose_world_cv": [ + [ + -0.3426934480667114, + -0.1880888044834137, + 0.9204260110855103, + -5.122232913970947 + ], + [ + -0.9375406503677368, + 0.13086307048797607, + -0.32232367992401123, + -5.079649448394775 + ], + [ + -0.059824198484420776, + -0.9733948707580566, + -0.22118669748306274, + 1.262237548828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23600381679013244, + 0.23344419820078607, + 0.21667863370495083 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.0371854197332147, + 1.0504564288767113, + 1.0716900435063057 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5751.400856223686, + "intensity": 1.0557648325341098 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.5841560667867559, + 0.6034111986939962, + 0.6342194097455806 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6130.165746245432, + "intensity": 0.6111132514568922 + }, + "point_color_scale": [ + 1.0464538567915032, + 1.080461785721798, + 1.1348744720102697 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b0b34b81e6946f7c5f838565d54504ca5e279d3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2201635296933175, + "K": [ + [ + 359.4179166500042, + 0.0, + 347.93166563417543 + ], + [ + 0.0, + 343.32771017507673, + 234.74811292756397 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.708465509499851, + -4.464161598385244, + 1.2096474376399566 + ], + "camera_target": [ + -4.45458557953588, + -5.308315224984803, + 1.168348717119148 + ], + "camera_roll_rad": -0.0473453619635448, + "camera_pose_world_cv": [ + [ + -0.952064037322998, + -0.10396116226911545, + 0.2876918911933899, + -4.708465576171875 + ], + [ + -0.2909545302391052, + 0.01738440990447998, + -0.9565790295600891, + -4.464161396026611 + ], + [ + 0.09444574266672134, + -0.9944295287132263, + -0.04679882526397705, + 1.2096474170684814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21895842021828396, + 0.22035536915916354, + 0.21761273565385397 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.2009653758043284, + 1.13188241672529, + 1.0134544868755102 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 4628.090161281872, + "intensity": 1.13188241672529 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.8913225411474108, + 0.8876706041967679, + 0.8814101408528082 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5441.227604451837, + "intensity": 0.8876706041967679 + }, + "point_color_scale": [ + 0.8594527345587321, + 0.854105052381099, + 0.8449375972194424 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03bf6058d184db54fd2afb8a919d40ffc18eca09 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1400667952289618, + "K": [ + [ + 389.9667414094145, + 0.0, + 290.2185108774137 + ], + [ + 0.0, + 374.40582297064566, + 260.0306346923105 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.049153239189277, + -5.0960615797005255, + 1.2889736414238588 + ], + "camera_target": [ + -4.42268784626663, + -5.290784258373685, + 1.1214799091765928 + ], + "camera_roll_rad": -0.0479901140319273, + "camera_pose_world_cv": [ + [ + -0.4915289878845215, + 0.28182920813560486, + -0.823997437953949, + -4.0491533279418945 + ], + [ + 0.8662962913513184, + 0.2549896240234375, + -0.4295477271080017, + -5.096061706542969 + ], + [ + 0.08905160427093506, + -0.9249610304832458, + -0.36948221921920776, + 1.2889736890792847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3709135726924541, + 0.3894238555415369, + 0.3813356786524705 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9199171745442262, + 0.9637639428450019, + 1.033918772126243 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6393.6441431884305, + "intensity": 0.9813026501653123 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7552525387332446, + 0.7541375067919961, + 0.7522260234641416 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5478.877820571634, + "intensity": 0.7541375067919961 + }, + "point_color_scale": [ + 0.9549968814498225, + 0.9457503509476465, + 0.9298991558010591 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0de5f83682864a792d595f20e29179b44eb12c54 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1316424208354092, + "K": [ + [ + 386.0959921089857, + 0.0, + 337.66045753632574 + ], + [ + 0.0, + 377.8999925797574, + 263.23870298535405 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9709121830737373, + -5.6987263347354284, + 1.198944574843575 + ], + "camera_target": [ + -4.418499065969263, + -5.271300602321204, + 1.0846952909643923 + ], + "camera_roll_rad": 0.03555494476890668, + "camera_pose_world_cv": [ + [ + 0.6982134580612183, + 0.08188694715499878, + -0.7111908793449402, + -3.970912218093872 + ], + [ + 0.7124719023704529, + -0.17644119262695312, + 0.6791556477546692, + -5.698726177215576 + ], + [ + -0.06986939907073975, + -0.9808991551399231, + -0.1815357208251953, + 1.1989445686340332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27505732182912135, + 0.2783894260350411, + 0.29609022874146484 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.107084293518764, + 1.1160502388400642, + 1.1303957513541447 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5660.15812961844, + "intensity": 1.1196366169685843 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7509805277902982, + 0.7481591221722812, + 0.7433224268271093 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5446.12670841188, + "intensity": 0.7481591221722812 + }, + "point_color_scale": [ + 1.1775040098091145, + 1.1908944431061739, + 1.2123191363814685 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab6fef02c993ae2342da5e7c73c24bee4bd54955 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0825484533128944, + "K": [ + [ + 406.58100186321104, + 0.0, + 339.0084621062504 + ], + [ + 0.0, + 399.22615027134, + 228.52274193809635 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.779782639947154, + -4.379878717362339, + 1.1015087180894434 + ], + "camera_target": [ + -4.423192676514458, + -5.288674826015337, + 1.1016885773573923 + ], + "camera_roll_rad": 0.0455860482299377, + "camera_pose_world_cv": [ + [ + -0.9270312786102295, + 0.08482199907302856, + 0.365264892578125, + -4.779782772064209 + ], + [ + -0.3637634515762329, + 0.033084988594055176, + -0.9309036731719971, + -4.379878520965576 + ], + [ + -0.09104587137699127, + -0.9958467483520508, + 0.0001844167709350586, + 1.1015087366104126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22813274125205446, + 0.25018151142508877, + 0.22758971550557244 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9315969714372921, + 0.972951819967867, + 1.0391195776167865 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6335.878915628191, + "intensity": 0.9894937593800969 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.6172721369227676, + 0.6307067714595295, + 0.6522021867183486 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5922.419234384629, + "intensity": 0.6360806252742343 + }, + "point_color_scale": [ + 0.8731742376252344, + 0.8713302286645119, + 0.8681690704461306 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e88fc553f64e8a486bbb3d46fbc66e7b9dfe787 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0008225900981116, + "K": [ + [ + 431.27404874563825, + 0.0, + 332.22092161286076 + ], + [ + 0.0, + 438.8879165934378, + 236.8319525114526 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.295041390439391, + -4.463248521133645, + 1.3186201987602404 + ], + "camera_target": [ + -4.418057962726174, + -5.332247914652713, + 1.0719320767896323 + ], + "camera_roll_rad": 0.02118227001097575, + "camera_pose_world_cv": [ + [ + -0.9876337051391602, + 0.07982642948627472, + -0.13493475317955017, + -4.295041561126709 + ], + [ + 0.15138459205627441, + 0.26174068450927734, + -0.9531917572021484, + -4.4632487297058105 + ], + [ + -0.040771983563899994, + -0.9618313312530518, + -0.27058833837509155, + 1.318620204925537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38816176062584595, + 0.3849434764244615, + 0.37785265625316944 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.0699846524983705, + 1.1196196156256553, + 1.1990355566293107 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6371.191102437156, + "intensity": 1.1394736008765691 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7133242879337662, + 0.7327746154688433, + 0.7638951395249665 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 6025.290739879871, + "intensity": 0.740554746482874 + }, + "point_color_scale": [ + 0.8474903313556048, + 0.8578931521571417, + 0.8745376654396007 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ddf34704fe20833b1c81aea595e8024e51dae9c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8834386594343475, + "K": [ + [ + 517.7292036015745, + 0.0, + 302.8411338002106 + ], + [ + 0.0, + 507.52552181871255, + 261.9130134273488 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.145314385265357, + -4.739088105348876, + 1.2767678534457008 + ], + "camera_target": [ + -4.472522222958026, + -5.296018211660505, + 1.1007704034832893 + ], + "camera_roll_rad": -0.030631770926792434, + "camera_pose_world_cv": [ + [ + -0.8687392473220825, + 0.08012902736663818, + -0.4887453019618988, + -4.1453142166137695 + ], + [ + 0.4917348623275757, + 0.25724923610687256, + -0.8318774104118347, + -4.73908805847168 + ], + [ + 0.059071749448776245, + -0.9630174040794373, + -0.26288437843322754, + 1.2767678499221802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33125549400148924, + 0.3159304662158006, + 0.334464399182863 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.0533083981007099, + 1.0274676447723483, + 0.9831692104951574 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5140.71509126851, + "intensity": 1.0274676447723483 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.868136332054898, + 0.8876502216470789, + 0.9188724449945685 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5935.842619654787, + "intensity": 0.8954557774839513 + }, + "point_color_scale": [ + 0.8638358168985926, + 0.8658213976417307, + 0.8689983268307517 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..00f65cf7debca319e64be8d409f1e7bbd9c2158b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2647388137927813, + "K": [ + [ + 313.8101820517843, + 0.0, + 340.3957126189839 + ], + [ + 0.0, + 327.5332563802368, + 248.6462118229221 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.924848210950695, + -4.945684636277683, + 1.195123133171954 + ], + "camera_target": [ + -4.463765341058098, + -5.275495569568346, + 1.0997203527313817 + ], + "camera_roll_rad": -0.03891305588972343, + "camera_pose_world_cv": [ + [ + -0.569527268409729, + -0.17980262637138367, + 0.8020659685134888, + -4.9248480796813965 + ], + [ + -0.8183890581130981, + 0.033022165298461914, + -0.573715090751648, + -4.945684432983398 + ], + [ + 0.07666951417922974, + -0.9831483364105225, + -0.16595548391342163, + 1.1951230764389038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32864023320005914, + 0.32957736717810016, + 0.3081327212277873 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.8426623693044137, + 0.8799024556690075, + 0.9394865938523577 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6332.368109062238, + "intensity": 0.894798490214845 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.6887789475783719, + 0.671138940831931, + 0.6408989292666041 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5124.518738153756, + "intensity": 0.671138940831931 + }, + "point_color_scale": [ + 1.083602890961565, + 1.119603060710347, + 1.1772033323083984 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dccdb4026f61775dbd6472705c66c22d501d4435 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0412144346179855, + "K": [ + [ + 400.7510164112434, + 0.0, + 330.3478755053472 + ], + [ + 0.0, + 418.5790567558579, + 225.9027448771335 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.08131189695854, + -4.601494470163173, + 1.228919375117811 + ], + "camera_target": [ + -4.445231038748152, + -5.255619208191623, + 1.1548155848378152 + ], + "camera_roll_rad": 0.04083215694990207, + "camera_pose_world_cv": [ + [ + -0.8670446872711182, + 0.11902005970478058, + -0.48380526900291443, + -4.0813117027282715 + ], + [ + 0.49157267808914185, + 0.04614388942718506, + -0.8696131110191345, + -4.601494312286377 + ], + [ + -0.08117672801017761, + -0.9918189644813538, + -0.09851586818695068, + 1.2289193868637085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3081207352479666, + 0.3103096786921212, + 0.30239355232605064 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 1.0856750910368198, + 1.1070861774397471, + 1.1413439156844307 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5883.831392599275, + "intensity": 1.115650612000918 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.7250555692289891, + 0.7374366618587751, + 0.7572464100664327 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5833.547263771863, + "intensity": 0.7423890989106895 + }, + "point_color_scale": [ + 1.1177374795002557, + 1.133508166022485, + 1.1587412644580517 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9da433fe6c13b3e756a8be3947c6e1b2bf7639a9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8984889777267674, + "K": [ + [ + 479.0344429551188, + 0.0, + 344.1837853306233 + ], + [ + 0.0, + 497.79765851680605, + 249.0181866059619 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.2479834486684, + -4.914951187226823, + 1.3093867892550786 + ], + "camera_target": [ + -4.428380246392384, + -5.301466295238515, + 1.0468598183605284 + ], + "camera_roll_rad": -0.03831569831841807, + "camera_pose_world_cv": [ + [ + -0.406017541885376, + -0.28360050916671753, + 0.8687465786933899, + -5.247983455657959 + ], + [ + -0.910902202129364, + 0.049100518226623535, + -0.40969058871269226, + -4.914951324462891 + ], + [ + 0.07353264093399048, + -0.9576846361160278, + -0.2782679796218872, + 1.3093867301940918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3118534745095939, + 0.309787824311974, + 0.28756618126720335 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9290083213679958, + 0.9116927729926613, + 0.8820089757778022 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 5228.675071122359, + "intensity": 0.9116927729926613 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.8082023654300391, + 0.7809070470361319, + 0.7341150726465766 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5000.666409154689, + "intensity": 0.7809070470361319 + }, + "point_color_scale": [ + 1.138051315251442, + 1.0890179676272937, + 1.0049608002716115 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000050/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000050/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7245e7061ce319c443e58bedab5c1f411e187a37 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000050/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 50, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2131874354254353, + "K": [ + [ + 341.373118216757, + 0.0, + 322.3722817615694 + ], + [ + 0.0, + 345.89076498929114, + 249.7269975128625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.074407520994291, + -4.820454839598852, + 1.205781304394755 + ], + "camera_target": [ + -4.419006262505749, + -5.319912792574309, + 1.0794555806553896 + ], + "camera_roll_rad": 0.04826376447448326, + "camera_pose_world_cv": [ + [ + -0.6149178743362427, + -0.06154763698577881, + 0.7861858606338501, + -5.074407577514648 + ], + [ + -0.7828159928321838, + 0.16807663440704346, + -0.5991239547729492, + -4.820455074310303 + ], + [ + -0.09526476263999939, + -0.9838507175445557, + -0.15153366327285767, + 1.20578134059906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.0637282133102417, + -0.9979673624038696, + 3.167804862869161e-08, + -4.4662394523620605 + ], + [ + 0.9979673624038696, + 0.0637282133102417, + 1.6250965018116403e-09, + -5.288819313049316 + ], + [ + -3.6405802816830146e-09, + 3.151009053681264e-08, + 1.0, + 0.9372064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3294813349652484, + 0.35863048242425727, + 0.35895925587050437 + ], + "directional_primary": { + "direction": [ + 0.283401585133594, + -0.3198834180087793, + -0.9040786129683561 + ], + "color": [ + 0.9568695815376912, + 0.9860835326870754, + 1.0328258545260898 + ], + "azimuth_rad": -0.8457965826530573, + "elevation_rad": 1.1292188165455705, + "color_temp_k": 6085.585397752938, + "intensity": 0.9977691131468289 + }, + "directional_fill": { + "direction": [ + 0.12737495513908986, + -0.19189180296361755, + -0.973115180622873 + ], + "color": [ + 0.8035043638397881, + 0.7811504276655185, + 0.7428293942239135 + ], + "azimuth_rad": -0.9847911795695818, + "elevation_rad": 1.3383908399053221, + "color_temp_k": 5091.190206089925, + "intensity": 0.7811504276655185 + }, + "point_color_scale": [ + 0.8429553652229053, + 0.8745435058383192, + 0.9250845308229815 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a549b1250bee8bee870cf48ebe807ae369b6be47 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1837394154623517, + "K": [ + [ + 351.96446932977443, + 0.0, + 304.70639354930756 + ], + [ + 0.0, + 357.00103972519645, + 229.88102515536207 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.392038829987911, + -1.2298355274005646, + 0.9657432698246726 + ], + "camera_target": [ + -3.0510666719430217, + -0.9539772347945131, + 0.9826906590622575 + ], + "camera_roll_rad": 0.029713626021113437, + "camera_pose_world_cv": [ + [ + 0.6296409368515015, + -0.007390707731246948, + 0.7768511772155762, + -3.3920388221740723 + ], + [ + -0.7746161222457886, + 0.07041621208190918, + 0.6284995079040527, + -1.2298355102539062 + ], + [ + -0.05934792757034302, + -0.997490406036377, + 0.0386120080947876, + 0.9657432436943054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2574631156168539, + 0.2628565368841568, + 0.24642701290743133 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1925153922351206, + 1.195822263930264, + 1.2011132586424935 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5555.245967035162, + "intensity": 1.1971450126083214 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8638185674586734, + 0.8713108988418917, + 0.8832986290550412 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5671.388865893206, + "intensity": 0.8743078313951791 + }, + "point_color_scale": [ + 0.8889784295795705, + 0.9196542431442741, + 0.9687355448477998 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c879f0170647c49f02d30d5166d365327fc8c8c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0687051245179997, + "K": [ + [ + 387.78266058487645, + 0.0, + 318.3175312814242 + ], + [ + 0.0, + 405.5569480760832, + 243.66756802573983 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3856626252813107, + -0.048165152945311096, + 0.7798823983490514 + ], + "camera_target": [ + -3.0886040794836376, + -0.9781560928851452, + 0.8563027865165688 + ], + "camera_roll_rad": -0.007701985619096179, + "camera_pose_world_cv": [ + [ + -0.9528372287750244, + 0.009069293737411499, + 0.30334731936454773, + -3.38566255569458 + ], + [ + -0.3030940890312195, + -0.07901597023010254, + -0.9496792554855347, + -0.048165153712034225 + ], + [ + 0.015356391668319702, + -0.9968322515487671, + 0.07803845405578613, + 0.7798823714256287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2886799812730182, + 0.2901196581328331, + 0.2719479371548784 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9174910791648709, + 0.9239613405046474, + 0.93431375864829 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5639.663595384127, + "intensity": 0.926549445040558 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7467016094199455, + 0.7677560314999493, + 0.8014431068279554 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6042.515440946634, + "intensity": 0.7761778003319508 + }, + "point_color_scale": [ + 1.0428140661249015, + 1.0060478347324933, + 0.9430200094883652 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..341fc0481fe87ee15aaf9d16d91bb51b614ff30e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8752129525694364, + "K": [ + [ + 491.3699393961468, + 0.0, + 348.13722530200874 + ], + [ + 0.0, + 512.9741834836938, + 232.79945226076774 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.097017645124674, + -0.2323768319314612, + 0.7244591308947084 + ], + "camera_target": [ + -3.0865473322485664, + -1.0198046460015813, + 0.9451927701049514 + ], + "camera_roll_rad": -0.008665716998925904, + "camera_pose_world_cv": [ + [ + -0.999823808670044, + -0.01374116726219654, + 0.012802074663341045, + -3.097017526626587 + ], + [ + -0.008616451174020767, + -0.2700616121292114, + -0.9628046154975891, + -0.232376828789711 + ], + [ + 0.016687406226992607, + -0.9627451300621033, + 0.2698957920074463, + 0.7244591116905212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24862807843291554, + 0.26154273550724766, + 0.26869628996658923 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.954094128354856, + 0.9131340800665262, + 0.8429168544293895 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4859.1920838903425, + "intensity": 0.9131340800665262 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5588441617295246, + 0.5601810835543685, + 0.5623201584741186 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5547.686250331512, + "intensity": 0.560715852284306 + }, + "point_color_scale": [ + 0.8416951861816149, + 0.8492089068919023, + 0.861230860028362 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96252cbd2e7a098de0d528c5de976319d056a233 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1963926730379821, + "K": [ + [ + 354.2060102142613, + 0.0, + 319.3255831632417 + ], + [ + 0.0, + 352.1683673706701, + 217.07628658873207 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.001518550894427, + -1.7082436067957427, + 1.0762756050222282 + ], + "camera_target": [ + -3.0384940666272486, + -0.9546804237870816, + 0.8427305176897607 + ], + "camera_roll_rad": 0.051923760180993345, + "camera_pose_world_cv": [ + [ + 0.9949197769165039, + -0.08912230283021927, + -0.046817027032375336, + -3.001518487930298 + ], + [ + 0.018128469586372375, + -0.2988389730453491, + 0.9541313648223877, + -1.7082436084747314 + ], + [ + -0.09902513772249222, + -0.9501328468322754, + -0.2957051992416382, + 1.0762755870819092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32291166056835363, + 0.3372333181231483, + 0.3319720723805435 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0027369161100417, + 0.9411180646618629, + 0.8354857478935567 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4564.655817951145, + "intensity": 0.9411180646618629 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8751000751038817, + 0.8513875791021263, + 0.81073758595626 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5102.120172766127, + "intensity": 0.8513875791021263 + }, + "point_color_scale": [ + 0.809552090432819, + 0.8353855914229275, + 0.8767191930071011 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6aac25ab52f43713951e652cc2524858362a3473 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8865914436256352, + "K": [ + [ + 509.5394286945607, + 0.0, + 303.1829485182154 + ], + [ + 0.0, + 505.46218732411495, + 224.5526319017584 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.6873268161142434, + -1.252350915096698, + 0.7460890497705973 + ], + "camera_target": [ + -3.0607933821435007, + -1.0048782924248099, + 0.8769433012256712 + ], + "camera_roll_rad": 0.01580984125074808, + "camera_pose_world_cv": [ + [ + 0.5447076559066772, + -0.2510536313056946, + -0.8001660108566284, + -2.6873269081115723 + ], + [ + 0.8380767703056335, + 0.12843215465545654, + 0.5302194356918335, + -1.252350926399231 + ], + [ + -0.03034648299217224, + -0.9594151973724365, + 0.28036022186279297, + 0.7460890412330627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2877969495693282, + 0.28097864968575476, + 0.29244403830645777 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.8815925356955698, + 0.8563007041414075, + 0.8129432786199864 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5078.0549080507235, + "intensity": 0.8563007041414075 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8026511556528717, + 0.8027064924757816, + 0.8027950313924374 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5501.378718063228, + "intensity": 0.8027286272049455 + }, + "point_color_scale": [ + 1.0703051557582925, + 1.0525835563430594, + 1.0222036716312315 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5510c7ddc3e433ace9e2d6031227e89e117dfaf9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2407619905303187, + "K": [ + [ + 346.2645029190631, + 0.0, + 297.8922000491886 + ], + [ + 0.0, + 335.90659300273074, + 222.02515108746582 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.1944043659820975, + -0.5947122106131685, + 1.1358818152647085 + ], + "camera_target": [ + -3.0514547790350837, + -0.9593479824885757, + 0.8779954117765629 + ], + "camera_roll_rad": 0.03171227189555273, + "camera_pose_world_cv": [ + [ + -0.3751446008682251, + 0.2698632776737213, + -0.8868148326873779, + -2.194404363632202 + ], + [ + 0.9249516725540161, + 0.04593467712402344, + -0.3772991895675659, + -0.5947121977806091 + ], + [ + -0.06108376383781433, + -0.9618024826049805, + -0.26684248447418213, + 1.135881781578064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2618641356147939, + 0.26118015680268614, + 0.2536707769448403 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1315846082285819, + 1.1735606932571325, + 1.240722429302814 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6205.272319519226, + "intensity": 1.190351127268553 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.9052897091046228, + 0.8839861355311545, + 0.847465723690923 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5155.722241443982, + "intensity": 0.8839861355311545 + }, + "point_color_scale": [ + 0.8923553610428652, + 0.8590900634292824, + 0.8020638389488549 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e21a42835e3fc3bf15a5c9a64701445e81dd9b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8444178243123536, + "K": [ + [ + 524.0084841588272, + 0.0, + 305.2297514016855 + ], + [ + 0.0, + 534.2539173572827, + 237.42882480249753 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.051650049164068, + -1.56238212405144, + 0.9353469651784098 + ], + "camera_target": [ + -3.0154471647448604, + -0.9933855136007126, + 0.842572389528358 + ], + "camera_roll_rad": -0.05190856653729332, + "camera_pose_world_cv": [ + [ + 0.9936655759811401, + 0.09327830374240875, + 0.0626731812953949, + -3.051650047302246 + ], + [ + -0.04654526710510254, + -0.16600126028060913, + 0.985026478767395, + -1.5623821020126343 + ], + [ + 0.10228542983531952, + -0.9817039966583252, + -0.16060805320739746, + 0.9353469610214233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27469042289454376, + 0.26159024348767074, + 0.25024363968753216 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9976618290930425, + 1.0466552175422186, + 1.1250446390609004 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6418.982794384597, + "intensity": 1.066252572921889 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8583090394074178, + 0.8722084765880024, + 0.8944475760769377 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5816.6994740915225, + "intensity": 0.8777682514602362 + }, + "point_color_scale": [ + 1.1132697474427018, + 1.1310448987093236, + 1.1594851407359186 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..977ecdb5688d820330f20ca40ba634fc915ec008 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7879160257842436, + "K": [ + [ + 552.662716872489, + 0.0, + 296.4195315355455 + ], + [ + 0.0, + 577.3543407432325, + 255.69880118655107 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8038785847498646, + -1.005395255171073, + 0.7625236251647096 + ], + "camera_target": [ + -3.09568482281283, + -0.929975801833431, + 0.8615958687015325 + ], + "camera_roll_rad": -0.017954001035044777, + "camera_pose_world_cv": [ + [ + 0.10090982913970947, + 0.14071965217590332, + 0.9848935604095459, + -3.8038785457611084 + ], + [ + -0.9942600727081299, + -0.021117210388183594, + 0.10488680005073547, + -1.0053952932357788 + ], + [ + 0.035557955503463745, + -0.9898244142532349, + 0.13778114318847656, + 0.7625236511230469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37408490007772166, + 0.36568303301153465, + 0.3659247843892616 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0249012043329848, + 1.0616455385547539, + 1.1204364733095846 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6182.762370877865, + "intensity": 1.0763432722434616 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5715036660148991, + 0.5762540942836849, + 0.5838547795137422 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5664.330821426291, + "intensity": 0.5781542655911992 + }, + "point_color_scale": [ + 0.9424694990054617, + 0.9460614764552903, + 0.9518086403750157 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6adfebdc2b70fd493cee52c612fd03393550cf92 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.089906613675177, + "K": [ + [ + 397.1048460055466, + 0.0, + 329.20575056785344 + ], + [ + 0.0, + 395.9201495131053, + 228.773479375154 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.94926319738476, + -0.16212340565161454, + 1.1176895846631922 + ], + "camera_target": [ + -3.1058885148686204, + -0.9458723545387632, + 0.8466038877408187 + ], + "camera_roll_rad": -0.03662296734563586, + "camera_pose_world_cv": [ + [ + -0.9825875759124756, + -0.008985035121440887, + -0.1855825036764145, + -2.949263095855713 + ], + [ + 0.17239123582839966, + 0.328472375869751, + -0.928648054599762, + -0.1621234118938446 + ], + [ + 0.06930266320705414, + -0.9444708228111267, + -0.32120394706726074, + 1.117689609527588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2517860732821302, + 0.24781904612272862, + 0.24131447852908236 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9731135040510748, + 0.9935534079832158, + 1.0262572542746413 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5908.0923361805635, + "intensity": 1.0017293695560723 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.861194732039408, + 0.826887223350804, + 0.7680743513131971 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4907.286443495897, + "intensity": 0.826887223350804 + }, + "point_color_scale": [ + 0.9345988474299552, + 0.9686716118917797, + 1.023188035030699 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8abf3e727e5c0e99a8ad379e2e9badc03ebb47ed --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9641235759846981, + "K": [ + [ + 444.64969914329714, + 0.0, + 329.84534354056575 + ], + [ + 0.0, + 458.68555215598326, + 226.50789713866968 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8297642238789504, + -0.8483056449921429, + 1.0082058204293394 + ], + "camera_target": [ + -3.0312378461955434, + -0.9647128420275849, + 0.8746941744452936 + ], + "camera_roll_rad": -0.046562525377971314, + "camera_pose_world_cv": [ + [ + -0.1286078691482544, + -0.17423692345619202, + 0.9762693643569946, + -3.8297641277313232 + ], + [ + -0.9874429702758789, + -0.0685734748840332, + -0.14231815934181213, + -0.8483056426048279 + ], + [ + 0.09174343943595886, + -0.9823133945465088, + -0.16322970390319824, + 1.008205771446228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34974748338024014, + 0.3219607113892894, + 0.3359389500627491 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9512083611335266, + 0.9883962045550416, + 1.0478967540294657 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6241.331718898937, + "intensity": 1.0032713419236476 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5508698972474627, + 0.5691850371903432, + 0.5984892610989518 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6135.378578485022, + "intensity": 0.5765110931674954 + }, + "point_color_scale": [ + 1.2220162060021047, + 1.1772125383914034, + 1.1004062510587724 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..590767087ed63a7ac960f33663bf4a37966602d7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0960697037629865, + "K": [ + [ + 398.6331895505755, + 0.0, + 341.90175476397775 + ], + [ + 0.0, + 393.1818207887912, + 220.44774066732987 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0408981940542184, + -0.44160092529052875, + 0.9622178427084648 + ], + "camera_target": [ + -3.092834555381781, + -0.9486186660401833, + 0.8893592045356342 + ], + "camera_roll_rad": -0.038888024932703665, + "camera_pose_world_cv": [ + [ + -0.9929075241088867, + -0.06291623413562775, + -0.10087627172470093, + -3.040898084640503 + ], + [ + 0.09065568447113037, + 0.1482689380645752, + -0.9847831130027771, + -0.4416009187698364 + ], + [ + 0.0769156664609909, + -0.9869436621665955, + -0.14151376485824585, + 0.9622178673744202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24789699510904425, + 0.24030310623876205, + 0.24938592787167563 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9961626796319171, + 1.0408703815802192, + 1.1124027046975027 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6344.534701188443, + "intensity": 1.05875346235954 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7216717357395472, + 0.7270855540353209, + 0.7357476633085591 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5648.4761129383505, + "intensity": 0.7292510813536305 + }, + "point_color_scale": [ + 0.9542756054071745, + 0.9139778303259541, + 0.8448959301867193 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce94695d07625b8b89c98df9ff0cd31596e28f4d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2503630183083247, + "K": [ + [ + 340.1731229360134, + 0.0, + 293.09279830034706 + ], + [ + 0.0, + 332.5202893435727, + 244.5175345999905 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7316338152899418, + -1.1436024179624598, + 0.7147485700925936 + ], + "camera_target": [ + -3.065938288031321, + -0.9949008045251252, + 0.8803944866677114 + ], + "camera_roll_rad": 2.007114365202428e-05, + "camera_pose_world_cv": [ + [ + 0.21801412105560303, + 0.2303025722503662, + 0.9483832120895386, + -3.7316339015960693 + ], + [ + -0.9759457111358643, + 0.051485657691955566, + 0.21184757351875305, + -1.1436023712158203 + ], + [ + -3.898143768310547e-05, + -0.9717562198638916, + 0.23598742485046387, + 0.7147485613822937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3291937799209732, + 0.3706078150260074, + 0.3680264423656317 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1161171439592288, + 1.0973270075568757, + 1.0651153451528417 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5255.37782430849, + "intensity": 1.0973270075568757 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6502960415330816, + 0.6245337981162274, + 0.5803699522587631 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4910.709156298198, + "intensity": 0.6245337981162274 + }, + "point_color_scale": [ + 0.922027380881183, + 0.9449930230421859, + 0.9817380504997909 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..efa39c38dad1a07c30835b7465a7b479ed3d397d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8588244126085753, + "K": [ + [ + 538.2243598508193, + 0.0, + 343.0144367294508 + ], + [ + 0.0, + 524.120701994039, + 225.75802509086319 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4521617719585467, + -1.0632373269990614, + 1.1119800493854672 + ], + "camera_target": [ + -3.046154099091509, + -0.9617499059317666, + 0.929796863844063 + ], + "camera_roll_rad": 0.0009557578214623302, + "camera_pose_world_cv": [ + [ + 0.1689608097076416, + 0.2849361002445221, + -0.9435379505157471, + -2.4521617889404297 + ], + [ + 0.9856212139129639, + -0.05062234401702881, + 0.16120949387550354, + -1.0632373094558716 + ], + [ + -0.001829773187637329, + -0.9572089910507202, + -0.2893921136856079, + 1.1119800806045532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29955885827383016, + 0.31045355514336725, + 0.3162324442332812 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9746737457948375, + 1.0109135433539538, + 1.0688972194485404 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6206.8356376405545, + "intensity": 1.0254094623776004 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.9604093898704776, + 0.9377524468383016, + 0.8989119730688566 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5154.844286638065, + "intensity": 0.9377524468383016 + }, + "point_color_scale": [ + 1.000630019647881, + 1.0286742097913635, + 1.0735449140209354 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1993e94bc21885180ca63136c34b0b7ca71cbc06 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8100809913665373, + "K": [ + [ + 571.4915993657504, + 0.0, + 336.24072008114223 + ], + [ + 0.0, + 559.770075910149, + 249.5297460206763 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.511893825666044, + -0.3355913142337599, + 0.7928907705238301 + ], + "camera_target": [ + -3.097359459591741, + -0.9822901524954156, + 0.9652923024234233 + ], + "camera_roll_rad": -0.049551910872313136, + "camera_pose_world_cv": [ + [ + -0.7248201370239258, + -0.20283015072345734, + -0.6584038734436035, + -2.5118937492370605 + ], + [ + 0.6820662021636963, + -0.07662028074264526, + -0.727265477180481, + -0.33559131622314453 + ], + [ + 0.09706428647041321, + -0.976211667060852, + 0.19387948513031006, + 0.7928907871246338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2696960137021279, + 0.2942818328849894, + 0.2726103455654269 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0507267912027678, + 1.0845843538839757, + 1.1387564541739086 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6116.641809138435, + "intensity": 1.098127378956459 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6453772277180446, + 0.6166872337295977, + 0.5675043868922598 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4835.389100729256, + "intensity": 0.6166872337295977 + }, + "point_color_scale": [ + 1.0871312329776266, + 1.084912741438176, + 1.081109613084832 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf6a18d911ec41274b19e846d2bc0ab7515b0d4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9283504854748668, + "K": [ + [ + 468.9122874820297, + 0.0, + 301.52595247527563 + ], + [ + 0.0, + 479.36750690674086, + 239.89421579030582 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.348012111938754, + -1.1756657703291007, + 1.0173487944396982 + ], + "camera_target": [ + -3.0987038214584888, + -0.9661984839746108, + 0.9167922355459902 + ], + "camera_roll_rad": -0.03366411223605819, + "camera_pose_world_cv": [ + [ + 0.25986427068710327, + 0.14105674624443054, + -0.9552872180938721, + -2.3480122089385986 + ], + [ + 0.9633371829986572, + 0.030488014221191406, + 0.266556054353714, + -1.1756657361984253 + ], + [ + 0.0667242705821991, + -0.9895321130752563, + -0.12796235084533691, + 1.0173487663269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3468355875413528, + 0.33898113990596657, + 0.3512522046297167 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.126887914386026, + 1.0569843876034484, + 0.9371497702618868 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4555.216119659153, + "intensity": 1.0569843876034484 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5469407973122459, + 0.5559586909694136, + 0.570387320820882 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5822.317513923799, + "intensity": 0.5595658484322807 + }, + "point_color_scale": [ + 1.124838980781841, + 1.1295270489790379, + 1.137027958094553 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..756052255ec0587ca83b5b607fad7631f3bc3836 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8287334947532295, + "K": [ + [ + 518.8069859053714, + 0.0, + 342.99577799477044 + ], + [ + 0.0, + 545.6619534543704, + 251.1642956559799 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.117541958516673, + -1.1062445771502176, + 0.8236968597074524 + ], + "camera_target": [ + -3.0649456932338532, + -0.9740194915827478, + 0.8773430906135368 + ], + "camera_roll_rad": -0.004476721918930504, + "camera_pose_world_cv": [ + [ + 0.1387169361114502, + -0.05421566963195801, + -0.9888468980789185, + -2.117542028427124 + ], + [ + 0.9902917146682739, + 0.016606807708740234, + 0.13800910115242004, + -1.1062445640563965 + ], + [ + 0.00893932580947876, + -0.9983911514282227, + 0.055992960929870605, + 0.8236968517303467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.24374526739120483, + 0.9698392748832703, + 0.0, + -3.0585315227508545 + ], + [ + -0.9698392748832703, + 0.24374526739120483, + -0.0, + -0.9756724834442139 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.275995794040605, + 0.2693751916848505, + 0.27267469430929403 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1305499219037884, + 1.081092484815879, + 0.9963083069508913 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4846.462189438036, + "intensity": 1.081092484815879 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7578991030634181, + 0.7526827091985155, + 0.7437403197158252 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5400.994255022672, + "intensity": 0.7526827091985155 + }, + "point_color_scale": [ + 0.990266803557307, + 0.9851026600597195, + 0.9762498426352838 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ebc5aa4044b80ca0a760fe5a5ef6aee434e2e79e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8717755678986439, + "K": [ + [ + 489.8444297774133, + 0.0, + 301.71750084157236 + ], + [ + 0.0, + 515.27956168402, + 228.49741255886818 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9463933287063742, + -1.0792173503984013, + 0.7445005690617194 + ], + "camera_target": [ + -2.097106819205996, + -0.623852453043957, + 0.8954350415250064 + ], + "camera_roll_rad": -0.03950867982184099, + "camera_pose_world_cv": [ + [ + 0.9538358449935913, + -0.01908212900161743, + -0.29972171783447266, + -1.946393370628357 + ], + [ + 0.29073673486709595, + 0.3088721036911011, + 0.9055773019790649, + -1.0792173147201538 + ], + [ + 0.0752953290939331, + -0.9509122371673584, + 0.30016112327575684, + 0.7445005774497986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2893721246565782, + 0.3030488169457415, + 0.2893904610038487 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.131910340065874, + 1.0652355272377287, + 0.9509358481037654 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4605.834060391987, + "intensity": 1.0652355272377287 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8165101619252364, + 0.7903317376447228, + 0.7454544388781278 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5026.809475175425, + "intensity": 0.7903317376447228 + }, + "point_color_scale": [ + 0.8889580970217142, + 0.887258389544378, + 0.8843446052975156 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f39699011b5f5dfdcaab4c131470b84cda2c06 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1893976037686258, + "K": [ + [ + 353.4914099727172, + 0.0, + 335.3346502352425 + ], + [ + 0.0, + 354.82882878902745, + 254.288439154602 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0658263823876557, + -1.345682647188586, + 0.9375386266327763 + ], + "camera_target": [ + -2.087307817433874, + -0.6285684985017772, + 0.9437728231174349 + ], + "camera_roll_rad": -0.01288545061816769, + "camera_pose_world_cv": [ + [ + 0.999226450920105, + 0.025496408343315125, + -0.0299410168081522, + -2.065826416015625 + ], + [ + 0.02970840036869049, + 0.009454131126403809, + 0.9995140433311462, + -1.3456826210021973 + ], + [ + 0.025767074897885323, + -0.9996303915977478, + 0.008689403533935547, + 0.9375386238098145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26797773788523693, + 0.25345843932839174, + 0.2652770920812495 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0270679294478684, + 1.0762370981117622, + 1.1549077679739925 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6397.325574416892, + "intensity": 1.0959047655773198 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7832572600216136, + 0.7977780320494151, + 0.8210112672938975 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5861.39917491011, + "intensity": 0.8035863408605357 + }, + "point_color_scale": [ + 1.1059984342775833, + 1.1414526716494264, + 1.1981794514443758 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..384069f323546c722da07eb8f9350f893c269bcb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2724863366070425, + "K": [ + [ + 318.98823779632045, + 0.0, + 301.540919314435 + ], + [ + 0.0, + 324.88599581024954, + 228.79379015993752 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3370244159664353, + -0.013114365034278208, + 0.6493777185410554 + ], + "camera_target": [ + -2.1243928607340785, + -0.5991399296726295, + 0.9252595656421928 + ], + "camera_roll_rad": 0.045093731361011094, + "camera_pose_world_cv": [ + [ + -0.6141848564147949, + -0.16241052746772766, + -0.7722692489624023, + -1.337024450302124 + ], + [ + 0.7843844890594482, + -0.23315298557281494, + -0.574787437915802, + -0.013114364817738533 + ], + [ + -0.0867052972316742, + -0.9587817788124084, + 0.2705913782119751, + 0.649377703666687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2114108816525856, + 0.23040453334474184, + 0.23131415648224302 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.8792061566866909, + 0.9066837093212005, + 0.950647793536416 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6098.851678595988, + "intensity": 0.9176747303750044 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6850352758378819, + 0.686656688641752, + 0.689250949127944 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5547.181737517416, + "intensity": 0.6873052537633 + }, + "point_color_scale": [ + 1.1248175176021336, + 1.1301055966686413, + 1.1385665231750541 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81e0ac869365e8fd3c1e8bc32ff50941887b81e6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0480087108883351, + "K": [ + [ + 418.3117119018115, + 0.0, + 325.2691863832743 + ], + [ + 0.0, + 415.3031104683393, + 222.13808983311796 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.113096033025461, + -1.6183139924993446, + 0.9167846661610666 + ], + "camera_target": [ + -2.0602357412250925, + -0.6498010517976063, + 0.9651453766354078 + ], + "camera_roll_rad": -0.027992642144358756, + "camera_pose_world_cv": [ + [ + 0.9967976212501526, + 0.05858244374394417, + 0.054429784417152405, + -2.113095998764038 + ], + [ + -0.0571943037211895, + 0.04659557342529297, + 0.9972752332687378, + -1.6183140277862549 + ], + [ + 0.055886633694171906, + -0.9971946477890015, + 0.0497969388961792, + 0.9167846441268921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30748436629784853, + 0.301471045494375, + 0.321573165953473 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1563444937850635, + 1.1781200337000535, + 1.2129608975640378 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5866.952896947433, + "intensity": 1.1868302496660497 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7828247205991057, + 0.7587542504522171, + 0.7174905873432655 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5046.804701210806, + "intensity": 0.7587542504522171 + }, + "point_color_scale": [ + 1.0153381448639285, + 1.003386087202634, + 0.9828968454975575 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f132ba3768dff41fa3f09fb47ed240816648f98f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2277269450829325, + "K": [ + [ + 332.7266095914552, + 0.0, + 295.6217918824962 + ], + [ + 0.0, + 340.5776119436568, + 262.2916346159326 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4377914902250364, + -0.14842891326609964, + 0.7836412208292604 + ], + "camera_target": [ + -2.058066088200865, + -0.6018008097485209, + 0.9229355669449104 + ], + "camera_roll_rad": 0.02893674321993639, + "camera_pose_world_cv": [ + [ + -0.7568275928497314, + 0.19130569696426392, + 0.6249911785125732, + -2.437791585922241 + ], + [ + -0.651185154914856, + -0.1383267045021057, + -0.7462061643600464, + -0.14842891693115234 + ], + [ + -0.05630055069923401, + -0.9717344045639038, + 0.22926485538482666, + 0.7836412191390991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30888939846134933, + 0.3311367921872854, + 0.3119994855875621 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9517542182860809, + 0.9183436827237537, + 0.8610684789026211 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4980.267165599179, + "intensity": 0.9183436827237537 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.9054353014516903, + 0.9262709779486968, + 0.9596080603439078 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5945.871163882037, + "intensity": 0.9346052485474996 + }, + "point_color_scale": [ + 0.9994626747557102, + 1.0104852728989246, + 1.0281214299280677 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e69e08194501d1bd4416ba8c49ddb98c60020ed5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1074641874287083, + "K": [ + [ + 379.2087818808274, + 0.0, + 328.851223444183 + ], + [ + 0.0, + 388.1912266630609, + 247.69182250463453 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.150734127847042, + -0.10391641104268556, + 0.7013829728556954 + ], + "camera_target": [ + -2.0630050457651, + -0.6847467944962825, + 0.8884968356985388 + ], + "camera_roll_rad": 0.003432167428714321, + "camera_pose_world_cv": [ + [ + -0.9884505271911621, + 0.052114542573690414, + 0.14230221509933472, + -2.1507341861724854 + ], + [ + -0.15140365064144135, + -0.2990736961364746, + -0.9421421885490417, + -0.10391641408205032 + ], + [ + -0.006540454924106598, + -0.9528059363365173, + 0.3035099506378174, + 0.7013829946517944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25848918597256976, + 0.2451506379524595, + 0.25169756856121156 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0612010584970548, + 1.0683290343832226, + 1.0797337958010906 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5633.086398003905, + "intensity": 1.0711802247376896 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7983397019784602, + 0.7881129012389579, + 0.7705812428283825 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5314.624080900352, + "intensity": 0.7881129012389579 + }, + "point_color_scale": [ + 1.0243315660450576, + 0.9825790307462504, + 0.9110032559482951 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..166c11130bd3d8bfcb327e5232c7b2beebdee590 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9430250727406874, + "K": [ + [ + 478.88108619578554, + 0.0, + 324.9875120709729 + ], + [ + 0.0, + 470.70805648663486, + 239.50661336784702 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.5240659705484942, + -0.4055046479256192, + 1.020572390743696 + ], + "camera_target": [ + -2.114732781171457, + -0.6087648795946108, + 0.889530050357429 + ], + "camera_roll_rad": 0.035833552140667496, + "camera_pose_world_cv": [ + [ + -0.4612853527069092, + -0.21438440680503845, + 0.8609617948532104, + -2.5240659713745117 + ], + [ + -0.8845778703689575, + 0.18640363216400146, + -0.42752283811569214, + -0.40550464391708374 + ], + [ + -0.0688321590423584, + -0.9587977528572083, + -0.2756248712539673, + 1.0205724239349365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611862540245056, + 0.0, + -2.092844009399414 + ], + [ + -0.5611862540245056, + -0.827689528465271, + -0.0, + -0.6371751427650452 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32514665409161514, + 0.3381270828357874, + 0.3232463988103866 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.8196831048470651, + 0.8536849054648752, + 0.9080877864533714 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6284.096948220404, + "intensity": 0.8672856257119992 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.815922150796756, + 0.8031160657250134, + 0.7811627770305974 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5272.207181177091, + "intensity": 0.8031160657250134 + }, + "point_color_scale": [ + 0.850603208844566, + 0.8756485508528199, + 0.9157210980660262 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..893b671036390f8d058f3725a3c8f8febc202706 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2381330555566497, + "K": [ + [ + 323.3710531399935, + 0.0, + 323.00670575038953 + ], + [ + 0.0, + 336.84176798801514, + 236.9125241792949 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3243573482190834, + -1.221705775703072, + 0.6721674700913374 + ], + "camera_target": [ + -2.065241089795883, + -0.605122919826309, + 0.918855862630376 + ], + "camera_roll_rad": -0.010046290447835698, + "camera_pose_world_cv": [ + [ + 0.6433818340301514, + -0.17768514156341553, + -0.74463951587677, + -1.3243573904037476 + ], + [ + 0.765298068523407, + 0.1740131378173828, + 0.6197085976600647, + -1.2217057943344116 + ], + [ + 0.019463926553726196, + -0.9685803055763245, + 0.2479391098022461, + 0.6721674799919128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36050182584288076, + 0.3342623113283613, + 0.3334292147836211 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9744672723429129, + 0.9443178444101007, + 0.8926331108109944 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5043.897093679363, + "intensity": 0.9443178444101007 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8182874147674523, + 0.7966855362624944, + 0.7596537445397096 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5112.647336608779, + "intensity": 0.7966855362624944 + }, + "point_color_scale": [ + 0.9439332370589496, + 0.95625774916988, + 0.9759769685473686 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a61fd96d023819bbe63b7cfc2d60e19c8fba03a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1562575904470913, + "K": [ + [ + 359.88674148540974, + 0.0, + 342.9831581567259 + ], + [ + 0.0, + 367.81760890387085, + 249.26797650652864 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9997191623779216, + -0.5956718869475509, + 1.1011670036208085 + ], + "camera_target": [ + -2.1306589720993303, + -0.6090483755072289, + 0.9110648777693668 + ], + "camera_roll_rad": 0.0014521797199665426, + "camera_pose_world_cv": [ + [ + -0.016010522842407227, + -0.21359658241271973, + 0.9767908453941345, + -2.9997191429138184 + ], + [ + -0.9998679161071777, + 0.006192445755004883, + -0.015034615993499756, + -0.5956718921661377 + ], + [ + -0.0028373003005981445, + -0.976902425289154, + -0.2136673927307129, + 1.1011669635772705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30459113028067525, + 0.3141078456118488, + 0.3124772473952364 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.8802156336625537, + 0.9109824979161762, + 0.9602094807219721 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6166.462096603053, + "intensity": 0.9232892436176252 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6650632614574874, + 0.6712539349057131, + 0.6811590124228741 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5683.773071441721, + "intensity": 0.6737302042850033 + }, + "point_color_scale": [ + 0.983621327543929, + 0.9425050269374795, + 0.872019940183566 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb4afd7db508f86eb33c3b647a75833b3506637d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.080121715492324, + "K": [ + [ + 394.7984361516874, + 0.0, + 314.1817286634772 + ], + [ + 0.0, + 400.3253637182014, + 241.6388265072991 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.6655707879930586, + -1.4229241730861366, + 1.116718221422574 + ], + "camera_target": [ + -2.0901502153560023, + -0.665789357767025, + 0.8981097556283806 + ], + "camera_roll_rad": 0.03368024791420608, + "camera_pose_world_cv": [ + [ + 0.7852331399917603, + -0.18884095549583435, + 0.5897017121315002, + -2.6655707359313965 + ], + [ + -0.615715742111206, + -0.13723516464233398, + 0.7759257555007935, + -1.4229241609573364 + ], + [ + -0.06559872627258301, + -0.9723712205886841, + -0.2240338921546936, + 1.1167181730270386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3046659154212611, + 0.3201921266504334, + 0.31043345687900675 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9696939264919783, + 0.9880750018384357, + 1.0174847223927677 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5869.310202953735, + "intensity": 0.9954274319770187 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7780609754477407, + 0.7569765799375947, + 0.7208319019202019 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5102.093832057826, + "intensity": 0.7569765799375947 + }, + "point_color_scale": [ + 1.00962051991563, + 0.9635324509032404, + 0.8845243325962864 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0154c024a116185407fe43f9c26a626f622f84d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8970005867616399, + "K": [ + [ + 519.469827474124, + 0.0, + 335.55723295601587 + ], + [ + 0.0, + 498.74611924617136, + 216.19001805417483 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6370545506868537, + -0.4110950562018267, + 0.9233883227110932 + ], + "camera_target": [ + -2.1411968021822534, + -0.6612934897341864, + 0.913452232607012 + ], + "camera_roll_rad": -0.04579176082152547, + "camera_pose_world_cv": [ + [ + -0.444132924079895, + -0.024911314249038696, + -0.8956145644187927, + -1.6370545625686646 + ], + [ + 0.8912825584411621, + 0.0897359848022461, + -0.4444805979728699, + -0.4110950529575348 + ], + [ + 0.09144139289855957, + -0.9956540465354919, + -0.01765155792236328, + 0.9233883023262024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611862540245056, + 0.0, + -2.092844009399414 + ], + [ + -0.5611862540245056, + -0.827689528465271, + -0.0, + -0.6371751427650452 + ], + [ + -0.0, + 0.0, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3040404453851424, + 0.30662733267635894, + 0.30749214641009326 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.098046767881649, + 1.146406178189197, + 1.2237812346812742 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6329.670387315298, + "intensity": 1.1657499423122164 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.9452734675895751, + 0.9390430002478607, + 0.9283621990906361 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5405.215547864462, + "intensity": 0.9390430002478607 + }, + "point_color_scale": [ + 1.0656032509688969, + 1.0413725531560132, + 0.9998342140482125 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..182ad7ae32eddfd329356cc5f3b7cc8665910c69 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1524237066348033, + "K": [ + [ + 385.59480450233974, + 0.0, + 311.3820629440629 + ], + [ + 0.0, + 369.36281090912036, + 235.5321766272794 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5728980942971256, + -0.8881896636670179, + 1.0561205038456642 + ], + "camera_target": [ + -2.0962118777292944, + -0.6213947379066191, + 0.8668028822656357 + ], + "camera_roll_rad": -0.01930778258628041, + "camera_pose_world_cv": [ + [ + 0.4433082938194275, + 0.29062342643737793, + -0.8479480147361755, + -1.5728981494903564 + ], + [ + 0.895615816116333, + -0.10483139753341675, + 0.43229949474334717, + -0.8881896734237671 + ], + [ + 0.03674471378326416, + -0.9510775804519653, + -0.30675947666168213, + 1.05612051486969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28915421041976136, + 0.28718986718908734, + 0.26881547850576665 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9660787566165226, + 0.9406364567320944, + 0.8970210855016458 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5113.600531513395, + "intensity": 0.9406364567320944 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6056757828799098, + 0.6055460589412345, + 0.6053236750463626 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5496.9396231771825, + "intensity": 0.6055460589412345 + }, + "point_color_scale": [ + 0.8425573551258206, + 0.8541902270951783, + 0.872802822246151 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6584e232c044348a29bf4d44a29b9e198857e4a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.918765844322945, + "K": [ + [ + 496.67381550097, + 0.0, + 347.41460893615687 + ], + [ + 0.0, + 485.161681409577, + 244.21622015942484 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6457875253194834, + -1.1697037522049143, + 0.9038804863198732 + ], + "camera_target": [ + -2.0444174819214487, + -0.5913286639600316, + 0.9532530659863854 + ], + "camera_roll_rad": 0.03234994056536786, + "camera_pose_world_cv": [ + [ + 0.8190833330154419, + -0.09294137358665466, + -0.5660957098007202, + -1.6457874774932861 + ], + [ + 0.5700374841690063, + 0.020918726921081543, + 0.8213523030281067, + -1.169703722000122 + ], + [ + -0.06449559330940247, + -0.9954517483711243, + 0.07011425495147705, + 0.9038804769515991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2277212505511909, + 0.24951682720339238, + 0.223111258328774 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9650587738526774, + 0.9647667693810947, + 0.964266190286953 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5495.6761648684715, + "intensity": 0.9647667693810947 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7304481686293403, + 0.7380608177110567, + 0.7502410562418029 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5705.440256633816, + "intensity": 0.7411058773437432 + }, + "point_color_scale": [ + 1.0088657883131944, + 1.0277390816331395, + 1.0579363509450515 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2216f3a1acfb899648b46e51011babeb394f6aef --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.106706165837645, + "K": [ + [ + 382.06995731545413, + 0.0, + 294.890670384907 + ], + [ + 0.0, + 388.52036628251346, + 225.63365707026603 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.540739931554021, + -1.4631565899487329, + 1.071272678240038 + ], + "camera_target": [ + -2.1134983601247326, + -0.6503873293289868, + 0.8868117921934222 + ], + "camera_roll_rad": 0.0002584306992634913, + "camera_pose_world_cv": [ + [ + 0.8174771070480347, + 0.10464957356452942, + -0.5663741230964661, + -1.540739893913269 + ], + [ + 0.5759608745574951, + -0.14939945936203003, + 0.8037095665931702, + -1.4631565809249878 + ], + [ + -0.0005081892013549805, + -0.9832234978675842, + -0.18240469694137573, + 1.0712727308273315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26827495298532295, + 0.24868660091267322, + 0.2599389351152743 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9751677351317791, + 0.9552856169561352, + 0.9212019857978885 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5202.675038113656, + "intensity": 0.9552856169561352 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7562852289817018, + 0.7826320196632748, + 0.8247868847537916 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6164.340966903804, + "intensity": 0.7931707359359039 + }, + "point_color_scale": [ + 1.002401574359334, + 1.0034816276815905, + 1.005209712997201 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..418b86a27ff89df9c57290a42e83b964e2381ac7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9582599648013218, + "K": [ + [ + 462.4424004310972, + 0.0, + 304.0586105586192 + ], + [ + 0.0, + 461.9777658155908, + 247.55824286443482 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4830397906253532, + -0.41615361558069053, + 1.0265291344619776 + ], + "camera_target": [ + -2.062902743486449, + -0.6803443777490513, + 0.90487921600596 + ], + "camera_roll_rad": 0.02425429107718656, + "camera_pose_world_cv": [ + [ + -0.40584278106689453, + 0.1905497908592224, + -0.8938583135604858, + -1.4830397367477417 + ], + [ + 0.9127011895179749, + 0.03353118896484375, + -0.40724992752075195, + -0.41615360975265503 + ], + [ + -0.04762938618659973, + -0.981104850769043, + -0.18752318620681763, + 1.0265291929244995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2905529615933089, + 0.29893168103686735, + 0.29058899966787183 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1999075675561945, + 1.1973659801387642, + 1.1930089731374551 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5469.676446232949, + "intensity": 1.1973659801387642 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8400031854310257, + 0.8040983626286753, + 0.742547237824646 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4862.110328944369, + "intensity": 0.8040983626286753 + }, + "point_color_scale": [ + 1.0904578087575725, + 1.0778426257981883, + 1.0562165978678157 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d267d50ea265e501ff5bb78e01ba4676b50f055 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.969645404454555, + "K": [ + [ + 468.0467825044673, + 0.0, + 333.78549409914785 + ], + [ + 0.0, + 455.6187926443428, + 228.96628169719105 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4328267628130331, + -0.8168062135829568, + 0.785862664590457 + ], + "camera_target": [ + -2.065574402251663, + -0.6404379221711745, + 0.9646766120268205 + ], + "camera_roll_rad": -0.04406679522711782, + "camera_pose_world_cv": [ + [ + 0.2897273302078247, + -0.2284035086631775, + -0.9294567704200745, + -1.4328267574310303 + ], + [ + 0.9533336758613586, + 0.15503859519958496, + 0.2590712010860443, + -0.8168061971664429 + ], + [ + 0.08492892980575562, + -0.9611424207687378, + 0.26266372203826904, + 0.7858626842498779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.827689528465271, + 0.5611863732337952, + -3.948391125163653e-08, + -2.092844009399414 + ], + [ + -0.5611863732337952, + -0.827689528465271, + -7.447447814001862e-08, + -0.6371751427650452 + ], + [ + -7.447447814001862e-08, + -3.948391125163653e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.331031298908505, + 0.3162752899116929, + 0.3452542817259354 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1377231512659738, + 1.1649731500302987, + 1.2085731480532187 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5963.485347464174, + "intensity": 1.1758731495360286 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6590376026793423, + 0.6760319278604517, + 0.7032228481502268 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5997.761776562422, + "intensity": 0.6828296579328955 + }, + "point_color_scale": [ + 0.9091266207802007, + 0.9441569251203967, + 1.0002054120647106 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_001/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63f81148385d88fe301e98e9414620f797101382 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0883659537561452, + "K": [ + [ + 415.52393284199457, + 0.0, + 336.09493986597664 + ], + [ + 0.0, + 396.6090348960039, + 235.3628746824632 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6929280888863083, + -1.365162310750819, + 1.0183780846563928 + ], + "camera_target": [ + -2.1974241052429746, + -0.9737827388870677, + 0.8774689172220382 + ], + "camera_roll_rad": -0.04311381686358126, + "camera_pose_world_cv": [ + [ + 0.596017062664032, + 0.22242528200149536, + -0.7715508937835693, + -1.6929280757904053 + ], + [ + 0.7985557913780212, + -0.06355589628219604, + 0.5985561013221741, + -1.3651622533798218 + ], + [ + 0.08409735560417175, + -0.9728760123252869, + -0.2154994010925293, + 1.0183781385421753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24542824114673978, + 0.2428553530066653, + 0.23627549426389116 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.032722788141577, + 1.045750343463338, + 1.0665944319781557 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5747.916921559189, + "intensity": 1.0509613655920425 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8057595844086005, + 0.8061546778767207, + 0.8067868274257133 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5509.80000589451, + "intensity": 0.8063127152639689 + }, + "point_color_scale": [ + 0.8306434329956823, + 0.8439178241523864, + 0.8651568500031128 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_002/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06282b8f5f8f82a30463b7b2b7b780212a8599d8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9446728991547776, + "K": [ + [ + 455.06160291877563, + 0.0, + 327.55988751918005 + ], + [ + 0.0, + 469.7512331950876, + 227.03505242145215 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4838710836013984, + -0.5165513522170617, + 0.77460854512054 + ], + "camera_target": [ + -2.1481465548220586, + -1.0021794686959453, + 0.9534051027864701 + ], + "camera_roll_rad": -0.015345262083807931, + "camera_pose_world_cv": [ + [ + -0.8272428512573242, + 0.1395077109336853, + 0.5442489981651306, + -2.4838709831237793 + ], + [ + -0.5610765218734741, + -0.2557605504989624, + -0.787260890007019, + -0.5165513753890991 + ], + [ + 0.029368460178375244, + -0.9566212892532349, + 0.2898505926132202, + 0.7746085524559021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3471348709674928, + 0.34347874908933645, + 0.3767414464254111 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.2042549461350511, + 1.1979860803183198, + 1.1872394532039232 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5425.245186547152, + "intensity": 1.1979860803183198 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6566806573509033, + 0.6449777496548225, + 0.6249156221758267 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5240.790444712595, + "intensity": 0.6449777496548225 + }, + "point_color_scale": [ + 0.8465151229067516, + 0.8165834439191882, + 0.7652719942262226 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_003/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e391ef878bd6c98b977cc6efcf76c07c95dbab1d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2263616373072788, + "K": [ + [ + 344.2432033818316, + 0.0, + 296.3211335999822 + ], + [ + 0.0, + 341.0718575275524, + 261.32777993089854 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.105245282723908, + -1.4416547271899156, + 0.6812412615376777 + ], + "camera_target": [ + -2.1651043254112405, + -1.0238352337896817, + 0.9887826663029213 + ], + "camera_roll_rad": -0.0051859074290643015, + "camera_pose_world_cv": [ + [ + 0.9907057881355286, + -0.07324283570051193, + -0.11461912840604782, + -2.105245351791382 + ], + [ + 0.1357637345790863, + 0.5843731164932251, + 0.8000478744506836, + -1.4416546821594238 + ], + [ + 0.008382551372051239, + -0.8081731796264648, + 0.5888855457305908, + 0.6812412738800049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2612845542339474, + 0.24886970668644218, + 0.24808500729973393 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.8488347682208183, + 0.8509458668111836, + 0.8543236245557679 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5549.568504710178, + "intensity": 0.8517903062473297 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6521209998583768, + 0.6255942277905189, + 0.5801197613884769 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4894.2497071591, + "intensity": 0.6255942277905189 + }, + "point_color_scale": [ + 0.9502821147428617, + 0.9655255240292192, + 0.9899149788873914 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_004/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ce3d519f6cf534139c397f349964f9e859e8e15 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7890346902795242, + "K": [ + [ + 580.8598038736546, + 0.0, + 292.19007748164563 + ], + [ + 0.0, + 576.4444638962259, + 243.02855368040775 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9633702446604249, + -0.5669530114679904, + 1.0943597508074778 + ], + "camera_target": [ + -2.1691809009156318, + -0.9717035262033042, + 0.9758953707921384 + ], + "camera_roll_rad": 0.04236032611096116, + "camera_pose_world_cv": [ + [ + -0.8785009384155273, + 0.18943926692008972, + -0.43857574462890625, + -1.9633702039718628 + ], + [ + 0.4706716239452362, + 0.18586206436157227, + -0.8625100255012512, + -0.5669530034065247 + ], + [ + -0.0818786770105362, + -0.9641410708427429, + -0.25244373083114624, + 1.0943597555160522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2552210924482092, + 0.24611161865293987, + 0.2614257749499413 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9082844548226818, + 0.9460900596229299, + 1.0065790273033268 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6286.623407535649, + "intensity": 0.9612123015430291 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6325572619078881, + 0.6421672322070423, + 0.6575431846856892 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5797.517132730117, + "intensity": 0.646011220326704 + }, + "point_color_scale": [ + 1.011324402801897, + 1.0404307130144186, + 1.0870008093544532 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_005/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eefca9b4b1ab8f2ddd2d2d0bbea471b751a88e39 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0197564126181529, + "K": [ + [ + 442.63409340469155, + 0.0, + 298.6445485694361 + ], + [ + 0.0, + 429.18545057559595, + 226.73704295357794 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9432393074709884, + -1.087220745167706, + 0.8089377672423658 + ], + "camera_target": [ + -2.1577319806284105, + -0.9521254550571864, + 0.8418765870570222 + ], + "camera_roll_rad": 0.021569334612414753, + "camera_pose_world_cv": [ + [ + 0.1710936427116394, + 0.0333462655544281, + 0.9846903085708618, + -2.943239212036133 + ], + [ + -0.9843121767044067, + 0.04949355125427246, + 0.16935193538665771, + -1.0872207880020142 + ], + [ + -0.0430884063243866, + -0.9982177019119263, + 0.041291236877441406, + 0.8089377880096436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21333817188620613, + 0.23423519595213052, + 0.22277694177307542 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.013717382887004, + 0.9484903540416456, + 0.8366725903067456 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4517.581260768499, + "intensity": 0.9484903540416456 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8446666971488975, + 0.8611559418989083, + 0.8875387334989256 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5880.045257046864, + "intensity": 0.8677516397989127 + }, + "point_color_scale": [ + 1.0520805056396885, + 1.0887346589383085, + 1.1473813042161007 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_006/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c0e7204ae6ca9e87d7f33a0a4d8c34fd928ff69 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8343640729545664, + "K": [ + [ + 538.3803830034211, + 0.0, + 319.38929967017225 + ], + [ + 0.0, + 541.5201018951673, + 254.48468176720735 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.2651772871448683, + -1.5389940579600094, + 0.814269743102686 + ], + "camera_target": [ + -2.146891721561481, + -0.9649552571346441, + 0.9449891009531851 + ], + "camera_roll_rad": 0.0328459592039069, + "camera_pose_world_cv": [ + [ + 0.9801943898200989, + -0.02045600861310959, + 0.19697844982147217, + -2.2651772499084473 + ], + [ + -0.1873871088027954, + 0.22599375247955322, + 0.9559358358383179, + -1.5389940738677979 + ], + [ + -0.06407048553228378, + -0.9739141464233398, + 0.21768462657928467, + 0.8142697215080261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24158926817311185, + 0.24147069060668175, + 0.2411402455799364 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1287157156267436, + 1.096401550503038, + 1.0410058388623995 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5078.958156227658, + "intensity": 1.096401550503038 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6267574011493939, + 0.64703664091184, + 0.6794834245317536 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6119.073227323666, + "intensity": 0.6551483368168184 + }, + "point_color_scale": [ + 1.1681719005721969, + 1.1418591081368745, + 1.096751463962036 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_007/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..296384fe5724a4da7708d0f7fd752bbc2c8340c0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9029001136393539, + "K": [ + [ + 474.96846838052545, + 0.0, + 347.6484791331908 + ], + [ + 0.0, + 495.003826632439, + 231.3276550857745 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9516469906326555, + -1.3651777513838725, + 0.718065758054684 + ], + "camera_target": [ + -2.1820052785667294, + -1.0225681437452372, + 0.9361083197094024 + ], + "camera_roll_rad": -0.0004999109419403444, + "camera_pose_world_cv": [ + [ + 0.8301221132278442, + -0.25974589586257935, + -0.4933856427669525, + -1.9516470432281494 + ], + [ + 0.5575809478759766, + 0.3881096839904785, + 0.733808159828186, + -1.3651777505874634 + ], + [ + 0.0008841156959533691, + -0.8842527866363525, + 0.46700775623321533, + 0.7180657386779785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30568157235161, + 0.29984874700171604, + 0.3110000637261872 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.060532255800421, + 1.0778323094483964, + 1.105512395285157 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5818.96780776679, + "intensity": 1.0847523309075866 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8220897125222394, + 0.7864081113030121, + 0.7252396520700514 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4851.815993568426, + "intensity": 0.7864081113030121 + }, + "point_color_scale": [ + 1.1725390652154912, + 1.1697849775443414, + 1.1650636843937991 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_008/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18678fed8b32e252a694fef3d23dc60ec5a014d5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2133791579439648, + "K": [ + [ + 358.894463201899, + 0.0, + 338.41737118804 + ], + [ + 0.0, + 345.81998106007825, + 226.1146385845547 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.669233141579924, + -1.7109988293876497, + 0.8454424535150649 + ], + "camera_target": [ + -2.146894106015001, + -0.971220249423988, + 0.8711695020388569 + ], + "camera_roll_rad": -0.02587858477296563, + "camera_pose_world_cv": [ + [ + 0.8397921323776245, + 0.02764195203781128, + -0.542203962802887, + -1.6692330837249756 + ], + [ + 0.5404397249221802, + 0.05256319046020508, + 0.8397392630577087, + -1.710998773574829 + ], + [ + 0.05171199142932892, + -0.9982349276542664, + 0.029203295707702637, + 0.8454424738883972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2568285046625082, + 0.26138117211085915, + 0.2785630216467495 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9971810597677215, + 0.987804558939284, + 0.9717305575191055 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5364.396240508691, + "intensity": 0.987804558939284 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7589274788068794, + 0.7278289730446162, + 0.6745172488807366 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4889.603348470854, + "intensity": 0.7278289730446162 + }, + "point_color_scale": [ + 0.7660520092161387, + 0.7924435088713021, + 0.8346699083195637 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_009/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d605b61742499edfc50590b773c1a17b701d084c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.870001287390745, + "K": [ + [ + 541.8534356220216, + 0.0, + 299.11359749672783 + ], + [ + 0.0, + 516.4762019438579, + 254.7888373407249 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4707285451355399, + -1.2469095979785147, + 0.9826157293207533 + ], + "camera_target": [ + -2.164943894840308, + -0.9589350380485652, + 0.8592242787641696 + ], + "camera_roll_rad": 0.025459049653323323, + "camera_pose_world_cv": [ + [ + 0.39028143882751465, + 0.1299486756324768, + -0.9114789366722107, + -1.4707285165786743 + ], + [ + 0.9193248152732849, + -0.10900664329528809, + 0.3780999779701233, + -1.2469096183776855 + ], + [ + -0.050223708152770996, + -0.985510528087616, + -0.16200828552246094, + 0.9826157093048096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3263134796009957, + 0.3079102660211749, + 0.29682107998674684 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.980735614960713, + 0.9797567834056233, + 0.978078786454041 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5485.727776355631, + "intensity": 0.9797567834056233 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7795361151835009, + 0.7907609766489817, + 0.8087207549937513 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5782.297352087229, + "intensity": 0.795250921235174 + }, + "point_color_scale": [ + 0.8945396489720585, + 0.90544766318581, + 0.9229004859278128 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_010/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05142f8688660ea3529adc251b4960328f69ec1f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1904935973448378, + "K": [ + [ + 359.0022983326094, + 0.0, + 337.2735358323812 + ], + [ + 0.0, + 354.41017074137363, + 257.0721306376771 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.488839884804864, + -1.2366922776804565, + 0.8222096193653089 + ], + "camera_target": [ + -2.1690121711510284, + -0.9809007044418939, + 0.9634018706431342 + ], + "camera_roll_rad": 0.03174282083208388, + "camera_pose_world_cv": [ + [ + 0.33996522426605225, + -0.2004963755607605, + -0.9188171029090881, + -1.488839864730835 + ], + [ + 0.9383736252784729, + 0.007619500160217285, + 0.34553855657577515, + -1.2366923093795776 + ], + [ + -0.06227833032608032, + -0.9796648621559143, + 0.19073081016540527, + 0.8222095966339111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31475534090677476, + 0.32033875395253475, + 0.3269234440169867 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.8622462690495962, + 0.8728748062488466, + 0.8898804657676471 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5742.34909282669, + "intensity": 0.8771262211285467 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6009935664485919, + 0.6228798664547386, + 0.6578979464645733 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6193.00533585278, + "intensity": 0.6316343864571973 + }, + "point_color_scale": [ + 0.8359110081267911, + 0.8019279144312117, + 0.7436711823816472 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_011/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f6c8cd0c1d36f38877cd1ceac4b81eda313108 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8065754982306114, + "K": [ + [ + 566.1907520236725, + 0.0, + 342.71725737656635 + ], + [ + 0.0, + 562.49023328742, + 233.16153228692744 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4871830176539573, + -1.524363147562338, + 0.6700787960769173 + ], + "camera_target": [ + -2.222401435926468, + -0.9351108218193352, + 0.8679077740611776 + ], + "camera_roll_rad": 0.04288701507202701, + "camera_pose_world_cv": [ + [ + 0.9190707802772522, + 0.04143163561820984, + 0.39190858602523804, + -2.487183094024658 + ], + [ + -0.38548538088798523, + 0.3012164831161499, + 0.8721637725830078, + -1.5243631601333618 + ], + [ + -0.08191411197185516, + -0.9526553153991699, + 0.2928105592727661, + 0.6700788140296936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23685731650196223, + 0.24790327327554829, + 0.23697202643394139 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0021702673005957, + 0.9654535455890815, + 0.9025105940836285 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4956.706541422735, + "intensity": 0.9654535455890815 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6137108719603055, + 0.5862736114683371, + 0.5392383077678201 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4831.436966454452, + "intensity": 0.5862736114683371 + }, + "point_color_scale": [ + 0.8172938743961652, + 0.850318192900561, + 0.9031571025075946 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_012/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..493effd228777dd342cc7e97a08e53f66e1b5e37 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8890119820343799, + "K": [ + [ + 518.0546203339311, + 0.0, + 289.14844562514236 + ], + [ + 0.0, + 503.8873439290657, + 233.01812843290966 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.063869262147489, + -1.4186251084875992, + 0.8476831839621548 + ], + "camera_target": [ + -2.145300846636922, + -0.997195698271126, + 0.9230335374325579 + ], + "camera_roll_rad": 0.0295874504626185, + "camera_pose_world_cv": [ + [ + 0.9781801700592041, + -0.09081220626831055, + -0.18686026334762573, + -2.0638692378997803 + ], + [ + 0.19942566752433777, + 0.15824854373931885, + 0.9670506715774536, + -1.4186251163482666 + ], + [ + -0.05824964493513107, + -0.9832144975662231, + 0.1729058027267456, + 0.8476831912994385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3558099029845994, + 0.3509146676507367, + 0.3458452505779414 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1654043260754212, + 1.1738737471153953, + 1.1874248207793536 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5643.8834265494725, + "intensity": 1.1772615155313848 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5447304896681829, + 0.5635045788191944, + 0.5935431214608127 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6157.569940465369, + "intensity": 0.571014214479599 + }, + "point_color_scale": [ + 1.088187951360636, + 1.0636644723688766, + 1.0216242226687176 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_013/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3244bcb292d5b1457e26a8a8b4bb193be9970f8f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.017971585992253, + "K": [ + [ + 428.93366375944044, + 0.0, + 312.01206572117246 + ], + [ + 0.0, + 430.0859949481711, + 232.84178849048823 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8412861920165535, + -0.8643926738160757, + 0.7452235074043266 + ], + "camera_target": [ + -2.200049451387084, + -0.9793438574041732, + 0.9887624282080554 + ], + "camera_roll_rad": -0.03071230365502839, + "camera_pose_world_cv": [ + [ + -0.19727742671966553, + 0.33319157361984253, + 0.9219898581504822, + -2.8412861824035645 + ], + [ + -0.9786601662635803, + -0.12209397554397583, + -0.16528025269508362, + -0.8643926978111267 + ], + [ + 0.05749952793121338, + -0.9349206686019897, + 0.35016775131225586, + 0.7452235221862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2525155216559739, + 0.26565467862845166, + 0.2491521436204579 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.936261816644207, + 0.8820577253248054, + 0.789136425920117 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4622.116229501197, + "intensity": 0.8820577253248054 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.9067409310560631, + 0.9338191097991342, + 0.977144195788048 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6073.295248257056, + "intensity": 0.9446503812963626 + }, + "point_color_scale": [ + 0.9137645594080023, + 0.8935904072859023, + 0.8590061465051596 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_014/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46e8a01d10f3f6d032b72ec64f45c305c77aa1e8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0809754509512512, + "K": [ + [ + 389.11659056743986, + 0.0, + 306.9924656853565 + ], + [ + 0.0, + 399.9381495136033, + 229.73966714088988 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9002717307272323, + -0.13712141581339643, + 0.9216352202419515 + ], + "camera_target": [ + -2.12630111181118, + -0.995106253558548, + 0.904306561711115 + ], + "camera_roll_rad": -0.011627982459216493, + "camera_pose_world_cv": [ + [ + -0.9668610095977783, + -0.017513498663902283, + -0.2547015845775604, + -1.9002717733383179 + ], + [ + 0.2542421817779541, + 0.02480149269104004, + -0.9668225646018982, + -0.13712140917778015 + ], + [ + 0.023249424993991852, + -0.9995389580726624, + -0.019526898860931396, + 0.9216352105140686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31309712336615647, + 0.3398410478701247, + 0.33716622440221217 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9258912740566841, + 0.9191866851173999, + 0.9076931040786269 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5395.799358780375, + "intensity": 0.9191866851173999 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5955334290239026, + 0.5725927966887057, + 0.5332659983997965 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 4927.650293595272, + "intensity": 0.5725927966887057 + }, + "point_color_scale": [ + 0.9477790496411278, + 0.9393881000908018, + 0.9250036151473857 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_015/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c1e3649f213d2e1fdc74c2e6ebcb0f0b36e2414 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.284746066331899, + "K": [ + [ + 311.76035349859274, + 0.0, + 326.4364405542943 + ], + [ + 0.0, + 320.75318360179784, + 219.32831339966177 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.869339027904211, + -1.3019612497105397, + 0.714238310199927 + ], + "camera_target": [ + -2.1491417114894165, + -1.028695353578364, + 0.978069477133269 + ], + "camera_roll_rad": 0.028791046854870744, + "camera_pose_world_cv": [ + [ + 0.6745176911354065, + -0.43962985277175903, + -0.5930864214897156, + -1.8693389892578125 + ], + [ + 0.7367154955863953, + 0.34891605377197266, + 0.5792306065559387, + -1.3019613027572632 + ], + [ + -0.047709763050079346, + -0.827637255191803, + 0.559232234954834, + 0.7142382860183716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3584779904297606, + 0.3537928971381639, + 0.3527101741243055 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1022961481139404, + 1.0933473943928937, + 1.0780066737282423 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5383.075279158569, + "intensity": 1.0933473943928937 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5613906726061348, + 0.5550129607168814, + 0.5440797403353042 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5335.841365346144, + "intensity": 0.5550129607168814 + }, + "point_color_scale": [ + 0.989255588867455, + 0.9500105398497745, + 0.882733312962322 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b03_016/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d10219c13469c4ff632a453b4b85997ea7fcc2ad --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b03_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2305038103764252, + "K": [ + [ + 333.8941230995268, + 0.0, + 312.72980466601535 + ], + [ + 0.0, + 339.5753263372337, + 237.02603354049052 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5662694206419205, + -0.8559775759201029, + 1.0920050636638612 + ], + "camera_target": [ + -2.1567260694528048, + -0.941679125189448, + 0.8972776137785822 + ], + "camera_roll_rad": 0.016551537529524443, + "camera_pose_world_cv": [ + [ + -0.1333984136581421, + 0.3116333782672882, + -0.9407920837402344, + -1.5662693977355957 + ], + [ + 0.9905630350112915, + 0.011788129806518555, + -0.13655078411102295, + -0.8559775948524475 + ], + [ + -0.03146371245384216, + -0.9501293897628784, + -0.3102648854255676, + 1.0920050144195557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.29974716901779175, + -0.9540187120437622, + -4.8050129208832004e-08, + -2.1751797199249268 + ], + [ + 0.9540187120437622, + 0.29974716901779175, + -3.526895042682554e-08, + -0.9843241572380066 + ], + [ + 4.8050129208832004e-08, + -3.526895042682554e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2526231301639357, + 0.23460274319089577, + 0.24083805809093795 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9054036595676924, + 0.9126244015710198, + 0.9241775887763437 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5657.742039322116, + "intensity": 0.9155126983723507 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6555054067059917, + 0.6343097351206315, + 0.597974298117157 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5022.638087361685, + "intensity": 0.6343097351206315 + }, + "point_color_scale": [ + 1.0623968750567117, + 1.0320038635520496, + 0.9799015581154864 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_001/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14c204755871cd7140e7f476aea30b50b0b2a14e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8367607222121062, + "K": [ + [ + 553.3452324958374, + 0.0, + 325.52729700310937 + ], + [ + 0.0, + 539.7730538008437, + 218.8799646252532 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.01535371485874, + -0.09039858830591174, + 1.0589146829212115 + ], + "camera_target": [ + -3.0092622498772377, + -0.6678418792927432, + 0.9365822786580378 + ], + "camera_roll_rad": -0.029333182711302745, + "camera_pose_world_cv": [ + [ + -0.9980957508087158, + -0.06081167608499527, + 0.010319201275706291, + -3.0153536796569824 + ], + [ + -0.02268046699464321, + 0.206254243850708, + -0.9782354831695557, + -0.09039858728647232 + ], + [ + 0.057359762489795685, + -0.9766068458557129, + -0.20724093914031982, + 1.0589146614074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3443462490412797, + 0.32417288331981564, + 0.33252437969196896 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9043797580448165, + 0.9138758005661484, + 0.9290694686002795 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5706.958904139837, + "intensity": 0.9176742175746813 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8725304696604729, + 0.8654819717553752, + 0.8533988324894936 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5383.656932782256, + "intensity": 0.8654819717553752 + }, + "point_color_scale": [ + 1.05637002203998, + 1.0831834755163559, + 1.1260850010785572 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_002/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2259991aae9374220421c66547f0caf6f9fb24bc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1918299385307942, + "K": [ + [ + 357.69287915212607, + 0.0, + 288.41044719994744 + ], + [ + 0.0, + 353.90061826298427, + 258.28749319513685 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8445933924950246, + -1.087503711649435, + 0.897765644096559 + ], + "camera_target": [ + -3.063685498443165, + -0.5972365497823967, + 0.9855066613099297 + ], + "camera_roll_rad": -0.004635894918759681, + "camera_pose_world_cv": [ + [ + 0.5309467911720276, + 0.08515599370002747, + 0.8431156277656555, + -3.8445932865142822 + ], + [ + -0.8473548889160156, + 0.04251503944396973, + 0.5293223857879639, + -1.0875036716461182 + ], + [ + 0.009229958057403564, + -0.9954601526260376, + 0.09473061561584473, + 0.8977656364440918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2685842576369042, + 0.25941369619245963, + 0.2700293559730365 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1286587190126944, + 1.0874151707397886, + 1.016711945129093 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4958.170565750929, + "intensity": 1.0874151707397886 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8904269851207672, + 0.912528315445414, + 0.9478904439648492 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5979.749893494013, + "intensity": 0.9213688475752729 + }, + "point_color_scale": [ + 0.9853918170729357, + 0.9648268373027434, + 0.9295725862681281 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_003/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ebcd0a6c1ad529e939f117f378b1e0513167018 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.27180979232612, + "K": [ + [ + 340.9700949693438, + 0.0, + 298.4746566075111 + ], + [ + 0.0, + 325.11605703293094, + 237.2423997061036 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.891837795858056, + -0.2265517820601794, + 0.84051948755973 + ], + "camera_target": [ + -3.0216853765800016, + -0.6325351033958017, + 0.9805721063335661 + ], + "camera_roll_rad": 0.021362141169445764, + "camera_pose_world_cv": [ + [ + -0.9556622505187988, + -0.054325029253959656, + -0.2894105017185211, + -2.8918378353118896 + ], + [ + 0.29165589809417725, + -0.3100593090057373, + -0.9048756957054138, + -0.22655178606510162 + ], + [ + -0.04057704657316208, + -0.9491638541221619, + 0.31215620040893555, + 0.8405194878578186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2959432277150806, + 0.29226930825701397, + 0.3069580369350492 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.8833896776408087, + 0.8776774237451459, + 0.8678849884954384 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5407.023212773682, + "intensity": 0.8776774237451459 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7449667219746415, + 0.7498481737017882, + 0.7576584964652232 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5629.86025083442, + "intensity": 0.751800754392647 + }, + "point_color_scale": [ + 0.9434268528631776, + 0.9798062378578025, + 1.0380132538492024 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_004/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..421d04e5b5a6a989664bbfb43796cdeefd6500bf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.055447458855124, + "K": [ + [ + 393.2024147201882, + 0.0, + 289.22083559638804 + ], + [ + 0.0, + 411.7603077096523, + 241.2287504047836 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.5409582485641273, + -1.277130549636835, + 1.0434674294398447 + ], + "camera_target": [ + -3.0430770368600877, + -0.5949888332167063, + 0.9534989742771941 + ], + "camera_roll_rad": -0.031002389499803287, + "camera_pose_world_cv": [ + [ + 0.7999168038368225, + 0.11239737272262573, + -0.5894913077354431, + -2.5409581661224365 + ], + [ + 0.5969391465187073, + -0.04816639423370361, + 0.8008394837379456, + -1.2771306037902832 + ], + [ + 0.06161850690841675, + -0.9924953579902649, + -0.10562348365783691, + 1.043467402458191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3646492689576057, + 0.37224337099895094, + 0.36967336773776643 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0426641815547812, + 0.9945708966524821, + 0.9121252653913982 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4809.202662687842, + "intensity": 0.9945708966524821 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6422454765651514, + 0.6622395463012986, + 0.6942300578791338 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6096.626701887693, + "intensity": 0.6702371741957573 + }, + "point_color_scale": [ + 0.8463753938294841, + 0.8759388719147806, + 0.9232404368512551 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_005/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..553dc5f2b0c9b11a5ba0e4a16c9e4b1f39e3e981 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1391254336641246, + "K": [ + [ + 391.84449857702054, + 0.0, + 289.32689571244845 + ], + [ + 0.0, + 374.79398765785265, + 242.05669254787168 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7248267410626585, + -0.7267683988791612, + 0.7496628168626468 + ], + "camera_target": [ + -2.9844094719548777, + -0.6788382739818744, + 0.9408819877526585 + ], + "camera_roll_rad": -0.027926617259486825, + "camera_pose_world_cv": [ + [ + 0.05059516429901123, + 0.25226110219955444, + 0.9663357138633728, + -3.7248268127441406 + ], + [ + -0.997255265712738, + -0.03961116075515747, + 0.06255462765693665, + -0.7267683744430542 + ], + [ + 0.05405789613723755, + -0.9668482542037964, + 0.24956464767456055, + 0.7496628165245056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30638621343483063, + 0.3095225793094074, + 0.32022724133419295 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1312514031189085, + 1.143877999969777, + 1.164080554931167 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5719.797756369695, + "intensity": 1.1489286387101245 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.9113226156321865, + 0.9084382425195208, + 0.903493602897808 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5454.641572478655, + "intensity": 0.9084382425195208 + }, + "point_color_scale": [ + 0.7939647179650942, + 0.8264208141785484, + 0.8783505681200754 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_006/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11706118043e9ae8eb3d78c085577e926b635de2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9476167405491874, + "K": [ + [ + 466.4938487294463, + 0.0, + 307.2833658537159 + ], + [ + 0.0, + 468.0495270149724, + 258.2725935020041 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2096635538213603, + -1.1463737798471945, + 1.0236158225864878 + ], + "camera_target": [ + -2.977916069124883, + -0.6068257094997707, + 0.8898494172651341 + ], + "camera_roll_rad": 0.021183694088221933, + "camera_pose_world_cv": [ + [ + 0.9142913222312927, + -0.1264948546886444, + 0.38479918241500854, + -3.2096636295318604 + ], + [ + -0.4029465615749359, + -0.1871812343597412, + 0.8958779573440552, + -1.1463737487792969 + ], + [ + -0.041296765208244324, + -0.9741469621658325, + -0.2221088409423828, + 1.023615837097168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33950479259802363, + 0.36960946281914286, + 0.3730377330733524 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9153117504865457, + 0.9212022579874366, + 0.9306270699888621 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5627.5611182120665, + "intensity": 0.9235584609877929 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.736509826899925, + 0.7535983940653834, + 0.7809401015301173 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5949.442586457406, + "intensity": 0.7604338209315669 + }, + "point_color_scale": [ + 1.1577670067933177, + 1.1437547667924923, + 1.1197337839339347 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_007/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13b44c83c9edec0969eab917c8b1b07c7b659376 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.82891837590457, + "K": [ + [ + 553.8244747988607, + 0.0, + 330.16127972445986 + ], + [ + 0.0, + 545.525113554604, + 239.5949859175698 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8582371269253017, + -0.7242869053373235, + 0.7906367263864694 + ], + "camera_target": [ + -3.0053673922808297, + -0.5846729109424714, + 0.9886439539470198 + ], + "camera_roll_rad": 0.045471181235232236, + "camera_pose_world_cv": [ + [ + 0.18089687824249268, + 0.20481377840042114, + 0.9619394540786743, + -3.8582370281219482 + ], + [ + -0.9795100092887878, + 0.12555372714996338, + 0.1574685275554657, + -0.7242869138717651 + ], + [ + -0.08852335810661316, + -0.9707149267196655, + 0.22332942485809326, + 0.7906367182731628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2954791727491979, + 0.29641978407775205, + 0.28913303565249465 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0597759020748208, + 1.034515496925892, + 0.9912119452420146 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5151.176872873051, + "intensity": 1.034515496925892 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6795049373025323, + 0.666006795391864, + 0.6428671235450044 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5210.467520664901, + "intensity": 0.666006795391864 + }, + "point_color_scale": [ + 0.8033655106911589, + 0.8276605933576737, + 0.8665327256240974 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_008/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..425a6ec5a9af088fa0a2fc5f7a7f79fc53bab5ef --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0024658492845537, + "K": [ + [ + 431.76327797859784, + 0.0, + 305.840866690603 + ], + [ + 0.0, + 438.0325753305154, + 253.37906583902046 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.828234956922603, + -1.030036641128151, + 1.1269780660333448 + ], + "camera_target": [ + -3.0412588833811647, + -0.629169196100467, + 0.9587683608305957 + ], + "camera_roll_rad": -0.049958180135252515, + "camera_pose_world_cv": [ + [ + 0.8623896837234497, + 0.25032109022140503, + -0.44002658128738403, + -2.828234910964966 + ], + [ + 0.4975290298461914, + -0.25848543643951416, + 0.8280400037765503, + -1.0300366878509521 + ], + [ + 0.09353536367416382, + -0.9330191612243652, + -0.3474571704864502, + 1.1269780397415161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29451026909581235, + 0.29456043674869775, + 0.3055257729049988 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1196365241514805, + 1.102003453777707, + 1.0717753331369524 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5271.415412105927, + "intensity": 1.102003453777707 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8165423816555639, + 0.7972342843477312, + 0.7641346889628754 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5154.016432865604, + "intensity": 0.7972342843477312 + }, + "point_color_scale": [ + 1.2049953120413366, + 1.1595738293582523, + 1.0817084304729652 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_009/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c46a0d27fcbfa4b442290b62dc8d1cb29446008f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2096331338500568, + "K": [ + [ + 357.53875085435175, + 0.0, + 326.0834141666577 + ], + [ + 0.0, + 347.2065654450582, + 225.12248535336164 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1691306335952127, + -1.2712038140037498, + 0.9946054849736015 + ], + "camera_target": [ + -2.971676253454664, + -0.6477366562754848, + 0.9721067886482728 + ], + "camera_roll_rad": 0.018041256619866497, + "camera_pose_world_cv": [ + [ + 0.9523370862007141, + -0.04476511478424072, + 0.30174529552459717, + -3.169130563735962 + ], + [ + -0.3029097020626068, + -0.02186405658721924, + 0.9527685642242432, + -1.2712037563323975 + ], + [ + -0.03605334460735321, + -0.9987584352493286, + -0.034381747245788574, + 0.9946054816246033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28752963527556924, + 0.28110418929569175, + 0.27405315304161465 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0914085609005832, + 1.1199336109420632, + 1.165573691008431 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6004.268539830094, + "intensity": 1.131343630958655 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6989255350418598, + 0.6793449471140132, + 0.6457782249519902 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5088.246463196879, + "intensity": 0.6793449471140132 + }, + "point_color_scale": [ + 0.8300322176124607, + 0.8466118212007098, + 0.8731391869419086 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_010/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b5798f32349f27b651ffa99f85d00b9b49b170f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2579981989324749, + "K": [ + [ + 342.8608318223381, + 0.0, + 346.60410725303166 + ], + [ + 0.0, + 329.85933767029053, + 223.63854453241944 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8647085580570932, + -1.1380167594932993, + 1.127938430385424 + ], + "camera_target": [ + -3.0288719977169243, + -0.6633470104782573, + 0.8835599627551833 + ], + "camera_roll_rad": -0.02173463333502418, + "camera_pose_world_cv": [ + [ + 0.9379684329032898, + 0.18393810093402863, + -0.29390811920166016, + -2.864708662033081 + ], + [ + 0.3445116877555847, + -0.3988956809043884, + 0.8498198986053467, + -1.138016700744629 + ], + [ + 0.03907559812068939, + -0.8983590602874756, + -0.4375203847885132, + 1.1279383897781372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3714816686953097, + 0.3442220015183934, + 0.3670551650343838 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0686710927722045, + 1.1225628031677124, + 1.208789539800525 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 6442.064373389284, + "intensity": 1.1441194873259155 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.664943496082797, + 0.6429904506288687, + 0.6053566584221346 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5012.255687857587, + "intensity": 0.6429904506288687 + }, + "point_color_scale": [ + 1.2385113373584298, + 1.193505541777372, + 1.1163527493527012 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_011/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9d4f00df5c7f7da51dcf9cbdf580dd76ca5631d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0143428988881447, + "K": [ + [ + 436.54567567170653, + 0.0, + 293.2993761141836 + ], + [ + 0.0, + 431.92578086027663, + 233.5075601561602 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6754056245728752, + -1.0813432123400175, + 0.7197569186660758 + ], + "camera_target": [ + -3.029492028957113, + -0.616476654956862, + 0.8815673462178983 + ], + "camera_roll_rad": -0.0035293280723857207, + "camera_pose_world_cv": [ + [ + 0.582990288734436, + 0.1658419966697693, + 0.7953733205795288, + -3.675405740737915 + ], + [ + -0.8124496936798096, + 0.11066031455993652, + 0.5724332332611084, + -1.081343173980713 + ], + [ + 0.006917178630828857, + -0.9799238443374634, + 0.19925212860107422, + 0.7197569012641907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2344888096007125, + 0.21607940080177432, + 0.22871424696976478 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9656736030496764, + 0.9360542366517987, + 0.8852781799697225 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5047.960161798435, + "intensity": 0.9360542366517987 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7825150409185456, + 0.7843003389990174, + 0.7871568159277721 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5545.484463674577, + "intensity": 0.7850144582312061 + }, + "point_color_scale": [ + 1.0784178802372937, + 1.0907062585009557, + 1.110367663722815 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_012/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a87d949645db5c63534754084eb06d65a60d591 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7911381509425787, + "K": [ + [ + 601.9439911719993, + 0.0, + 322.92357473098707 + ], + [ + 0.0, + 574.7401964735411, + 251.00638408945417 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7369842932338724, + -1.0986032288681518, + 1.037133257269289 + ], + "camera_target": [ + -3.047842222737007, + -0.6807464866106628, + 0.9734094820704986 + ], + "camera_roll_rad": -0.01170629425267438, + "camera_pose_world_cv": [ + [ + 0.5199143886566162, + -0.055244386196136475, + 0.8524302244186401, + -3.7369842529296875 + ], + [ + -0.8538995981216431, + -0.06087464094161987, + 0.5168655514717102, + -1.0986032485961914 + ], + [ + 0.023337572813034058, + -0.9966155886650085, + -0.07882267236709595, + 1.0371332168579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29123887626853784, + 0.30347541526015037, + 0.3091044439335207 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.120815414596801, + 1.092894002614716, + 1.0450287249311414 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5135.0265322387295, + "intensity": 1.092894002614716 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.5784884513159143, + 0.5864411622701278, + 0.5991654997968694 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5769.7561362168135, + "intensity": 0.5896222466518132 + }, + "point_color_scale": [ + 1.2130752033851777, + 1.195398088230775, + 1.1650944622517994 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_013/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e05ec2bf5d9df69b57d2915078050c9e9dd845e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0205825442306442, + "K": [ + [ + 416.0468194909396, + 0.0, + 326.0823734501269 + ], + [ + 0.0, + 428.76959367509767, + 240.3940915723696 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.539441666772781, + -1.3344133285763164, + 1.1379924889354205 + ], + "camera_target": [ + -3.0204789340526794, + -0.587741560222899, + 0.9515936632425169 + ], + "camera_roll_rad": 0.049322564809122185, + "camera_pose_world_cv": [ + [ + 0.8475164771080017, + 0.0279005765914917, + -0.5300352573394775, + -2.5394415855407715 + ], + [ + 0.5219441056251526, + -0.22515511512756348, + 0.8227269053459167, + -1.3344132900238037 + ], + [ + -0.0963856428861618, + -0.97392338514328, + -0.2053852081298828, + 1.13799250125885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3550533576062974, + 0.330358547697098, + 0.3525017469534163 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 0.9601788871833153, + 0.900774543237297, + 0.7989385250441225 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 4557.8846934403655, + "intensity": 0.900774543237297 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.7589649591772006, + 0.7624261405905205, + 0.7679640308518322 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5590.629309247726, + "intensity": 0.7638106131558484 + }, + "point_color_scale": [ + 0.9051411353391998, + 0.9284746367167281, + 0.9658082389207736 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_014/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae31b6d78c2d04800d55dd017eafe2f135b9d758 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9399103841552607, + "K": [ + [ + 469.95468971895684, + 0.0, + 289.5419375095728 + ], + [ + 0.0, + 472.52509830327404, + 216.88146379530122 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.188046395868419, + -0.4483475875963654, + 0.8558952238434855 + ], + "camera_target": [ + -3.0213639393284213, + -0.670921568946701, + 0.8453370170285375 + ], + "camera_roll_rad": -0.02598378042851199, + "camera_pose_world_cv": [ + [ + -0.25831401348114014, + -0.0015945732593536377, + -0.9660598039627075, + -2.188046455383301 + ], + [ + 0.9646638631820679, + 0.053339242935180664, + -0.25802868604660034, + -0.4483475983142853 + ], + [ + 0.051940202713012695, + -0.9985752701759338, + -0.012239933013916016, + 0.8558952212333679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.331840994032065, + 0.35722477020284127, + 0.3486522889350536 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.0302034754501612, + 1.0099695901427854, + 0.9752829296158555 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5213.797814100307, + "intensity": 1.0099695901427854 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6015288212887923, + 0.5888784232637316, + 0.5671920266493419 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5193.111575076941, + "intensity": 0.5888784232637316 + }, + "point_color_scale": [ + 1.1898270421031139, + 1.1929566275324135, + 1.1979639642192927 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_015/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc81470e12fcdb1d3c65bcae0fd632e0ea971b8f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2738047870944593, + "K": [ + [ + 316.2667611819972, + 0.0, + 346.35529773924145 + ], + [ + 0.0, + 324.43825697458016, + 220.98226706370946 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.282102183496172, + -0.722775920603193, + 0.7132903185157005 + ], + "camera_target": [ + -3.00762182831801, + -0.5811993224264927, + 0.9124717374736836 + ], + "camera_roll_rad": -0.0335006117403045, + "camera_pose_world_cv": [ + [ + 0.2081923484802246, + -0.2419619858264923, + -0.9476869106292725, + -2.282102108001709 + ], + [ + 0.9759492874145508, + 0.11542999744415283, + 0.18492984771728516, + -0.722775936126709 + ], + [ + 0.0646454393863678, + -0.9633952379226685, + 0.26017439365386963, + 0.7132903337478638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22341784859459624, + 0.23580443299836137, + 0.2446815285743411 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.1501041340136522, + 1.157369785485161, + 1.1689948278395748 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5625.240049488134, + "intensity": 1.1602760460737644 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.8509667778949437, + 0.8771015970992088, + 0.918917307826033 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 6088.916827726723, + "intensity": 0.8875555247809148 + }, + "point_color_scale": [ + 0.9283505453268396, + 0.940292509321065, + 0.959399651711826 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000074/scene_b04_016/scene_meta.json b/so100/ProcTHOR/test/bg_000074/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b7a84440b6c12d335838d6630e58fce3cc2748a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000074/scene_b04_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 74, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3033565567620515, + "K": [ + [ + 323.0011797800251, + 0.0, + 320.4161978518455 + ], + [ + 0.0, + 314.60723020073226, + 244.6745363310118 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.660767449086327, + -1.2881608714637598, + 0.8644289969680147 + ], + "camera_target": [ + -3.06169919274454, + -0.6358761550989036, + 0.9891723275772608 + ], + "camera_roll_rad": 0.04121656609138111, + "camera_pose_world_cv": [ + [ + 0.842108428478241, + -0.15406706929206848, + -0.5168334245681763, + -2.6607675552368164 + ], + [ + 0.5331499576568604, + 0.09341263771057129, + 0.8408480286598206, + -1.2881609201431274 + ], + [ + -0.08126825094223022, + -0.983634889125824, + 0.1608043909072876, + 0.8644289970397949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7248589992523193, + 0.6888972520828247, + 5.535309455240167e-08, + -3.015946626663208 + ], + [ + -0.6888972520828247, + -0.7248589992523193, + 2.2107659702896854e-08, + -0.6309173703193665 + ], + [ + 5.535309455240167e-08, + -2.2107659702896854e-08, + 1.0, + 0.739173948764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29434182586660806, + 0.29316685126280084, + 0.28913803027489554 + ], + "directional_primary": { + "direction": [ + 0.32700196252033525, + 0.4692682029119327, + -0.8202786528026036 + ], + "color": [ + 1.165438062058008, + 1.1674449640951898, + 1.1706560073546808 + ], + "azimuth_rad": 0.9621984661282035, + "elevation_rad": 0.9618980359654161, + "color_temp_k": 5534.357473922517, + "intensity": 1.1682477249100627 + }, + "directional_fill": { + "direction": [ + -0.09742477914833503, + 0.4525987225693435, + -0.8863762218925417 + ], + "color": [ + 0.6467830749367914, + 0.6497125787483897, + 0.654399784846947 + ], + "azimuth_rad": 1.782817561266806, + "elevation_rad": 1.089458228128184, + "color_temp_k": 5590.016104254014, + "intensity": 0.6508843802730291 + }, + "point_color_scale": [ + 0.9284647366381558, + 0.932512806160646, + 0.9389897173966305 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9927bbf2289ecad02dee2e4b74b35b9384a8fd --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8516968408600687, + "K": [ + [ + 523.1425161860133, + 0.0, + 327.1884681009649 + ], + [ + 0.0, + 529.0938232824736, + 226.6521551688092 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.888816638053378, + -1.0941006136294094, + 1.0877963361787892 + ], + "camera_target": [ + -13.168300575044547, + -0.6850528835366962, + 1.182828480366774 + ], + "camera_roll_rad": -0.051043860556190306, + "camera_pose_world_cv": [ + [ + 0.8322069644927979, + -0.021581441164016724, + -0.5540449619293213, + -12.888816833496094 + ], + [ + 0.5453571081161499, + 0.21223175525665283, + 0.8108904957771301, + -1.0941005945205688 + ], + [ + 0.10008575022220612, + -0.9769811034202576, + 0.18839037418365479, + 1.0877963304519653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28082678045168985, + 0.30158205709935937, + 0.3049798357387544 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.1375759557541731, + 1.1658253261637794, + 1.2110243188191496 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5979.972282057496, + "intensity": 1.177125074327622 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.6847586536353545, + 0.7120219120363602, + 0.7556431254779695 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6254.2462870496, + "intensity": 0.7229272153967625 + }, + "point_color_scale": [ + 1.166747413194276, + 1.1609878565597611, + 1.1511143309005925 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6303c4276773e3e60db9d880884e3d2baf55dd8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2320842265697756, + "K": [ + [ + 348.2733582408735, + 0.0, + 310.0983041166578 + ], + [ + 0.0, + 339.0066454147932, + 227.4707962724532 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.576007680298767, + -1.3303147761495429, + 1.2457676025862634 + ], + "camera_target": [ + -13.182372027598122, + -0.6954893155004003, + 1.108645797718819 + ], + "camera_roll_rad": -0.018153784004781702, + "camera_pose_world_cv": [ + [ + 0.7187852263450623, + 0.13277274370193481, + -0.6824362277984619, + -12.576007843017578 + ], + [ + 0.694306492805481, + -0.08645093441009521, + 0.7144681215286255, + -1.3303147554397583 + ], + [ + 0.03586471080780029, + -0.9873690605163574, + -0.15432465076446533, + 1.245767593383789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3618470445522253, + 0.3817935198840879, + 0.3519396149079896 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0676044364599084, + 1.0617088308166842, + 1.0516020782854427 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5420.672282912481, + "intensity": 1.0617088308166842 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.6467304840967928, + 0.6240551113201258, + 0.5851830437029825 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 4980.921010126368, + "intensity": 0.6240551113201258 + }, + "point_color_scale": [ + 0.9841799559308836, + 0.9977657353879815, + 1.0195029825193385 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e1fcf32834a56d11a3810d867563d5d3cfe9818 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9551883105865125, + "K": [ + [ + 466.6098825708249, + 0.0, + 336.43173322015423 + ], + [ + 0.0, + 463.71726458444056, + 248.46266513479674 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.74534629086148, + -0.6043850815990256, + 1.1971120751958177 + ], + "camera_target": [ + -13.1287122829106, + -0.7298333684414484, + 1.0911286491875738 + ], + "camera_roll_rad": -0.00444480705761871, + "camera_pose_world_cv": [ + [ + -0.3131355047225952, + 0.23874372243881226, + -0.9192104339599609, + -12.745346069335938 + ], + [ + 0.9496696591377258, + 0.08747696876525879, + -0.3007913827896118, + -0.6043850779533386 + ], + [ + 0.00859767198562622, + -0.9671345949172974, + -0.25411975383758545, + 1.1971120834350586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25687468625428345, + 0.250295710356268, + 0.2446477938148113 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.038880943877988, + 1.0672891869924852, + 1.112742375975681 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6026.73578431627, + "intensity": 1.078652484238284 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.6411073965141236, + 0.6209182791843899, + 0.5863083637619894 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5035.500932212548, + "intensity": 0.6209182791843899 + }, + "point_color_scale": [ + 0.9469276972256707, + 0.9620724849074639, + 0.9863041451983332 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d4383afdc8e3259793f77c2c41d5c08ff5cc6123 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0179054874758278, + "K": [ + [ + 450.79023947179, + 0.0, + 347.3759165497877 + ], + [ + 0.0, + 430.119400633057, + 260.5683613978075 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.800569391933736, + -0.9856749138225185, + 1.1532247680882586 + ], + "camera_target": [ + -13.167553960383263, + -0.6712450475802358, + 1.1777406243108828 + ], + "camera_roll_rad": -0.03234805817378032, + "camera_pose_world_cv": [ + [ + 0.6517646312713623, + 0.003671020269393921, + -0.7584124803543091, + -12.800569534301758 + ], + [ + 0.7556678056716919, + 0.08199036121368408, + 0.6498029232025146, + -0.9856749176979065 + ], + [ + 0.06456795334815979, + -0.9966263771057129, + 0.050664424896240234, + 1.1532248258590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2757938630755881, + 0.27352112526503475, + 0.2559566507173933 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.8999983868993968, + 0.9465072561998776, + 1.0209214470806471 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6463.803723086966, + "intensity": 0.96511080392007 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7306876360538364, + 0.7456664305185844, + 0.7696325016621812 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5898.553477643273, + "intensity": 0.7516579483044836 + }, + "point_color_scale": [ + 1.0750869082211145, + 1.0357746459976098, + 0.9683821964716016 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ea0cbc0b7db55edcff7967d63afd17395679000 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1448669208467293, + "K": [ + [ + 373.9646676683314, + 0.0, + 301.2405909444003 + ], + [ + 0.0, + 372.43534799084824, + 239.90940431759864 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.69891684724356, + -1.4192927243381954, + 1.165262210929302 + ], + "camera_target": [ + -13.108170018822582, + -0.633211516542351, + 1.0943922815942597 + ], + "camera_roll_rad": -0.031687845323127545, + "camera_pose_world_cv": [ + [ + 0.8005509376525879, + 0.007529467344284058, + 0.599217414855957, + -13.6989164352417 + ], + [ + -0.59592604637146, + -0.09540069103240967, + 0.7973525524139404, + -1.419292688369751 + ], + [ + 0.0631694495677948, + -0.9954105615615845, + -0.07188612222671509, + 1.165262222290039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36494114164202524, + 0.3711469634069246, + 0.3881336907952084 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9125224658029428, + 0.941769565243316, + 0.988564924347913 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6113.488591470969, + "intensity": 0.9534684050194653 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7331481776989611, + 0.7337790898080541, + 0.7347885491826027 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5517.190328972818, + "intensity": 0.7340314546516912 + }, + "point_color_scale": [ + 1.0239687581060606, + 1.0305286120239057, + 1.0410243782924573 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a976df0c8d35e156be2d6fa830a7663ba2504eb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2285109572599286, + "K": [ + [ + 328.02236732082315, + 0.0, + 319.8797849621232 + ], + [ + 0.0, + 340.2942297540753, + 262.35474263700513 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.68334755081869, + -0.352111134551141, + 1.2815060953721544 + ], + "camera_target": [ + -13.130090687647773, + -0.6879500990806374, + 1.187163550065195 + ], + "camera_roll_rad": -0.004603759040454548, + "camera_pose_world_cv": [ + [ + -0.5177451372146606, + -0.12807655334472656, + 0.8458939790725708, + -13.683347702026367 + ], + [ + -0.8554865121841431, + 0.06697440147399902, + -0.5134758353233337, + -0.3521111309528351 + ], + [ + 0.009111076593399048, + -0.9895003437995911, + -0.1442432999610901, + 1.281506061553955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34218877023123007, + 0.3299510362778238, + 0.3498001142222106 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.890949286875738, + 0.8508055793417759, + 0.7819877949978409 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4825.9546597671215, + "intensity": 0.8508055793417759 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7700344565283925, + 0.7518126468522668, + 0.7205752588360511 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5153.754738109707, + "intensity": 0.7518126468522668 + }, + "point_color_scale": [ + 1.0282647690694968, + 1.0145666172413965, + 0.9910840712503673 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78386d9e0ff62ba1b85fbd90c401688fdbeba4da --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8724755546284501, + "K": [ + [ + 491.0623884774161, + 0.0, + 295.98499869508686 + ], + [ + 0.0, + 514.8087179089451, + 254.10299599181604 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.504361231953787, + -0.22975838809474047, + 1.178574503581346 + ], + "camera_target": [ + -13.14135006910676, + -0.7228441753430139, + 1.0769693448450357 + ], + "camera_roll_rad": 0.004763501124873018, + "camera_pose_world_cv": [ + [ + -0.8061895370483398, + -0.0893767774105072, + 0.5848677754402161, + -13.504361152648926 + ], + [ + -0.5915827751159668, + 0.13747155666351318, + -0.794437825679779, + -0.2297583818435669 + ], + [ + -0.009398341178894043, + -0.9864651560783386, + -0.1637018322944641, + 1.178574562072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27533548049153705, + 0.27085472051240134, + 0.25610555263083085 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0492129871637053, + 1.0621955729870667, + 1.0829677103044453 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5743.258841894555, + "intensity": 1.0673886073164114 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.5747347688750766, + 0.5637454408468442, + 0.5449065927984458 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5221.522536541505, + "intensity": 0.5637454408468442 + }, + "point_color_scale": [ + 1.0923426652381476, + 1.0975370866564687, + 1.1058481609257826 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9607dc7779e567cbb9ac06aef85421fab629ffa4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9739652941534985, + "K": [ + [ + 447.94484326218674, + 0.0, + 312.1429078721056 + ], + [ + 0.0, + 453.24189989297184, + 256.6063255953981 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.723637225411824, + -0.07109891151920933, + 1.171656353472911 + ], + "camera_target": [ + -13.18197038005183, + -0.6439411154570353, + 1.1015339059925995 + ], + "camera_roll_rad": 0.019503594211584166, + "camera_pose_world_cv": [ + [ + -0.7779173851013184, + 0.08984869718551636, + -0.6219099760055542, + -12.723637580871582 + ], + [ + 0.6271664500236511, + 0.04987514019012451, + -0.7772868275642395, + -0.07109890878200531 + ], + [ + -0.03882041573524475, + -0.994705855846405, + -0.09514874219894409, + 1.1716563701629639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24366150218042107, + 0.2637946380284867, + 0.2692816672948146 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0937257991421656, + 1.1274913407118843, + 1.1815162072234342 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6091.860014993246, + "intensity": 1.1409975573397717 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.5725549223662968, + 0.5872886490177419, + 0.6108626116600541 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5996.769058469465, + "intensity": 0.5931821396783199 + }, + "point_color_scale": [ + 0.814339036838329, + 0.8235667038960475, + 0.8383309711883971 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13ac287aa6002c19914dce95a93dbffdc784ef09 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0570160450425363, + "K": [ + [ + 409.89942723117025, + 0.0, + 302.7049591894645 + ], + [ + 0.0, + 411.0190155669904, + 254.20710632298204 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.727975081345338, + -0.1743800527740531, + 1.201455495666541 + ], + "camera_target": [ + -13.118441286340502, + -0.6642744755547488, + 1.1713259299214847 + ], + "camera_roll_rad": 0.008011476383235114, + "camera_pose_world_cv": [ + [ + -0.7814154624938965, + 0.042467355728149414, + -0.6225643157958984, + -12.727974891662598 + ], + [ + 0.623805820941925, + 0.027574896812438965, + -0.7810927629470825, + -0.17438004910945892 + ], + [ + -0.016003787517547607, + -0.998717188835144, + -0.04803889989852905, + 1.2014554738998413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9999725222587585, + -0.007411906495690346, + 0.0, + -13.137978553771973 + ], + [ + 0.007411906495690346, + 0.9999725222587585, + 0.0, + -0.6811771988868713 + ], + [ + 0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38867308248237714, + 0.3881239936498756, + 0.38387585598365076 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0506996613135777, + 1.0162657152781185, + 0.9572360935030455 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5015.959746159839, + "intensity": 1.0162657152781185 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.561101810047587, + 0.5822717357891244, + 0.6161436169755845 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6216.726013960028, + "intensity": 0.5907397060857394 + }, + "point_color_scale": [ + 0.8655413937265459, + 0.8850101299889032, + 0.9161601080086749 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b551c17ba5c75c004cf78c4c43d27737d2e72bff --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.238540052535605, + "K": [ + [ + 324.59851867725536, + 0.0, + 319.50110930749884 + ], + [ + 0.0, + 336.69676383731434, + 256.4166631910882 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.6799813475608, + -1.036311652095098, + 1.2642837269815264 + ], + "camera_target": [ + -11.782850562415923, + -0.7416438113954388, + 1.0723500478834076 + ], + "camera_roll_rad": -0.03894341760066593, + "camera_pose_world_cv": [ + [ + 0.3258323073387146, + -0.16438496112823486, + 0.9310268759727478, + -12.679981231689453 + ], + [ + -0.9423478841781616, + -0.13589078187942505, + 0.3058011531829834, + -1.0363116264343262 + ], + [ + 0.07624894380569458, + -0.9769910573959351, + -0.19918537139892578, + 1.2642837762832642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3617529954889568, + 0.36840102316948653, + 0.3639671392779631 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0653366169538925, + 1.0988125261943078, + 1.1523739809789728 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6101.9748652822145, + "intensity": 1.1122028898904741 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.9487057136342404, + 0.9046181150306525, + 0.829039374567359 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 4803.769373253407, + "intensity": 0.9046181150306525 + }, + "point_color_scale": [ + 1.1056710816854303, + 1.1231284189609703, + 1.1510601586018343 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2fa4f40666a094f51c22e713a2b0b3d231169668 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.113940381525853, + "K": [ + [ + 391.5840380603102, + 0.0, + 303.1642917503114 + ], + [ + 0.0, + 385.3955629497738, + 218.81129831566278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -10.813842899669297, + -0.657409408248991, + 1.015986459268284 + ], + "camera_target": [ + -11.746126046984214, + -0.7980945021620576, + 1.1576298186463028 + ], + "camera_roll_rad": -0.01725677049095596, + "camera_pose_world_cv": [ + [ + -0.1440565586090088, + -0.15196198225021362, + -0.977832019329071, + -10.8138427734375 + ], + [ + 0.9889810681343079, + 0.011965751647949219, + -0.14755848050117493, + -0.6574094295501709 + ], + [ + 0.03412371873855591, + -0.9883140325546265, + 0.14856386184692383, + 1.015986442565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2737769872235111, + 0.2807466297436134, + 0.2769203811880318 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0706088351635386, + 1.0252249920691556, + 0.9474241181930705 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4867.611382233736, + "intensity": 1.0252249920691556 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.8471076213399116, + 0.8332510037767968, + 0.8094968022400286 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5262.434514239008, + "intensity": 0.8332510037767968 + }, + "point_color_scale": [ + 0.9524887514195893, + 0.9465878469565954, + 0.9364720107343201 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95ebb9327015939963f3ee1bde1b6f6b4ff1c706 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8603358629149541, + "K": [ + [ + 506.6302872889311, + 0.0, + 313.8112741884991 + ], + [ + 0.0, + 523.0760535060007, + 220.30570221180764 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.295282420767787, + -1.0432354944542073, + 1.114877441888593 + ], + "camera_target": [ + -11.751672007952463, + -0.7842742533011973, + 1.1523797596418586 + ], + "camera_roll_rad": -0.0024406734429594165, + "camera_pose_world_cv": [ + [ + 0.42978858947753906, + 0.05821758508682251, + 0.901050865650177, + -12.295282363891602 + ], + [ + -0.9029164910316467, + 0.02232646942138672, + 0.4292359948158264, + -1.0432355403900146 + ], + [ + 0.0048719048500061035, + -0.9980543255805969, + 0.06216132640838623, + 1.114877462387085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2800666336343792, + 0.2686042169039048, + 0.28841726772239296 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.8214197236771483, + 0.8565204385689188, + 0.9126815823957515 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6306.393256734548, + "intensity": 0.8705607245256269 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.898205420846099, + 0.9248882854321461, + 0.9675808687698215 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6070.41395026137, + "intensity": 0.935561431266565 + }, + "point_color_scale": [ + 1.0649478807523642, + 1.0932834916370915, + 1.1386204690526551 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8431f13f515ec9943b935ff260760289996ad8b8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1211277344358226, + "K": [ + [ + 382.91451002239626, + 0.0, + 293.0240923484053 + ], + [ + 0.0, + 382.32674424230834, + 243.8860830427333 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.412428442751496, + -1.2179482233362475, + 1.2284582415888494 + ], + "camera_target": [ + -11.78159809318531, + -0.802237828041456, + 1.0456603164426244 + ], + "camera_roll_rad": -0.007490944281019783, + "camera_pose_world_cv": [ + [ + 0.7445317506790161, + 0.21857742965221405, + -0.6307902932167053, + -11.412428855895996 + ], + [ + 0.667435348033905, + -0.2235715389251709, + 0.7103139162063599, + -1.2179481983184814 + ], + [ + 0.014231860637664795, + -0.9498629570007324, + -0.31234240531921387, + 1.228458285331726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37598856203945785, + 0.3740448777514155, + 0.35813219614437247 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.994685722040934, + 1.0476514426872192, + 1.132396595721276 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6491.090024477711, + "intensity": 1.0688377309457335 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7085700873873211, + 0.7116292361660596, + 0.7165238742120411 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5585.828332809978, + "intensity": 0.7128528956775549 + }, + "point_color_scale": [ + 0.990508787999897, + 1.0065513562775281, + 1.032219465521738 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc62117e558d5545d25b67050c8be6cc9062c97b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2889050082241942, + "K": [ + [ + 310.6036246282151, + 0.0, + 320.2082256509561 + ], + [ + 0.0, + 319.36653982439304, + 250.8159825917113 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.510886194012622, + -1.5167644826895879, + 0.974557516408026 + ], + "camera_target": [ + -11.763669031427543, + -0.8144582108569054, + 1.1297083215877086 + ], + "camera_roll_rad": -0.03560052675605495, + "camera_pose_world_cv": [ + [ + 0.9434268474578857, + -0.0018102377653121948, + -0.33157584071159363, + -11.510886192321777 + ], + [ + 0.3241826891899109, + 0.21509325504302979, + 0.9212168455123901, + -1.516764521598816 + ], + [ + 0.06965211033821106, + -0.9765918254852295, + 0.20351159572601318, + 0.9745575189590454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21148732875859227, + 0.21582294457295464, + 0.2288932534171955 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.1274232903234946, + 1.1671026732999101, + 1.2305896860621752 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6170.840925853861, + "intensity": 1.1829744264904765 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7908409103384875, + 0.8177893553271329, + 0.8609068673089658 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6150.4818225660365, + "intensity": 0.8285687333225912 + }, + "point_color_scale": [ + 0.8725395288209686, + 0.89700798460396, + 0.9361575138567464 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d90b81694c59b275c1f170b3e0a0454d948f991 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9551550139931544, + "K": [ + [ + 464.56219553209576, + 0.0, + 346.20446347247434 + ], + [ + 0.0, + 463.73617722091876, + 247.984092085665 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.004491312594645, + -1.0494366470951308, + 1.0041224936976418 + ], + "camera_target": [ + -11.71981919893996, + -0.7735695203437805, + 1.167512181671046 + ], + "camera_roll_rad": -0.0013811264017955169, + "camera_pose_world_cv": [ + [ + 0.36035650968551636, + -0.193477600812912, + -0.9125292897224426, + -11.004490852355957 + ], + [ + 0.9328107833862305, + 0.0775754451751709, + 0.35191798210144043, + -1.0494366884231567 + ], + [ + 0.00270158052444458, + -0.9780330657958984, + 0.20843291282653809, + 1.0041224956512451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29387456984117033, + 0.27492335260645917, + 0.2813579077743126 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.121024236143465, + 1.1404803965761805, + 1.171610253268525 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5838.879904554605, + "intensity": 1.1482628607492666 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.6199305929681949, + 0.6182140027798908, + 0.6152712767427984 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5460.332964207377, + "intensity": 0.6182140027798908 + }, + "point_color_scale": [ + 0.891279450770467, + 0.8621432081648144, + 0.8121953636979815 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48f5f95273f743eac71823d1c2bed88a5326eaf0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8415687017058678, + "K": [ + [ + 543.8664961580008, + 0.0, + 333.3954727239986 + ], + [ + 0.0, + 536.2964933318676, + 250.86474795549236 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.014749975046517, + -1.3620208203412079, + 1.1611344541364896 + ], + "camera_target": [ + -11.806905369405353, + -0.7711191537784103, + 1.0870745751065785 + ], + "camera_roll_rad": -0.006731148132412712, + "camera_pose_world_cv": [ + [ + 0.9437844157218933, + -0.02625708281993866, + 0.329517126083374, + -12.014749526977539 + ], + [ + -0.33029115200042725, + -0.11521977186203003, + 0.936820387840271, + -1.3620208501815796 + ], + [ + 0.013368770480155945, + -0.9929931163787842, + -0.11741507053375244, + 1.1611344814300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27864555744798963, + 0.28792093578939154, + 0.29320573165572644 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.106454774503328, + 1.1322473317806763, + 1.1735154234244343 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5951.485418242548, + "intensity": 1.1425643546916158 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.8379264236152899, + 0.8447996753783229, + 0.8557968781991758 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5662.191258723333, + "intensity": 0.8475489760835361 + }, + "point_color_scale": [ + 1.0753422820508094, + 1.0846028698655479, + 1.0994198103691297 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02bcda742f53a3c6d1f1acfe41d341cf3a2c5da7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9923506179912943, + "K": [ + [ + 451.70840723771823, + 0.0, + 327.44003440706933 + ], + [ + 0.0, + 443.3388359860752, + 236.38638740197155 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.189191699677977, + -1.54491323967693, + 1.1644768973788495 + ], + "camera_target": [ + -11.729517098153075, + -0.7660648612601352, + 1.1196064836337478 + ], + "camera_roll_rad": -0.020925022117546113, + "camera_pose_world_cv": [ + [ + 0.8614943027496338, + 0.010865747928619385, + 0.5076510310173035, + -12.189191818237305 + ], + [ + -0.5060449838638306, + -0.0639028549194336, + 0.8601366877555847, + -1.5449132919311523 + ], + [ + 0.04178643226623535, + -0.9978970885276794, + -0.04955339431762695, + 1.1644768714904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3448332349180002, + 0.3427755403578891, + 0.3768608726279033 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.069848473170312, + 1.1089133019492756, + 1.1714170279956175 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6194.770402251568, + "intensity": 1.124539233460861 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.940027362306254, + 0.9078417243903674, + 0.8526663451059903 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 4993.529747513456, + "intensity": 0.9078417243903674 + }, + "point_color_scale": [ + 0.9161755709228446, + 0.8945755054729405, + 0.8575468218445333 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e653d3562918e861cd60e279bded5668ce25296f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0008237915306917, + "K": [ + [ + 424.714534027498, + 0.0, + 290.8046305341809 + ], + [ + 0.0, + 438.8872902908176, + 261.12297590688325 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.06421529420098, + -0.6452250488757103, + 1.2970397424807119 + ], + "camera_target": [ + -11.755572022525143, + -0.825873858925477, + 1.0659508804330577 + ], + "camera_roll_rad": -0.04287522612028038, + "camera_pose_world_cv": [ + [ + -0.2773768901824951, + 0.2749645709991455, + -0.9205739498138428, + -11.064215660095215 + ], + [ + 0.957298994064331, + 0.16036808490753174, + -0.2405424416065216, + -0.6452250480651855 + ], + [ + 0.08149001002311707, + -0.9479855298995972, + -0.30770576000213623, + 1.2970397472381592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.06367093324661255, + 0.9979709982872009, + -4.078301785170879e-08, + -11.766146659851074 + ], + [ + -0.9979709982872009, + 0.06367093324661255, + -4.3467910160188694e-08, + -0.781600296497345 + ], + [ + -4.078301785170879e-08, + 4.3467910160188694e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29382846039372273, + 0.28383733835171066, + 0.2679900302889045 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.8993151909004414, + 0.9412512436630016, + 1.008348928083098 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6375.468253195795, + "intensity": 0.9580256647680256 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.6975923946017718, + 0.7175345529880086, + 0.7494420064059875 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6049.740719085319, + "intensity": 0.7255114163425033 + }, + "point_color_scale": [ + 0.8686266616025212, + 0.847082534345468, + 0.8101497447619485 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2c2875277ed1f6f60843fa53cbdbe37b586a49e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8529045828836573, + "K": [ + [ + 539.8089593894123, + 0.0, + 318.94498577826187 + ], + [ + 0.0, + 528.2456573713639, + 247.89746584847842 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.484362705412007, + -0.6722121032939385, + 1.3256773020205062 + ], + "camera_target": [ + -13.137774223365735, + -1.1045569670485373, + 1.145494996923954 + ], + "camera_roll_rad": -0.03634037669821531, + "camera_pose_world_cv": [ + [ + -0.5639294385910034, + 0.14634564518928528, + -0.812752366065979, + -12.484362602233887 + ], + [ + 0.8227850198745728, + 0.18390679359436035, + -0.5377760529518127, + -0.6722121238708496 + ], + [ + 0.07076948881149292, + -0.9719882607460022, + -0.22412151098251343, + 1.3256772756576538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9382675886154175, + 0.3459101915359497, + 1.22590989803939e-07, + -13.09387493133545 + ], + [ + -0.3459101915359497, + -0.9382675886154175, + -8.39516189898859e-09, + -1.1141541004180908 + ], + [ + 1.1211918149456324e-07, + -5.028238447835065e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2248651441994901, + 0.23218868042317797, + 0.21929569503975438 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9481971987040055, + 0.9655566523454183, + 0.993331778171679 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5857.006599442762, + "intensity": 0.9725004338019835 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.8883565242445723, + 0.9006105548060258, + 0.9202170037043513 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5770.654133817712, + "intensity": 0.9055121670306072 + }, + "point_color_scale": [ + 1.1201985711295928, + 1.1340003992585013, + 1.1560833242647548 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..040bd8d9e6e9acaa56f678b106bba48304838804 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9246333138384852, + "K": [ + [ + 474.63453466711985, + 0.0, + 297.3826664908735 + ], + [ + 0.0, + 481.60140623339066, + 249.9508368930991 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.318728547920145, + -1.4548055398129, + 1.2856043090763425 + ], + "camera_target": [ + -13.098035636494968, + -1.104406710940544, + 1.1080957174241266 + ], + "camera_roll_rad": 0.04056236321728003, + "camera_pose_world_cv": [ + [ + 0.8263575434684753, + -0.27784645557403564, + 0.4898311495780945, + -13.31872844696045 + ], + [ + -0.5581986308097839, + -0.28908783197402954, + 0.7777162790298462, + -1.4548054933547974 + ], + [ + -0.07448142766952515, + -0.9160947799682617, + -0.3939833641052246, + 1.2856043577194214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9382675886154175, + 0.3459101915359497, + 1.22590989803939e-07, + -13.09387493133545 + ], + [ + -0.3459101915359497, + -0.9382675886154175, + -8.39516189898859e-09, + -1.1141541004180908 + ], + [ + 1.1211918149456324e-07, + -5.028238447835065e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3142608638971525, + 0.3378113420637507, + 0.31901255566898495 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9180297164877053, + 0.9479188173821695, + 0.9957413788133125 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 6122.771043722506, + "intensity": 0.9598744577399553 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7621741016712064, + 0.7288462830674702, + 0.6717128797467797 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 4846.759796406874, + "intensity": 0.7288462830674702 + }, + "point_color_scale": [ + 0.9526576859912417, + 0.9203762714245334, + 0.8650367035958907 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a7a308d31b5c17544d8cbe0d25046f832781b7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8651634889710682, + "K": [ + [ + 495.83087838247206, + 0.0, + 329.38464083490504 + ], + [ + 0.0, + 519.762332065245, + 225.64778977617328 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.145432067116895, + -1.6278753612318444, + 0.9045741621384189 + ], + "camera_target": [ + -13.121952958320085, + -1.1634890851248427, + 1.1376514739124521 + ], + "camera_roll_rad": -0.015386206747937434, + "camera_pose_world_cv": [ + [ + 0.9975552558898926, + 0.05334559828042984, + 0.04514195770025253, + -13.145432472229004 + ], + [ + -0.06424174457788467, + 0.44578003883361816, + 0.8928344249725342, + -1.6278753280639648 + ], + [ + 0.027505405247211456, + -0.8935517072677612, + 0.4481172561645508, + 0.9045741558074951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9382675886154175, + 0.3459101915359497, + 1.22590989803939e-07, + -13.09387493133545 + ], + [ + -0.3459101915359497, + -0.9382675886154175, + -8.39516189898859e-09, + -1.1141541004180908 + ], + [ + 1.1211918149456324e-07, + -5.028238447835065e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2594637647114429, + 0.2698567930611893, + 0.25466967758607245 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.993779355520098, + 1.0094045857189295, + 1.0344049540370603 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5807.687849825119, + "intensity": 1.0156546777984623 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.9236977683231681, + 0.8985654596393537, + 0.8554815018956717 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5100.437589331054, + "intensity": 0.8985654596393537 + }, + "point_color_scale": [ + 0.8897067443414556, + 0.878781983666038, + 0.8600538225081794 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81187106cedc30f499243db600d5c46b2b6168c1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1279739148303232, + "K": [ + [ + 379.28013586035746, + 0.0, + 316.0839950275247 + ], + [ + 0.0, + 379.4360963425745, + 258.05032340564543 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.05481207306207, + -1.743300157811612, + 1.1325498196403558 + ], + "camera_target": [ + -13.06897157609239, + -1.1566696236496665, + 1.126886907286292 + ], + "camera_roll_rad": -0.0509578564640024, + "camera_pose_world_cv": [ + [ + 0.9944977760314941, + 0.10194139182567596, + -0.024128399789333344, + -13.05481243133545 + ], + [ + 0.024985790252685547, + -0.0071419477462768555, + 0.9996622204780579, + -1.743300199508667 + ], + [ + 0.10173464566469193, + -0.9947647452354431, + -0.00964975357055664, + 1.13254976272583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9382675886154175, + 0.3459101915359497, + 1.22590989803939e-07, + -13.09387493133545 + ], + [ + -0.3459101915359497, + -0.9382675886154175, + -8.39516189898859e-09, + -1.1141541004180908 + ], + [ + 1.1211918149456324e-07, + -5.028238447835065e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2334187287070451, + 0.2366538226715775, + 0.23695808366784116 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.1049050304134214, + 1.101473047203659, + 1.0955896474154945 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5455.488396477331, + "intensity": 1.101473047203659 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.874039746185528, + 0.8919752868814111, + 0.9206721519948242 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5898.944572239759, + "intensity": 0.8991495031597645 + }, + "point_color_scale": [ + 0.9516450265826084, + 0.9079887808814066, + 0.8331495025364891 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..694b15248dadd7eddb2f2a572e27e2d25f5e27eb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1435077881283457, + "K": [ + [ + 355.4113219583397, + 0.0, + 317.5911784960027 + ], + [ + 0.0, + 372.99178642843424, + 263.94622037581064 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.949952530384111, + -1.5700407203379376, + 0.9222817533417477 + ], + "camera_target": [ + -13.123861950153412, + -1.1392155110888236, + 1.135915453078267 + ], + "camera_roll_rad": 0.022353244524212446, + "camera_pose_world_cv": [ + [ + 0.9193839430809021, + -0.19766658544540405, + -0.3400897979736328, + -12.949952125549316 + ], + [ + 0.391260027885437, + 0.37028300762176514, + 0.8425000309944153, + -1.5700407028198242 + ], + [ + -0.04060468077659607, + -0.9076445698738098, + 0.4177713394165039, + 0.9222817420959473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9382675886154175, + 0.3459101915359497, + 1.22590989803939e-07, + -13.09387493133545 + ], + [ + -0.3459101915359497, + -0.9382675886154175, + -8.39516189898859e-09, + -1.1141541004180908 + ], + [ + 1.1211918149456324e-07, + -5.028238447835065e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25117626146396016, + 0.25394398315818795, + 0.2504096357637926 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.8810246720782117, + 0.8557937267490114, + 0.8125406776132399 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5078.821315387907, + "intensity": 0.8557937267490114 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7456085395266011, + 0.7751838190109022, + 0.8225042661857837 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6251.582108694417, + "intensity": 0.7870139308046226 + }, + "point_color_scale": [ + 1.1504607466108467, + 1.1626519127581794, + 1.1821577785939112 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab9e44fb36a0b58ab8868885ce34c2b1e9c037dc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2159423893513979, + "K": [ + [ + 344.5965933928969, + 0.0, + 326.8233022247481 + ], + [ + 0.0, + 344.87551071093253, + 231.69841699768713 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.419313727526928, + -0.6059121282269168, + 1.2843250649552687 + ], + "camera_target": [ + -13.057567231019949, + -1.136983444065729, + 1.0475315638375136 + ], + "camera_roll_rad": -0.0416209134300253, + "camera_pose_world_cv": [ + [ + -0.8074321746826172, + -0.26270604133605957, + 0.5282409191131592, + -13.419313430786133 + ], + [ + -0.5847788453102112, + 0.23798096179962158, + -0.7754988670349121, + -0.6059121489524841 + ], + [ + 0.07801693677902222, + -0.9350670576095581, + -0.3457786440849304, + 1.284325122833252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9382675886154175, + 0.3459101915359497, + 1.22590989803939e-07, + -13.09387493133545 + ], + [ + -0.3459101915359497, + -0.9382675886154175, + -8.39516189898859e-09, + -1.1141541004180908 + ], + [ + 1.1211918149456324e-07, + -5.028238447835065e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2770232447651441, + 0.2560628724791086, + 0.25585639438116803 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9742785959152941, + 0.9219162615998724, + 0.8321522599162924 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4688.6103125407, + "intensity": 0.9219162615998724 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7726712651753866, + 0.7937646894101092, + 0.8275141681856654 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6025.888060129948, + "intensity": 0.8022020591039982 + }, + "point_color_scale": [ + 1.034943474469325, + 0.9906247919250932, + 0.9146499075635531 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_001/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..976978b55acee0325482e3326971dc4a8f5687fe --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.172871659933918, + "K": [ + [ + 346.58551018180333, + 0.0, + 337.33137437085173 + ], + [ + 0.0, + 361.22496325531154, + 226.95617078872186 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.307210379423394, + -1.9806565237375446, + 0.9637593674545504 + ], + "camera_target": [ + -11.788911007504964, + -1.1340511226661372, + 1.1210947737371295 + ], + "camera_roll_rad": -0.03032298329008325, + "camera_pose_world_cv": [ + [ + 0.8463433384895325, + 0.13327772915363312, + 0.5156937837600708, + -12.307209968566895 + ], + [ + -0.5292632579803467, + 0.10162031650543213, + 0.8423502445220947, + -1.9806565046310425 + ], + [ + 0.059861570596694946, + -0.985855221748352, + 0.15654468536376953, + 0.9637593626976013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24875371664524515, + 0.26785974964393405, + 0.24819159579434338 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9595314288216191, + 0.910255583207771, + 0.8257827050126031 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4726.656046265941, + "intensity": 0.910255583207771 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.6467579669716894, + 0.6358696381257541, + 0.6172039315327223 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5255.3782322420475, + "intensity": 0.6358696381257541 + }, + "point_color_scale": [ + 1.1646463768682802, + 1.1411960419002782, + 1.1009954676694176 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_002/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b71093a4a53d362253fcb31a2b698ea1980c70b1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2451552755702657, + "K": [ + [ + 323.428768485167, + 0.0, + 348.8297218679706 + ], + [ + 0.0, + 334.3514512814375, + 230.39306661336906 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.741341514860936, + -0.20699753693742984, + 1.1927636120111127 + ], + "camera_target": [ + -11.82742512814951, + -1.09038233315678, + 1.1644199306070446 + ], + "camera_roll_rad": 0.051610684382805846, + "camera_pose_world_cv": [ + [ + -0.9896690845489502, + 0.10563154518604279, + -0.09693855792284012, + -11.741341590881348 + ], + [ + 0.09974499046802521, + 0.02160477638244629, + -0.9947784543037415, + -0.20699754357337952 + ], + [ + -0.10298564285039902, + -0.994170606136322, + -0.03191781044006348, + 1.1927635669708252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2709318252345582, + 0.27609634182523807, + 0.28363419870800977 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0802475862982313, + 1.0667339852583906, + 1.0435678120472354 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5319.02569328985, + "intensity": 1.0667339852583906 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.602189419482524, + 0.5843412953553847, + 0.5537445111374316 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5063.657054801842, + "intensity": 0.5843412953553847 + }, + "point_color_scale": [ + 1.1822674642473743, + 1.1903763439190804, + 1.20335055139381 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_003/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc9353901f08ca764c7a0e654301124b5d6f9e63 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1177439141413121, + "K": [ + [ + 395.31549547606915, + 0.0, + 337.94916500561726 + ], + [ + 0.0, + 383.76715647517904, + 235.19750434479556 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.361326863811453, + -1.6995337585378716, + 1.057729335873935 + ], + "camera_target": [ + -11.854558923527776, + -1.1299610410619612, + 1.0559024512484068 + ], + "camera_roll_rad": -0.039042590740239996, + "camera_pose_world_cv": [ + [ + 0.7535231709480286, + 0.0605509877204895, + -0.6546269655227661, + -11.361327171325684 + ], + [ + 0.6527771353721619, + 0.04923748970031738, + 0.7559482455253601, + -1.6995337009429932 + ], + [ + 0.07800561189651489, + -0.9969499707221985, + -0.0024246573448181152, + 1.0577293634414673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30014150219321273, + 0.28539941429615856, + 0.3098865140839652 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9410050388729114, + 0.8834389568906803, + 0.7847542449211411 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4569.12345971186, + "intensity": 0.8834389568906803 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.8047164438970621, + 0.8054179904737107, + 0.8065404649963485 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5517.4146155577555, + "intensity": 0.8056986091043701 + }, + "point_color_scale": [ + 0.8512937506179269, + 0.8387021812891481, + 0.8171166338683845 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_006/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4553c1a296ce835642d16415d1a28587e32e29ff --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1871772534015739, + "K": [ + [ + 343.62250865299, + 0.0, + 345.88893258351555 + ], + [ + 0.0, + 355.67906228456235, + 220.7502223889179 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.422538933994613, + -1.2455741664378142, + 1.200673804311017 + ], + "camera_target": [ + -11.824500669586092, + -1.0701234073254717, + 1.1245257130721722 + ], + "camera_roll_rad": 0.017480173085600112, + "camera_pose_world_cv": [ + [ + 0.4052737355232239, + 0.14270076155662537, + -0.902989387512207, + -11.422538757324219 + ], + [ + 0.9135465621948242, + -0.10042440891265869, + 0.3941417932510376, + -1.2455741167068481 + ], + [ + -0.034437984228134155, + -0.9846581220626831, + -0.17106306552886963, + 1.2006738185882568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3295710662504512, + 0.32261174747097826, + 0.34305115085653004 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9500285320114225, + 0.9207817731521993, + 0.870644472250674 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 5046.2433629461275, + "intensity": 0.9207817731521993 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.8820433226637926, + 0.8872664689335507, + 0.8956235029651635 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5617.459102327575, + "intensity": 0.8893557274414539 + }, + "point_color_scale": [ + 0.8486101478099013, + 0.8720271203951159, + 0.9094942765314594 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_007/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5048451a41397fae9a2106925de3922d589a308 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9500402186399305, + "K": [ + [ + 458.902898166473, + 0.0, + 294.7145889984538 + ], + [ + 0.0, + 466.6559350973981, + 258.9799017390354 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.347513673990957, + -1.6008383826972614, + 0.8463325881823522 + ], + "camera_target": [ + -11.884710424825737, + -1.0536350099472018, + 1.0814394789374635 + ], + "camera_roll_rad": 0.013785118796704812, + "camera_pose_world_cv": [ + [ + 0.7076690793037415, + -0.22494764626026154, + -0.6697784066200256, + -11.347513198852539 + ], + [ + 0.7060523629188538, + 0.18978798389434814, + 0.6822543144226074, + -1.6008384227752686 + ], + [ + -0.0263558030128479, + -0.9557088613510132, + 0.293131947517395, + 0.8463326096534729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24632638926820563, + 0.2444848519449929, + 0.2509064925479054 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.0068242080758776, + 0.9509243907255834, + 0.8550961324107935 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4660.218386363416, + "intensity": 0.9509243907255834 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.7704247942230616, + 0.7642965411806317, + 0.7537909645364659 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5385.454836810488, + "intensity": 0.7642965411806317 + }, + "point_color_scale": [ + 1.0445650684958168, + 1.0551705317429083, + 1.0721392729382548 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_010/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee99dc4395443716af247a19d02acedb3a2f6f06 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8190495442693992, + "K": [ + [ + 557.3102282301464, + 0.0, + 306.3044864868442 + ], + [ + 0.0, + 552.9108997998527, + 229.87099087274981 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.280909476776321, + -0.8684299271374583, + 1.2385804237108191 + ], + "camera_target": [ + -11.842024705699666, + -1.077559459386692, + 1.1530765131992462 + ], + "camera_roll_rad": 0.024542210017845026, + "camera_pose_world_cv": [ + [ + -0.4373173713684082, + -0.13507705926895142, + 0.8891052007675171, + -12.280909538269043 + ], + [ + -0.8980081677436829, + 0.11871480941772461, + -0.42366066575050354, + -0.8684298992156982 + ], + [ + -0.04832300543785095, + -0.983697772026062, + -0.1732161045074463, + 1.2385804653167725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27709294782400207, + 0.2731055985465651, + 0.27660431221101145 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 0.9505461488514823, + 0.890093063432241, + 0.7864592027135419 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4529.746954033079, + "intensity": 0.890093063432241 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.860321125432237, + 0.8404352849212298, + 0.8063452726166459 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5161.9805939036, + "intensity": 0.8404352849212298 + }, + "point_color_scale": [ + 0.9705418401561638, + 0.9255793377736455, + 0.8485007622607569 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_011/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80fb814bf6b8cbb5060245c5f9fe4414d9596405 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9153219850360735, + "K": [ + [ + 495.57609867376976, + 0.0, + 292.29996033466495 + ], + [ + 0.0, + 487.2710850388166, + 263.15360243003704 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.226925941026664, + -1.8382573288168493, + 1.0348723046997585 + ], + "camera_target": [ + -11.862098906874001, + -1.1253412551275355, + 1.1590667431810378 + ], + "camera_roll_rad": -0.023458239927675442, + "camera_pose_world_cv": [ + [ + 0.8859542012214661, + 0.11148615181446075, + 0.4501733183860779, + -12.22692584991455 + ], + [ + -0.46145129203796387, + 0.11490738391876221, + 0.8796926140785217, + -1.8382573127746582 + ], + [ + 0.0463453084230423, + -0.9871004223823547, + 0.15324807167053223, + 1.03487229347229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27671221615841923, + 0.2712289117321297, + 0.27951955668107276 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.1585483611265528, + 1.1082438543779736, + 1.0220075570946952 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4851.554436458087, + "intensity": 1.1082438543779736 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.5821330948718751, + 0.5952692955240962, + 0.6162872165676498 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 5937.491442700992, + "intensity": 0.6005237757849846 + }, + "point_color_scale": [ + 1.0097316021176992, + 1.0208974061705072, + 1.038762692655 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000246/scene_b04_012/scene_meta.json b/so100/ProcTHOR/test/bg_000246/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ea21ebbaffbfd1fbf95b86473b8a7d89c4c8f7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000246/scene_b04_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 246, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2614528369750782, + "K": [ + [ + 337.05275132455785, + 0.0, + 333.1607157360393 + ], + [ + 0.0, + 328.66451350637016, + 218.73713418073046 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.811959977409645, + -0.3979329080705697, + 1.310503762392211 + ], + "camera_target": [ + -11.841040518351797, + -1.1405744501845432, + 1.0448416140351582 + ], + "camera_roll_rad": 0.025647356286426642, + "camera_pose_world_cv": [ + [ + -0.9972445964813232, + 0.06438586860895157, + -0.03684476763010025, + -11.811960220336914 + ], + [ + 0.0563211590051651, + 0.3338881731033325, + -0.94092857837677, + -0.39793291687965393 + ], + [ + -0.04828047752380371, + -0.9404110908508301, + -0.33659452199935913, + 1.3105037212371826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8205113410949707, + 0.5716304183006287, + 0.0, + -11.837299346923828 + ], + [ + -0.5716304183006287, + -0.8205113410949707, + -0.0, + -1.0982701778411865 + ], + [ + -0.0, + 0.0, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23781071353772137, + 0.22967317924457123, + 0.23832278700131063 + ], + "directional_primary": { + "direction": [ + -0.6149083728003196, + -0.38946604350516983, + -0.6857141474524878 + ], + "color": [ + 1.1575717147680127, + 1.1002893169036136, + 1.002090920564644 + ], + "azimuth_rad": -2.5769953178399554, + "elevation_rad": 0.7555843926308057, + "color_temp_k": 4756.268367855924, + "intensity": 1.1002893169036136 + }, + "directional_fill": { + "direction": [ + -0.27428036252547794, + -0.31960063043379366, + -0.906987165156825 + ], + "color": [ + 0.5502686345538358, + 0.5668431787578238, + 0.5933624494842046 + ], + "azimuth_rad": -2.28003007347323, + "elevation_rad": 1.136074342745377, + "color_temp_k": 6078.040964679979, + "intensity": 0.573472996439419 + }, + "point_color_scale": [ + 1.0448603725495802, + 1.0688662666758049, + 1.1072756972777642 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e51ee8bc9c964fca405742f944811056a03d086 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1200516364162907, + "K": [ + [ + 375.97365035793, + 0.0, + 309.2571298928735 + ], + [ + 0.0, + 382.78397059874214, + 228.41870608488517 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.465643820566525, + -8.629974278294604, + 0.9280209332526521 + ], + "camera_target": [ + -12.864440024531387, + -8.068572805278796, + 0.9662040897324913 + ], + "camera_roll_rad": 0.0026415933866728095, + "camera_pose_world_cv": [ + [ + 0.682668149471283, + 0.03028467297554016, + 0.7301007509231567, + -13.465643882751465 + ], + [ + -0.7307095527648926, + 0.035508155822753906, + 0.6817646026611328, + -8.629974365234375 + ], + [ + -0.005277454853057861, + -0.9989105463027954, + 0.04636955261230469, + 0.9280209541320801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3172457914773678, + 0.3510782868238684, + 0.3291241922561096 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.943521330803853, + 0.9927364290405452, + 1.071480586219253 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6472.224536217951, + "intensity": 1.012422468335222 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.635151905681314, + 0.6136943190287234, + 0.5769098847671397 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5000.505475323591, + "intensity": 0.6136943190287234 + }, + "point_color_scale": [ + 1.074504589794492, + 1.0578634571747514, + 1.0293358012551963 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc6a4bc00acbd96aa8080baabf92d19f5d28158c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1655942231193157, + "K": [ + [ + 360.8303683962847, + 0.0, + 294.7184937082751 + ], + [ + 0.0, + 364.09227416418196, + 262.8726565576932 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.276098072320828, + -8.014945370367526, + 0.7457406721811715 + ], + "camera_target": [ + -12.852917205410773, + -8.000669686355332, + 0.9812871955417333 + ], + "camera_roll_rad": -0.031766052950816005, + "camera_pose_world_cv": [ + [ + 0.048679471015930176, + -0.3755004405975342, + -0.9255430698394775, + -12.276098251342773 + ], + [ + 0.9970834255218506, + 0.07280218601226807, + 0.022905975580215454, + -8.014945030212402 + ], + [ + 0.05878019332885742, + -0.9239586591720581, + 0.3779493570327759, + 0.7457406520843506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3529369611782961, + 0.3370049763152127, + 0.32023124834610694 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1959088698690794, + 1.1923807086163158, + 1.186332432183007 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5457.729688809378, + "intensity": 1.1923807086163158 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7561839971553092, + 0.7709435746220572, + 0.7945588985688542 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5879.986529148081, + "intensity": 0.7768474056087565 + }, + "point_color_scale": [ + 0.8148446787392195, + 0.8280050166256375, + 0.8490615572439062 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..511837d1b0201d91d19b19a57b26ffd71af4ab29 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8920307176073257, + "K": [ + [ + 487.6211790097704, + 0.0, + 311.8204451609132 + ], + [ + 0.0, + 501.9344819469943, + 240.99655742095342 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.185398325213438, + -8.523512666069982, + 0.7587923323128379 + ], + "camera_target": [ + -12.843080355842575, + -7.979270222045519, + 0.8711478307433244 + ], + "camera_roll_rad": -0.026809304856374984, + "camera_pose_world_cv": [ + [ + 0.8403522968292236, + 0.13688547909259796, + 0.5244715213775635, + -13.18539810180664 + ], + [ + -0.5394635796546936, + 0.11697185039520264, + 0.8338447213172913, + -8.523512840270996 + ], + [ + 0.05279289186000824, + -0.9836565852165222, + 0.17214226722717285, + 0.7587923407554626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3503472843360568, + 0.3492032257921296, + 0.38273870333659704 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9521527793366301, + 0.9269244923055253, + 0.8836760002522029 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5111.182891987323, + "intensity": 0.9269244923055253 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7114973091172039, + 0.7375278248512415, + 0.7791766500257016 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6196.058899112359, + "intensity": 0.7479400311448565 + }, + "point_color_scale": [ + 0.9059854735985085, + 0.8758307032315676, + 0.824136811173955 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a32494dfd36bba7893ba8f1a6bcd8bdb9e7b32f6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1927541373029036, + "K": [ + [ + 355.9460234178387, + 0.0, + 305.6642417858855 + ], + [ + 0.0, + 353.5488043761784, + 246.64830387925264 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.290426781271872, + -8.103250848371161, + 0.9114391002541705 + ], + "camera_target": [ + -12.934653773700354, + -8.052406327395836, + 0.8670476520237255 + ], + "camera_roll_rad": -0.02682744040155484, + "camera_pose_world_cv": [ + [ + 0.14777904748916626, + -0.113593190908432, + 0.9824755191802979, + -13.290427207946777 + ], + [ + -0.9875872135162354, + -0.07040786743164062, + 0.1404074728488922, + -8.103250503540039 + ], + [ + 0.05322471261024475, + -0.9910295009613037, + -0.12258791923522949, + 0.9114391207695007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38693289789649626, + 0.3749687283844533, + 0.3819006612981551 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.2535133704737003, + 1.180227361608345, + 1.0545942035534506 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4612.931103068078, + "intensity": 1.180227361608345 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.79861309323344, + 0.7894222619384674, + 0.773666551147086 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5333.678886118856, + "intensity": 0.7894222619384674 + }, + "point_color_scale": [ + 0.878962776565782, + 0.844108447372436, + 0.7843581687552714 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2da6088c5f5637fa3f5a68d7bd83b5ca28af678 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8307640591726155, + "K": [ + [ + 541.5510174124514, + 0.0, + 350.97492915705647 + ], + [ + 0.0, + 544.1621755388719, + 228.98713960570385 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.368576675550763, + -8.660363201358217, + 0.8930699007359588 + ], + "camera_target": [ + -12.888134842215702, + -8.068393951963694, + 0.9710338723719573 + ], + "camera_roll_rad": -0.02925911480837708, + "camera_pose_world_cv": [ + [ + 0.7540924549102783, + -0.020909994840621948, + -0.6564353704452515, + -12.368577003479004 + ], + [ + 0.6541844606399536, + 0.11248564720153809, + 0.7479236721992493, + -8.66036319732666 + ], + [ + 0.0582004189491272, + -0.99343341588974, + 0.09850358963012695, + 0.8930699229240417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30278661289292585, + 0.3336353032875038, + 0.32751310183677745 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1647383954850992, + 1.1161579547103018, + 1.0328771990963632 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4878.218563193459, + "intensity": 1.1161579547103018 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.9237888976530696, + 0.9412088148850979, + 0.9690806824563432 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5867.440282588749, + "intensity": 0.9481767817779092 + }, + "point_color_scale": [ + 1.1032118656565235, + 1.0799600184120686, + 1.0400997088501465 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f067ae57193f15418c16bc5c74ceaba58080d51b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.282140973264447, + "K": [ + [ + 317.20084227942016, + 0.0, + 289.17602441559745 + ], + [ + 0.0, + 321.62568654852174, + 244.95684422611737 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.007925452122505, + -8.922745322685056, + 0.9744548895006101 + ], + "camera_target": [ + -12.92175300834109, + -8.071019014273011, + 0.9448666072544663 + ], + "camera_roll_rad": -0.009064660981647939, + "camera_pose_world_cv": [ + [ + 0.9948204755783081, + 0.014559846371412277, + 0.10059957206249237, + -13.007925033569336 + ], + [ + -0.10002009570598602, + -0.03618574142456055, + 0.9943272471427917, + -8.922745704650879 + ], + [ + 0.018117528408765793, + -0.9992390275001526, + -0.0345420241355896, + 0.9744548797607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26271777471786234, + 0.23991447038753555, + 0.2688828522147107 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1767157940173527, + 1.1654619711504361, + 1.1461697033785792 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5362.0556465346435, + "intensity": 1.1654619711504361 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8588936401381955, + 0.840479142045768, + 0.8089114310301782 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5187.006797309762, + "intensity": 0.840479142045768 + }, + "point_color_scale": [ + 1.0454382207447006, + 1.0529696403406084, + 1.065019911694061 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f9741af0b63707266e7c3dd8dc4956d0a6f32c5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0897578226247906, + "K": [ + [ + 409.45742228311, + 0.0, + 329.16886145476246 + ], + [ + 0.0, + 395.9866030293977, + 242.50925338454914 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.114611820679675, + -8.57310441829155, + 1.0275648647094044 + ], + "camera_target": [ + -12.906276480573908, + -7.994911392082674, + 0.9862905561531398 + ], + "camera_roll_rad": -0.0013559899134747283, + "camera_pose_world_cv": [ + [ + 0.9408494234085083, + -0.020163074135780334, + 0.33822447061538696, + -13.114611625671387 + ], + [ + -0.3388141393661499, + -0.06395888328552246, + 0.9386769533157349, + -8.573104858398438 + ], + [ + 0.002705872058868408, + -0.997748851776123, + -0.06700718402862549, + 1.0275648832321167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30981833090134187, + 0.3419507828538194, + 0.342853834562766 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9910633927148966, + 0.9399461348490226, + 0.8523165499360957 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4723.0974586023995, + "intensity": 0.9399461348490226 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7502353008976214, + 0.7619131743200969, + 0.7805977717960576 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5804.672899291163, + "intensity": 0.766584323689087 + }, + "point_color_scale": [ + 0.7968684541123214, + 0.8216504388049685, + 0.8613016143132038 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6fc7fe0a9b22a1ca50929018bc424987ab0a7555 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0918751699798155, + "K": [ + [ + 407.90688156390814, + 0.0, + 329.94078723629957 + ], + [ + 0.0, + 395.04247956635436, + 247.5280183047401 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.44430602680545, + -8.699091463308973, + 0.8757693725996657 + ], + "camera_target": [ + -12.877473167790384, + -8.070835096866222, + 0.9184197807828018 + ], + "camera_roll_rad": 0.050816051613915475, + "camera_pose_world_cv": [ + [ + 0.742059588432312, + -0.04178112745285034, + 0.6690305471420288, + -13.444306373596191 + ], + [ + -0.6626311540603638, + 0.10514724254608154, + 0.7415280342102051, + -8.699091911315918 + ], + [ + -0.10132861137390137, + -0.9935785531997681, + 0.05033993721008301, + 0.8757693767547607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25186744722163457, + 0.2632791294041762, + 0.25027940638656376 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.829796923757038, + 0.8675016651694302, + 0.9278292514292575 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6354.417486278527, + "intensity": 0.882583561734387 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7614384713812795, + 0.781195521398118, + 0.8128068014250597 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6000.750007449376, + "intensity": 0.7890983414048535 + }, + "point_color_scale": [ + 0.9161679077253913, + 0.9222460719624007, + 0.9319711347416159 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8516b53b6cc9bf81e53062c09bce65291179ad31 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.957595870486012, + "K": [ + [ + 465.09915021602234, + 0.0, + 315.8865338544118 + ], + [ + 0.0, + 462.3529746822961, + 233.92278148945826 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.110590763307401, + -8.105530607891929, + 1.1178090534390754 + ], + "camera_target": [ + -12.921080343223691, + -7.973506103784504, + 0.9264804261734991 + ], + "camera_roll_rad": -0.021817588888336306, + "camera_pose_world_cv": [ + [ + 0.15085327625274658, + 0.2307647168636322, + -0.9612443447113037, + -12.110590934753418 + ], + [ + 0.987642765045166, + 0.006605863571166992, + 0.15658196806907654, + -8.105530738830566 + ], + [ + 0.04248341917991638, + -0.9729870557785034, + -0.22691667079925537, + 1.1178090572357178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32960520286259887, + 0.3205051684391469, + 0.34504586443770174 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9028077460939773, + 0.8679530899492657, + 0.8082022508440461 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4926.324227684622, + "intensity": 0.8679530899492657 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5841393909331308, + 0.5710867842780115, + 0.5487108871549499 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5173.489538731695, + "intensity": 0.5710867842780115 + }, + "point_color_scale": [ + 1.2260927145394795, + 1.1920428068066762, + 1.1336715364075844 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de32b1ec8fa554c60c1ff9d3bb5254c82f7c92c0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.006427634908602, + "K": [ + [ + 455.6440480927085, + 0.0, + 298.45036660772166 + ], + [ + 0.0, + 435.98091373970425, + 254.25769150592515 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.236885636236567, + -8.733059413495932, + 0.955711751364137 + ], + "camera_target": [ + -12.885772191385957, + -8.009692238389352, + 0.8783883593983348 + ], + "camera_roll_rad": -0.027862235070033894, + "camera_pose_world_cv": [ + [ + 0.7402853965759277, + 0.09434252977371216, + -0.6656403541564941, + -12.236886024475098 + ], + [ + 0.6699963212013245, + -0.0217629075050354, + 0.7420454025268555, + -8.733059883117676 + ], + [ + 0.05552014708518982, + -0.9953019618988037, + -0.07931989431381226, + 0.9557117223739624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3295210628230752, + 0.32145895151583537, + 0.3228918216099529 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8732487115319951, + 0.909210323816873, + 0.966748903472678 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6278.73122964919, + "intensity": 0.9235949687308243 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.853848962830235, + 0.8683428293363087, + 0.8915330157460267 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5831.614164155471, + "intensity": 0.8741403759387382 + }, + "point_color_scale": [ + 1.0690287672919927, + 1.0600475392453963, + 1.044651148308374 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89ccbefe91224d29f31536753c283d887ca67585 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0422288437718803, + "K": [ + [ + 403.29683725818666, + 0.0, + 290.67852598628184 + ], + [ + 0.0, + 418.08748531194806, + 230.21028208820138 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.527751864189469, + -8.56802301810279, + 0.9985087284787058 + ], + "camera_target": [ + -12.918096609245797, + -7.974652119207179, + 0.9588634824326211 + ], + "camera_roll_rad": 0.04604959727608435, + "camera_pose_world_cv": [ + [ + 0.8347132205963135, + -0.046334654092788696, + -0.5487321615219116, + -12.527751922607422 + ], + [ + 0.5429749488830566, + -0.09690803289413452, + 0.8341385126113892, + -8.568022727966309 + ], + [ + -0.09182609617710114, + -0.9942142963409424, + -0.05573183298110962, + 0.9985087513923645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22150306898997704, + 0.2281859424221381, + 0.24003010607123237 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1004075506995805, + 1.0468660238588465, + 0.9550805492747311 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4769.3630918995605, + "intensity": 1.0468660238588465 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6107190256024366, + 0.6276505980553979, + 0.6547411139801359 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6033.76269125736, + "intensity": 0.6344232270365824 + }, + "point_color_scale": [ + 1.1275770281586455, + 1.13746178642825, + 1.153277399659617 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b18011f2647ea163160a22213fdb6a4346fad903 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2449018523707647, + "K": [ + [ + 335.24170579932843, + 0.0, + 289.3812621624702 + ], + [ + 0.0, + 334.44089953447934, + 239.19205473348137 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.463380053533552, + -8.005918043347416, + 0.9874052777690272 + ], + "camera_target": [ + -12.894196052342359, + -7.975794965535025, + 0.8709954605623478 + ], + "camera_roll_rad": 0.03172964909057756, + "camera_pose_world_cv": [ + [ + 0.040071964263916016, + -0.20277392864227295, + 0.9784053564071655, + -13.463379859924316 + ], + [ + -0.9972630739212036, + 0.05277371406555176, + 0.05178156495094299, + -8.005918502807617 + ], + [ + -0.06213405728340149, + -0.9778025150299072, + -0.2001042366027832, + 0.9874053001403809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2796095251124054, + 0.28711381148942633, + 0.2814527666893201 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9508988418934522, + 0.9697350155077957, + 0.9998728932907452 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5885.485762204866, + "intensity": 0.977269484953533 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7807657014941227, + 0.7624835986841392, + 0.7311428510098817 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5157.470799717923, + "intensity": 0.7624835986841392 + }, + "point_color_scale": [ + 0.8922401184441026, + 0.9151198651232191, + 0.9517274598098052 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb5ac855219a7e6e8f468e0295b1261e3af8fc02 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1396970891043914, + "K": [ + [ + 384.8539848031292, + 0.0, + 305.3672182393627 + ], + [ + 0.0, + 374.55820102673744, + 243.27172939007232 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.862135213930149, + -8.776290095706802, + 1.1408297672819652 + ], + "camera_target": [ + -12.888136107389101, + -8.045704354056294, + 0.9036948609230953 + ], + "camera_roll_rad": 0.03874868623025143, + "camera_pose_world_cv": [ + [ + 0.9972174167633057, + -0.06642968952655792, + -0.03383129835128784, + -12.86213493347168 + ], + [ + 0.011587174609303474, + -0.3101823925971985, + 0.9506064653396606, + -8.776289939880371 + ], + [ + -0.07364236563444138, + -0.9483532905578613, + -0.30854958295822144, + 1.1408298015594482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22782991682797982, + 0.23951748373551676, + 0.23256658709583586 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8608330223721405, + 0.8940836434386954, + 0.9472846371451833 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6232.8898245747205, + "intensity": 0.9073838918653174 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8441578088009526, + 0.8646140179791064, + 0.8973439526641529 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5968.75094342091, + "intensity": 0.872796501650368 + }, + "point_color_scale": [ + 0.883751299103679, + 0.9187984404086083, + 0.9748738664964949 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3897498cb233f7943eae4210757858c8e917acf9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1070847126763073, + "K": [ + [ + 392.10895547069754, + 0.0, + 292.05088141357317 + ], + [ + 0.0, + 388.3559474619842, + 218.00860059605498 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.457685784934457, + -8.232822710910098, + 0.8371264801293811 + ], + "camera_target": [ + -12.930944759535517, + -7.998124709877985, + 0.9067490158117737 + ], + "camera_roll_rad": 0.05149936346780541, + "camera_pose_world_cv": [ + [ + 0.4298953413963318, + -0.16212162375450134, + -0.8882042169570923, + -12.457685470581055 + ], + [ + 0.8971060514450073, + -0.03436630964279175, + 0.44047680497169495, + -8.23282241821289 + ], + [ + -0.10193520784378052, + -0.9861723184585571, + 0.13066637516021729, + 0.8371264934539795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31449139511913227, + 0.32533052252688643, + 0.31473495925188144 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9511237601674817, + 0.9247452787711015, + 0.8795250249487357 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5092.498110376413, + "intensity": 0.9247452787711015 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8391133441690557, + 0.8234503859521527, + 0.7965996004374617 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5228.269547536821, + "intensity": 0.8234503859521527 + }, + "point_color_scale": [ + 1.1905339412125129, + 1.1809574432810386, + 1.1645405896842254 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df264750a6f3188ed56c757b1ff083b3fa80f59a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0218679622158733, + "K": [ + [ + 421.4079098000553, + 0.0, + 343.1390453631427 + ], + [ + 0.0, + 428.12376089127764, + 223.99368867057873 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.100534863877787, + -8.023637460940654, + 0.7407706021705613 + ], + "camera_target": [ + -12.916841638036328, + -8.048624436610195, + 0.977657220058757 + ], + "camera_roll_rad": -0.009946316352189531, + "camera_pose_world_cv": [ + [ + -0.025049924850463867, + -0.27899810671806335, + -0.9599648714065552, + -12.100534439086914 + ], + [ + 0.9995036125183105, + 0.011360764503479004, + -0.029383540153503418, + -8.023637771606445 + ], + [ + 0.01910388469696045, + -0.960224449634552, + 0.27857506275177, + 0.7407705783843994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25084293881240727, + 0.2436043231010471, + 0.24904389984481154 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.088887631592614, + 1.0357803089624495, + 0.9447391844535965 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4767.531897440927, + "intensity": 1.0357803089624495 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7702180028492429, + 0.7861012362347309, + 0.8115144096515116 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5900.8616972314385, + "intensity": 0.792454529588926 + }, + "point_color_scale": [ + 1.104989921068744, + 1.1318331973710414, + 1.174782439454718 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43d3316adf1ecbc8668ded4460c6bdc25b33788c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2400735006732548, + "K": [ + [ + 344.8329508418569, + 0.0, + 341.46481397887675 + ], + [ + 0.0, + 336.15117242900686, + 219.853155464397 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.10022103062067, + -8.988241683874326, + 1.1256099665036339 + ], + "camera_target": [ + -12.872421907080467, + -8.028086226944954, + 0.917508685529205 + ], + "camera_roll_rad": -0.0043626189051449715, + "camera_pose_world_cv": [ + [ + 0.9733694195747375, + -0.039142124354839325, + 0.22587576508522034, + -13.100220680236816 + ], + [ + -0.2290831208229065, + -0.20277804136276245, + 0.9520515203475952, + -8.988242149353027 + ], + [ + 0.008537344634532928, + -0.9784421920776367, + -0.20634472370147705, + 1.1256099939346313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5776654481887817, + -0.8162736892700195, + 2.6929697583000234e-08, + -12.890748023986816 + ], + [ + 0.8162736892700195, + -0.5776654481887817, + 1.9621785085632837e-08, + -8.021390914916992 + ], + [ + -4.603908365652387e-10, + 3.331683018359399e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3623822364717913, + 0.3684380357090154, + 0.36111429565796593 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8818222871272093, + 0.9029535529130298, + 0.9367635781703426 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5963.706940981596, + "intensity": 0.911406059227358 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8236927859792782, + 0.8277979666284734, + 0.8343662556671856 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5598.98679727827, + "intensity": 0.8294400388881514 + }, + "point_color_scale": [ + 1.0756364600238124, + 1.091517341532619, + 1.1169267519467094 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d94e7966c86f9877ef5a67b64705ae0526aba5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0826447213590351, + "K": [ + [ + 406.61365046754617, + 0.0, + 316.33955937310475 + ], + [ + 0.0, + 399.1826362827072, + 258.39299058139324 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.090701409277793, + -8.328863727717954, + 1.0996226686902482 + ], + "camera_target": [ + -13.286665082986788, + -8.818933132148242, + 0.8456868499764416 + ], + "camera_roll_rad": -0.0012014252940302228, + "camera_pose_world_cv": [ + [ + -0.9289026260375977, + 0.15874114632606506, + -0.3345763087272644, + -13.09070110321045 + ], + [ + 0.37031790614128113, + 0.4034539461135864, + -0.8367136120796204, + -8.328864097595215 + ], + [ + 0.0021652430295944214, + -0.9011250138282776, + -0.4335540533065796, + 1.0996227264404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27638552466752164, + 0.2589470547756144, + 0.2640471598209214 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0879598815281453, + 1.0361404344902119, + 0.9473070967108976 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4785.542972568347, + "intensity": 1.0361404344902119 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.789477288883116, + 0.8062338210090906, + 0.83304427241065 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5912.247044862332, + "intensity": 0.8129364338594804 + }, + "point_color_scale": [ + 1.138880296862795, + 1.1793979706961777, + 1.24422624882959 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..426be4b0ec08e20125f7b87141bbd524b23d81a6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8517386383245867, + "K": [ + [ + 531.1468521995247, + 0.0, + 328.2084643013419 + ], + [ + 0.0, + 529.0644322873784, + 230.6138438738053 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.692194027525767, + -9.046705003262009, + 0.7203887449605307 + ], + "camera_target": [ + -13.275908916832742, + -8.82691701212068, + 0.9652176201947221 + ], + "camera_roll_rad": 0.02651048007266492, + "camera_pose_world_cv": [ + [ + 0.4878634810447693, + 0.3827175498008728, + 0.7845485210418701, + -13.692193984985352 + ], + [ + -0.8716527819633484, + 0.2619946002960205, + 0.4142224192619324, + -9.04670524597168 + ], + [ + -0.047017306089401245, + -0.8859379887580872, + 0.4614143371582031, + 0.7203887701034546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27729632925702047, + 0.28393543444565944, + 0.3088861262501879 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.115508073328844, + 1.0772262992878046, + 1.0116004009317372 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4992.323491672895, + "intensity": 1.0772262992878046 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8191549938838889, + 0.7873963784116862, + 0.7329530376021961 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 4923.804173876274, + "intensity": 0.7873963784116862 + }, + "point_color_scale": [ + 0.8683942694564128, + 0.8968649119984793, + 0.9424179400657855 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db3f3866578bd0fbea095f035be572a6065529b6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9774623081487873, + "K": [ + [ + 453.8046937601528, + 0.0, + 350.5655142923771 + ], + [ + 0.0, + 451.33192696397333, + 248.0368173342793 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.426951997645467, + -8.455231664890075, + 1.0089466443995807 + ], + "camera_target": [ + -13.296925055332732, + -8.809277226193402, + 0.8634052621331905 + ], + "camera_roll_rad": 0.034805370321189674, + "camera_pose_world_cv": [ + [ + -0.3661653995513916, + 0.16770607233047485, + -0.9153129458427429, + -12.426952362060547 + ], + [ + 0.9280079007148743, + -0.00684356689453125, + -0.3724978268146515, + -8.455231666564941 + ], + [ + -0.06873422861099243, + -0.9858133792877197, + -0.1531265377998352, + 1.0089466571807861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2751915099013819, + 0.2929649719804125, + 0.2829309940342448 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.041723154706684, + 1.096597647560506, + 1.1843968361266213 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6481.174166795219, + "intensity": 1.1185474447020347 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7290084021614508, + 0.7491508762170016, + 0.7813788347058832 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6032.019672913111, + "intensity": 0.7572078658392221 + }, + "point_color_scale": [ + 0.9378041594938459, + 0.9549021851070449, + 0.9822590260881635 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de9e909e60287655212a4242483e2cac474266c5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0325641743379999, + "K": [ + [ + 408.6575469826234, + 0.0, + 337.1323564966316 + ], + [ + 0.0, + 422.8065003870983, + 261.9233370403255 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.937587188046312, + -8.055048980344452, + 0.8115177064739336 + ], + "camera_target": [ + -13.222515307574254, + -8.836942080489251, + 0.8856697624721932 + ], + "camera_roll_rad": 0.034407075250982286, + "camera_pose_world_cv": [ + [ + -0.939426064491272, + 0.03428833186626434, + -0.341032475233078, + -12.937586784362793 + ], + [ + 0.33583950996398926, + -0.10673362016677856, + -0.9358525276184082, + -8.055048942565918 + ], + [ + -0.0684884786605835, + -0.9936963319778442, + 0.08875298500061035, + 0.8115177154541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32252966852056053, + 0.30996888146307916, + 0.3172082618198052 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8651021491538872, + 0.867223485525376, + 0.8706176237197581 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5548.874662987249, + "intensity": 0.8680720200739716 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.656630322032994, + 0.6731482747568118, + 0.6995769991149204 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5985.996914971486, + "intensity": 0.679755455846339 + }, + "point_color_scale": [ + 0.8951336899657631, + 0.9211423912737157, + 0.9627563133664399 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d242bd01ab7c7cd78df93d44a40b92221ce0061c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.022630755730665, + "K": [ + [ + 435.9802809672716, + 0.0, + 339.0543174184964 + ], + [ + 0.0, + 427.74121011114823, + 224.61930972306908 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.784049335375627, + -8.719597832705754, + 0.8597816554930171 + ], + "camera_target": [ + -13.273812246913645, + -8.814744668119108, + 0.8862248445414183 + ], + "camera_roll_rad": 0.029395287199892026, + "camera_pose_world_cv": [ + [ + -0.18006086349487305, + 0.06070345640182495, + 0.9817807674407959, + -13.784049034118652 + ], + [ + -0.9819037318229675, + 0.04844999313354492, + -0.18307894468307495, + -8.719597816467285 + ], + [ + -0.05868065357208252, + -0.9969794154167175, + 0.050881147384643555, + 0.8597816824913025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2622728496907612, + 0.26026118971454676, + 0.23930476818651963 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.2583067319325527, + 1.1845771405872751, + 1.0581835554239423 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4610.838931233365, + "intensity": 1.1845771405872751 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5842595578226926, + 0.593579777922853, + 0.6084921300831097 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5812.074246172375, + "intensity": 0.5973078659629172 + }, + "point_color_scale": [ + 0.9101599708264507, + 0.9241368697896075, + 0.9464999081306582 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f523d139d41b85121fdc6f862907b023a858809 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1147248134096424, + "K": [ + [ + 383.29246673947426, + 0.0, + 331.55120999092185 + ], + [ + 0.0, + 385.0589109226737, + 219.81203718628166 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.77117598660734, + -9.057130144339919, + 0.974605909723989 + ], + "camera_target": [ + -13.292091344797385, + -8.800876545022504, + 0.9230063014011737 + ], + "camera_roll_rad": -0.02198249447509314, + "camera_pose_world_cv": [ + [ + 0.47485852241516113, + -0.0625600814819336, + 0.877835750579834, + -13.7711763381958 + ], + [ + -0.8789737820625305, + -0.0833052396774292, + 0.46953728795051575, + -9.057129859924316 + ], + [ + 0.043753981590270996, + -0.9945584535598755, + -0.09454691410064697, + 0.974605917930603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25193753572461364, + 0.2553754032383927, + 0.25448461022059254 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1053553734633679, + 1.153328105377545, + 1.2300844764402288 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6318.286196401149, + "intensity": 1.172517198143216 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.9635924056449227, + 0.9231393403532979, + 0.8537912284247985 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 4873.982986667727, + "intensity": 0.9231393403532979 + }, + "point_color_scale": [ + 0.7676353449426828, + 0.798460368952295, + 0.8477804073676747 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38d9c714803c9164996d9990352c1c6d4a25f870 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2811326230444628, + "K": [ + [ + 313.2883621280896, + 0.0, + 297.6396331093954 + ], + [ + 0.0, + 321.96422328285354, + 221.6294885634576 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.047036350745799, + -8.382501547504248, + 1.0974812268460357 + ], + "camera_target": [ + -13.236301883257195, + -8.800759930835968, + 0.9357427582057379 + ], + "camera_roll_rad": 0.009925098221115682, + "camera_pose_world_cv": [ + [ + -0.9081661701202393, + 0.15504595637321472, + -0.38883844017982483, + -13.047036170959473 + ], + [ + 0.41819146275520325, + 0.2944912910461426, + -0.8592968583106995, + -8.382501602172852 + ], + [ + -0.018721044063568115, + -0.9429931044578552, + -0.3322855830192566, + 1.0974812507629395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33906150142101793, + 0.36115752339509677, + 0.3643932965813822 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0953039654172867, + 1.1242377174188023, + 1.1705317206212273 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6009.481708533827, + "intensity": 1.1358112182194084 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6921357766012252, + 0.7034837424228219, + 0.7216404877373768 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5820.553625053019, + "intensity": 0.7080229287514607 + }, + "point_color_scale": [ + 0.9712706987608479, + 0.9983587706936337, + 1.041699685786091 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..721b49302b938a039f4120656dcadfb4454e7441 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1634245671221333, + "K": [ + [ + 377.41558304046583, + 0.0, + 316.0725256533463 + ], + [ + 0.0, + 364.95325122267803, + 231.98944911828116 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.640201351503968, + -8.010064795464189, + 0.9369515250340026 + ], + "camera_target": [ + -13.21701618039973, + -8.850041588222235, + 0.9280038839408815 + ], + "camera_roll_rad": 0.050746220534276396, + "camera_pose_world_cv": [ + [ + -0.8889014720916748, + 0.08622564375400543, + 0.4499107003211975, + -13.640201568603516 + ], + [ + -0.446755051612854, + 0.05403792858123779, + -0.8930230140686035, + -8.010065078735352 + ], + [ + -0.10131369531154633, + -0.9948091506958008, + -0.009512484073638916, + 0.9369515180587769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28850459710556775, + 0.27112067037200993, + 0.2828764608005515 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1041127497160543, + 1.096520051266239, + 1.0835039967808415 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5401.080586181356, + "intensity": 1.096520051266239 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7440981103769249, + 0.716999230539834, + 0.6705440079619641 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 4960.0735421652935, + "intensity": 0.716999230539834 + }, + "point_color_scale": [ + 1.049899521572313, + 1.0210911102972278, + 0.9717052623970817 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91976dc38327187c0430206f753bae8abc34866f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8697326045485202, + "K": [ + [ + 512.1233906423416, + 0.0, + 326.13561000396544 + ], + [ + 0.0, + 516.6578099752047, + 246.21660410042887 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.678712341118082, + -8.208144533936125, + 0.751137147364738 + ], + "camera_target": [ + -13.203689031517918, + -8.812193086494437, + 0.9631050475548325 + ], + "camera_roll_rad": -0.029650448920412492, + "camera_pose_world_cv": [ + [ + -0.7435002326965332, + -0.21238963305950165, + -0.6341122984886169, + -12.678711891174316 + ], + [ + 0.6662773489952087, + -0.15403181314468384, + -0.7296223640441895, + -8.208144187927246 + ], + [ + 0.05729067325592041, + -0.9649689197540283, + 0.25603318214416504, + 0.7511371374130249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24376679082805058, + 0.2635486109779301, + 0.27058095627571216 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0204878927963332, + 1.0369369994422084, + 1.0632555700756083 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5815.262948040076, + "intensity": 1.0435166421005584 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.555743829887957, + 0.5628903273820905, + 0.5743247233727042 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5752.638481874436, + "intensity": 0.5657489263797439 + }, + "point_color_scale": [ + 0.8709354685486623, + 0.8729767650186778, + 0.8762428393707026 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..104ada09c4dfe0ec86573f59f14a7518bb817676 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1175825035755103, + "K": [ + [ + 400.51921487113873, + 0.0, + 351.8824951039796 + ], + [ + 0.0, + 383.836059845813, + 233.2548989866946 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.491900035098281, + -9.253902735053648, + 1.059450713465595 + ], + "camera_target": [ + -13.25599016696761, + -8.85247123251372, + 0.9242499046650708 + ], + "camera_roll_rad": 0.03481673623883465, + "camera_pose_world_cv": [ + [ + 0.473496675491333, + 0.10430657863616943, + -0.8745976686477661, + -12.491900444030762 + ], + [ + 0.8781092762947083, + -0.13339465856552124, + 0.4594888687133789, + -9.253902435302734 + ], + [ + -0.06873899698257446, + -0.9855587482452393, + -0.15475445985794067, + 1.0594507455825806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23720742999681307, + 0.21472582235465448, + 0.23009811356534107 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1327137825301214, + 1.1474545386687582, + 1.1710397484905772 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5755.61616835114, + "intensity": 1.153350841124213 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.812573674236443, + 0.8032600173807811, + 0.7872937484853605 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5334.359686880694, + "intensity": 0.8032600173807811 + }, + "point_color_scale": [ + 1.0721277428652967, + 1.0405664048643746, + 0.9864612540056509 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c14a1b42c19fe83db13877ced3f6c0becefbfd7a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.972612968504923, + "K": [ + [ + 471.28408890044614, + 0.0, + 350.4947341353476 + ], + [ + 0.0, + 453.98388874702425, + 241.12067784729567 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.6957493011286, + -9.375836596176894, + 1.0379712069495635 + ], + "camera_target": [ + -13.233349551921211, + -8.818030763983842, + 0.9488605668656599 + ], + "camera_roll_rad": 0.0008891610373261624, + "camera_pose_world_cv": [ + [ + 0.7697343826293945, + -0.07927298545837402, + 0.6334230899810791, + -13.695749282836914 + ], + [ + -0.638361930847168, + -0.092842698097229, + 0.7641167044639587, + -9.375836372375488 + ], + [ + -0.0017650425434112549, + -0.9925200343132019, + -0.12206906080245972, + 1.0379712581634521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36212762979795166, + 0.3576208424842675, + 0.361869894084556 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.2075522217475785, + 1.1609742920559585, + 1.0811264125846103 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4926.861559168361, + "intensity": 1.1609742920559585 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.607859822657708, + 0.6265430178917657, + 0.6564361302662582 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6089.36009539062, + "intensity": 0.6340162959853889 + }, + "point_color_scale": [ + 1.142142396222686, + 1.1525435831496933, + 1.1691854822329046 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f97b9f3da91e608784b1aed5dd35609ebe808c8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0732211910970102, + "K": [ + [ + 407.8522592244363, + 0.0, + 351.11765783948766 + ], + [ + 0.0, + 403.4754867517051, + 261.159286163173 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.0712707229291, + -9.544279680622102, + 1.0832494233593577 + ], + "camera_target": [ + -13.285978061469432, + -8.795292049604877, + 0.8578884466068364 + ], + "camera_roll_rad": 0.04975476651931779, + "camera_pose_world_cv": [ + [ + 0.964133620262146, + -0.019312523305416107, + -0.2647138833999634, + -13.071270942687988 + ], + [ + 0.24766677618026733, + -0.293146014213562, + 0.9234319925308228, + -9.544280052185059 + ], + [ + -0.09543362259864807, + -0.955872654914856, + -0.27784883975982666, + 1.0832494497299194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3842654567558946, + 0.36832055732709407, + 0.38236950115179813 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9590919219071252, + 0.9477314047570442, + 0.9282562324997626 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5328.7562263639265, + "intensity": 0.9477314047570442 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.886444266074692, + 0.8950413756990716, + 0.9087967510980791 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5691.370036586822, + "intensity": 0.8984802195488235 + }, + "point_color_scale": [ + 0.9556989863159466, + 0.9403365813124571, + 0.9140010298779038 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20d3c8baec3a4746c45f863e0d65573acae06db7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.11489969262448, + "K": [ + [ + 374.868200441181, + 0.0, + 312.82684383819725 + ], + [ + 0.0, + 384.98391634389134, + 240.18089375179972 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.284485489707615, + -8.27646387832767, + 1.009608013549217 + ], + "camera_target": [ + -13.294580200287768, + -8.783099596667803, + 0.9370956901111025 + ], + "camera_roll_rad": 0.004334185375197024, + "camera_pose_world_cv": [ + [ + -0.999739408493042, + 0.011488237418234348, + -0.01971987634897232, + -13.284485816955566 + ], + [ + 0.021147646009922028, + 0.1414477825164795, + -0.9897197484970093, + -8.276463508605957 + ], + [ + -0.00858080293983221, + -0.9898790121078491, + -0.14165395498275757, + 1.0096080303192139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22372661030360283, + 0.22418651817098556, + 0.21411121364616156 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9675045565542416, + 0.9723268973582473, + 0.9800426426446563 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5598.995369333152, + "intensity": 0.9742558336798496 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6777527679371173, + 0.6928488035085377, + 0.7170024604228102 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5932.002050926017, + "intensity": 0.6988872177371058 + }, + "point_color_scale": [ + 1.0617572683965157, + 1.098192085165849, + 1.1564877919967824 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5cd63c9fcfe5ceda8f317ef920e86f32e319406 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8141419241458084, + "K": [ + [ + 577.8482753985201, + 0.0, + 334.545922915438 + ], + [ + 0.0, + 556.6465873829561, + 246.19711542264764 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.375424373642002, + -8.493344371703055, + 0.7633450202009338 + ], + "camera_target": [ + -13.239553084654933, + -8.852316599596282, + 0.934149984170509 + ], + "camera_roll_rad": 0.0016707736957295577, + "camera_pose_world_cv": [ + [ + -0.38418257236480713, + -0.16454815864562988, + -0.908475399017334, + -12.3754243850708 + ], + [ + 0.9232512712478638, + -0.07197427749633789, + -0.3773947060108185, + -8.4933443069458 + ], + [ + -0.0032872557640075684, + -0.9837396144866943, + 0.17957055568695068, + 0.7633450031280518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2357011005013413, + 0.23561750886853572, + 0.2575326410072697 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.106697988997733, + 1.1550287195007127, + 1.2323578883054802 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6323.09834916842, + "intensity": 1.1743610117019045 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6594971426186415, + 0.6502853306341072, + 0.6344936529463342 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5297.631427520513, + "intensity": 0.6502853306341072 + }, + "point_color_scale": [ + 1.046016859229048, + 1.0023454245093255, + 0.9274801078469439 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2cab914131e80c3b8c399ff65e36c6bf527fb356 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.248543348632864, + "K": [ + [ + 331.6212379918288, + 0.0, + 324.0805653568822 + ], + [ + 0.0, + 333.1586220652362, + 248.69117929207934 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.56858324698097, + -9.110858058532436, + 0.9634514206316244 + ], + "camera_target": [ + -13.206668099900075, + -8.789277620531527, + 0.8468455695293922 + ], + "camera_roll_rad": -0.006994681289510606, + "camera_pose_world_cv": [ + [ + 0.6666057705879211, + -0.16572901606559753, + 0.7267535328865051, + -13.568583488464355 + ], + [ + -0.7452864646911621, + -0.16597169637680054, + 0.6457566618919373, + -9.110857963562012 + ], + [ + 0.013599991798400879, + -0.9721046090126038, + -0.23415327072143555, + 0.9634514451026917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35765142309573905, + 0.3626516810667356, + 0.3599528217947039 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9217509407027099, + 0.890206344422354, + 0.8361298936560297 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4993.783556427266, + "intensity": 0.890206344422354 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.9443605620431903, + 0.935666943011679, + 0.9207635961005165 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5367.266276188759, + "intensity": 0.935666943011679 + }, + "point_color_scale": [ + 1.029088299262471, + 1.0045480383706147, + 0.9624790196988613 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74f68f7dde7d2915242ef2037fdff82786b5858e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.185728811272601, + "K": [ + [ + 356.20921464823255, + 0.0, + 292.9670763739624 + ], + [ + 0.0, + 356.2352201298454, + 245.7348967051306 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.557275135293787, + -9.10410530234094, + 0.7605621327752282 + ], + "camera_target": [ + -13.294519399828697, + -8.836547720202267, + 0.9627105629377711 + ], + "camera_roll_rad": -0.009856376279136658, + "camera_pose_world_cv": [ + [ + 0.7067878842353821, + 0.3464745879173279, + 0.61677086353302, + -13.55727481842041 + ], + [ + -0.7072127461433411, + 0.32467424869537354, + 0.6280421614646912, + -9.104104995727539 + ], + [ + 0.017351090908050537, + -0.8800807595252991, + 0.47450709342956543, + 0.7605621218681335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7027155160903931, + 0.7114709615707397, + 0.0, + -13.250251770019531 + ], + [ + -0.7114709615707397, + 0.7027155160903931, + -0.0, + -8.815032005310059 + ], + [ + -0.0, + 0.0, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3012490020270641, + 0.3166298390949616, + 0.30598940454086393 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0185747175133284, + 1.0315183598009618, + 1.0522281874611756 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5749.709549878104, + "intensity": 1.0366958167160154 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.713393976957718, + 0.7044355774059647, + 0.6890783210315307 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5318.326699334402, + "intensity": 0.7044355774059647 + }, + "point_color_scale": [ + 1.1573292455597282, + 1.1176063454190466, + 1.0495099451778782 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..362e52e306d3535fea8f833b43f6506de14ebea9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9494175574563953, + "K": [ + [ + 447.7606929284978, + 0.0, + 327.2606750345197 + ], + [ + 0.0, + 467.0133615116882, + 236.9734863110516 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.200799196162585, + -9.347091803588631, + 0.8273571968622991 + ], + "camera_target": [ + -12.829507376824264, + -8.637295017587777, + 0.9055650073063998 + ], + "camera_roll_rad": -0.014303301426374496, + "camera_pose_world_cv": [ + [ + 0.7498242855072021, + -0.033070266246795654, + -0.660810112953186, + -12.200798988342285 + ], + [ + 0.6610227227210999, + 0.08047342300415039, + 0.7460383176803589, + -9.347091674804688 + ], + [ + 0.028505921363830566, + -0.9962080717086792, + 0.08220112323760986, + 0.8273571729660034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22761520215388897, + 0.22091647777248857, + 0.22450796391570194 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0729579753541316, + 1.0474947397602827, + 1.003843478742256 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5152.732854231992, + "intensity": 1.0474947397602827 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7159669068590756, + 0.7273932239604547, + 0.7456753313226613 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5812.209917195351, + "intensity": 0.7319637508010063 + }, + "point_color_scale": [ + 1.1956870123675294, + 1.1771252926594893, + 1.1453052017314207 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6bfb7c86187aaba2197886f58cf9dc8b83fcacc0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7954322973615705, + "K": [ + [ + 551.8115518417776, + 0.0, + 322.42814690702295 + ], + [ + 0.0, + 571.2875016079443, + 255.68872606228393 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.972411792861186, + -7.99249292168969, + 0.7346400429400869 + ], + "camera_target": [ + -12.827387660201428, + -8.64991363066451, + 0.9789904778754034 + ], + "camera_roll_rad": 0.026149804909492536, + "camera_pose_world_cv": [ + [ + -0.971345067024231, + 0.12444311380386353, + 0.20249156653881073, + -12.972412109375 + ], + [ + -0.23253872990608215, + -0.3214499354362488, + -0.9179301261901855, + -7.992493152618408 + ], + [ + -0.04913918673992157, + -0.9387139081954956, + 0.34117674827575684, + 0.7346400618553162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3113890970964304, + 0.32022879687831396, + 0.32738764011928906 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9030728964407264, + 0.9229494222835758, + 0.9547518636321348 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5927.038890242426, + "intensity": 0.9309000326207155 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5793937754006308, + 0.6018373272015108, + 0.6377470100829189 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6234.872623073963, + "intensity": 0.6108147479218629 + }, + "point_color_scale": [ + 0.9082350812959769, + 0.9134024549465911, + 0.9216702527875739 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5249273d9e0291db531a871e0b5be23d7bf09c80 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2449979243595588, + "K": [ + [ + 343.3790852444654, + 0.0, + 337.4206226678225 + ], + [ + 0.0, + 334.40698624784466, + 248.41316594088758 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.006243744095038, + -9.045473688154262, + 0.7526896773134601 + ], + "camera_target": [ + -12.840824387240977, + -8.597882811204679, + 0.8453167019071026 + ], + "camera_roll_rad": 0.02656804512586511, + "camera_pose_world_cv": [ + [ + 0.4674035310745239, + -0.11076602339744568, + -0.8770774602890015, + -12.006243705749512 + ], + [ + 0.8824625015258789, + -0.000862419605255127, + 0.47038233280181885, + -9.0454740524292 + ], + [ + -0.05285891890525818, + -0.9938462972640991, + 0.0973438024520874, + 0.7526896595954895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35836292736586733, + 0.35609485531759605, + 0.3612057013043917 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1968454287540669, + 1.1522963044205514, + 1.075926376991668 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4947.697558808546, + "intensity": 1.1522963044205514 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8937240141131797, + 0.8734523742650131, + 0.8387009916681563 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5168.448030475052, + "intensity": 0.8734523742650131 + }, + "point_color_scale": [ + 1.0555712697353392, + 1.0591522095419452, + 1.0648817132325148 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79bf05886106df525b6ac217676c69e7ceb8b6da --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8650691731154453, + "K": [ + [ + 542.4019661053352, + 0.0, + 333.73371125045696 + ], + [ + 0.0, + 519.8267392545454, + 256.23933182932 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.76118995062081, + -8.243812861026946, + 0.8833253136640344 + ], + "camera_target": [ + -12.874486505589967, + -8.617121900690995, + 0.9020058102685409 + ], + "camera_roll_rad": 0.00791093367191624, + "camera_pose_world_cv": [ + [ + -0.3876904249191284, + 0.024028807878494263, + 0.9214764833450317, + -13.761190414428711 + ], + [ + -0.9216539859771729, + 0.007049918174743652, + -0.3879488706588745, + -8.243812561035156 + ], + [ + -0.01581820845603943, + -0.9996864795684814, + 0.019413113594055176, + 0.8833253383636475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2711158536066443, + 0.28300633264269526, + 0.29460143926643645 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9097804607088806, + 0.9246672648076191, + 0.9484861513656007 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5819.932353104458, + "intensity": 0.9306219864471145 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6638975832220294, + 0.6908085387080232, + 0.7338660674856132 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6267.160609659184, + "intensity": 0.7015729209024206 + }, + "point_color_scale": [ + 0.8983128544528035, + 0.8699326305826918, + 0.8212808182339287 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6698f2c162d91c77e2ee41c18c5bbf7c2da45e2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2476697545734248, + "K": [ + [ + 348.20042788266164, + 0.0, + 346.0185216593555 + ], + [ + 0.0, + 333.465648456762, + 259.0828915934019 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.484815309461785, + -9.411892474021093, + 0.7510104526364519 + ], + "camera_target": [ + -12.889514826988286, + -8.608606047984011, + 0.9670594698929705 + ], + "camera_roll_rad": -0.040856906739647834, + "camera_pose_world_cv": [ + [ + 0.7904808521270752, + 0.19091477990150452, + 0.5819722414016724, + -13.48481559753418 + ], + [ + -0.6072684526443481, + 0.12052834033966064, + 0.7853012681007385, + -9.411892890930176 + ], + [ + 0.07978150248527527, + -0.9741789698600769, + 0.2112119197845459, + 0.7510104775428772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.269484118055831, + 0.27528313197169196, + 0.2512953911756851 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0480836591929727, + 1.0071084258056844, + 0.9368651685703326 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4918.771145228999, + "intensity": 1.0071084258056844 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8858209584034582, + 0.8750169513134572, + 0.8564957963020272 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5323.611464672879, + "intensity": 0.8750169513134572 + }, + "point_color_scale": [ + 0.8560373921168596, + 0.8375416515432811, + 0.8058346677028608 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09e974d8f0e06286afa85f7fed677f332b77f0c8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.934418035187414, + "K": [ + [ + 488.85734300665405, + 0.0, + 332.2081613797131 + ], + [ + 0.0, + 475.7565172990903, + 260.55022657532334 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.44011543099114, + -7.976683369554743, + 0.917390132589292 + ], + "camera_target": [ + -12.815162730120205, + -8.599904298156453, + 0.8446911315829319 + ], + "camera_roll_rad": 0.03343883264359561, + "camera_pose_world_cv": [ + [ + -0.8514735698699951, + 0.1084243506193161, + -0.5130661725997925, + -12.440114974975586 + ], + [ + 0.5201643705368042, + 0.050563931465148926, + -0.8525680899620056, + -7.976683139801025 + ], + [ + -0.06649652123451233, + -0.9928179383277893, + -0.09945231676101685, + 0.9173901081085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3573912287497891, + 0.36655163287844517, + 0.34564672813968583 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1697429022796317, + 1.1215196301916637, + 1.038851163755147 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4885.740678606542, + "intensity": 1.1215196301916637 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8935799593755748, + 0.9219264076772411, + 0.9672807249599075 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6107.468376004338, + "intensity": 0.9332649869979077 + }, + "point_color_scale": [ + 0.8361566096427249, + 0.8120750991691128, + 0.7707925097857783 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75f6e26f540f8fe9ab8852cd86db4d5355cfb39a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2619544553824396, + "K": [ + [ + 334.301979476898, + 0.0, + 343.3723885562646 + ], + [ + 0.0, + 328.4914932994085, + 259.6130031340989 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.281781899340817, + -8.946165848620044, + 0.8394177523967388 + ], + "camera_target": [ + -12.808111829167439, + -8.64373457468385, + 0.8716917026658249 + ], + "camera_roll_rad": -0.0008433936557281779, + "camera_pose_world_cv": [ + [ + 0.49828970432281494, + -0.04519307613372803, + -0.8658319711685181, + -12.281782150268555 + ], + [ + 0.8670089840888977, + 0.027913689613342285, + 0.4975101351737976, + -8.946166038513184 + ], + [ + 0.0016844868659973145, + -0.9985882639884949, + 0.05309188365936279, + 0.8394177556037903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3250561967636166, + 0.32192500398333546, + 0.32483306128939293 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9799594639385948, + 1.0296205999737795, + 1.1090784176300754 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6446.390533672751, + "intensity": 1.0494850543878536 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5612113753729845, + 0.5621887833736775, + 0.5637526361747864 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5534.747358277485, + "intensity": 0.5625797465739548 + }, + "point_color_scale": [ + 1.0909698156765428, + 1.0584151624327092, + 1.0026071854432803 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fc34eb1427034882d852aad77a8ca6d28eab46 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2543800156165303, + "K": [ + [ + 335.91192225513504, + 0.0, + 344.2587545836614 + ], + [ + 0.0, + 331.116823397345, + 232.58766856441682 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.839239466927944, + -9.357301167952098, + 1.0380609479992708 + ], + "camera_target": [ + -12.87275546599022, + -8.66961486734114, + 0.9691611136186894 + ], + "camera_roll_rad": 0.02198327204863794, + "camera_pose_world_cv": [ + [ + 0.998062252998352, + -0.03905770927667618, + -0.04843761771917343, + -12.839239120483398 + ], + [ + 0.044261157512664795, + -0.10149991512298584, + 0.993850588798523, + -9.357300758361816 + ], + [ + -0.04373393952846527, + -0.9940686225891113, + -0.0995745062828064, + 1.0380609035491943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2607474051436667, + 0.27677648597756177, + 0.26096617106392306 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9639989996466835, + 0.9389383340863099, + 0.8959771931256696 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5118.708178153447, + "intensity": 0.9389383340863099 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8100451005301422, + 0.8029339674971139, + 0.790743453726208 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5373.479490381737, + "intensity": 0.8029339674971139 + }, + "point_color_scale": [ + 0.8549484376983998, + 0.8877668754122624, + 0.9402763757544428 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..055067ac8aaf4ff87859725aa381222570bde3a8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2518944771931824, + "K": [ + [ + 334.62914092708724, + 0.0, + 321.9390764391973 + ], + [ + 0.0, + 331.98430569322767, + 225.15147551104965 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.316019523010656, + -8.6347727275809, + 0.7600462869949872 + ], + "camera_target": [ + -12.892673978402325, + -8.610615813809797, + 0.9171791405097101 + ], + "camera_roll_rad": 0.033717337308046394, + "camera_pose_world_cv": [ + [ + 0.0802152156829834, + 0.3422852158546448, + 0.9361657500267029, + -13.316019058227539 + ], + [ + -0.9947729706764221, + 0.08702445030212402, + 0.05341869592666626, + -8.634772300720215 + ], + [ + -0.06318485736846924, + -0.9355573654174805, + 0.3474767208099365, + 0.7600463032722473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32343723433868476, + 0.32579862081196276, + 0.32815836037192064 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1002217439908093, + 1.0478188224981841, + 0.9579852427965412 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4785.55094821113, + "intensity": 1.0478188224981841 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6423062621844945, + 0.6314594235408456, + 0.612864843008876 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5254.608400809795, + "intensity": 0.6314594235408456 + }, + "point_color_scale": [ + 1.0945002672428372, + 1.1249471773615007, + 1.1736622335513625 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8683bef10cb722f63f0830d0bc0b23d9b84aa098 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.103189543342299, + "K": [ + [ + 393.9413561076789, + 0.0, + 317.1054615838302 + ], + [ + 0.0, + 390.05261438464504, + 257.4340697839259 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.557930034463883, + -8.446171367384608, + 1.0087785499917605 + ], + "camera_target": [ + -12.853678209807327, + -8.660721375122325, + 0.9052441975110636 + ], + "camera_roll_rad": -0.03231513807632901, + "camera_pose_world_cv": [ + [ + -0.2822134494781494, + -0.15176033973693848, + 0.9472720623016357, + -13.557929992675781 + ], + [ + -0.9572174549102783, + -0.021282196044921875, + -0.288585901260376, + -8.446171760559082 + ], + [ + 0.06395590305328369, + -0.9881881475448608, + -0.13926154375076294, + 1.0087785720825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.362866390616664, + 0.3858824454925261, + 0.3699558321403783 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0649593532071473, + 1.0912248943205085, + 1.1332497601018872 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5976.804927385654, + "intensity": 1.1017311107658532 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.68623849740714, + 0.700216426372913, + 0.7225811127181497 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5896.083267059999, + "intensity": 0.7058075979592222 + }, + "point_color_scale": [ + 1.0372687812752042, + 1.049043192716144, + 1.0678822510216481 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24039897e64d6d9aec9598f0b38af61ac8f21a78 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.096081060040105, + "K": [ + [ + 384.6962580278444, + 0.0, + 306.41484547068603 + ], + [ + 0.0, + 393.17680060523884, + 231.11054580849017 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.140894732015814, + -9.123499088845573, + 1.1361937771007398 + ], + "camera_target": [ + -12.799796289721447, + -8.631027042918271, + 0.9842071173583873 + ], + "camera_roll_rad": -0.010688777779584754, + "camera_pose_world_cv": [ + [ + 0.5954256653785706, + 0.15829437971115112, + -0.7876618504524231, + -12.140894889831543 + ], + [ + 0.8031353950500488, + -0.09162461757659912, + 0.5887092351913452, + -9.123498916625977 + ], + [ + 0.021020114421844482, + -0.9831316471099854, + -0.18168741464614868, + 1.1361937522888184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25828730681691303, + 0.27428181223250037, + 0.27319871683556046 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.155032902125669, + 1.1111112288453429, + 1.0358169317933559 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4935.292831946925, + "intensity": 1.1111112288453429 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.9247485174727912, + 0.9169325969030613, + 0.9035338759263813 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5378.228772195343, + "intensity": 0.9169325969030613 + }, + "point_color_scale": [ + 0.9343700127460631, + 0.9553343264962205, + 0.9888772284964722 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8747a9e14cff3f34fbabcd694f8b19e6e51396e0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0855022781478463, + "K": [ + [ + 380.6581734784667, + 0.0, + 316.6859027381564 + ], + [ + 0.0, + 397.8941604308995, + 227.68092334457634 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.799493750672543, + -8.065805335037295, + 1.0488865784842187 + ], + "camera_target": [ + -12.838019682814704, + -8.618493755951254, + 0.8939084259409783 + ], + "camera_roll_rad": -0.03994026262710225, + "camera_pose_world_cv": [ + [ + -0.9958934783935547, + -0.0609297938644886, + -0.06696633249521255, + -12.799493789672852 + ], + [ + 0.047871317714452744, + 0.27342772483825684, + -0.9607007503509521, + -8.065805435180664 + ], + [ + 0.07684572786092758, + -0.9599610567092896, + -0.26938772201538086, + 1.0488865375518799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2672507308566134, + 0.2593548994370574, + 0.25663300465811895 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8313162382954876, + 0.8656540423484334, + 0.9205945288331466 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6280.94671755888, + "intensity": 0.8793891639696116 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8086561778881551, + 0.7869062829074438, + 0.7496207486547958 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5105.146391396548, + "intensity": 0.7869062829074438 + }, + "point_color_scale": [ + 0.8316413678452635, + 0.8042470471230911, + 0.7572853544565099 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2210f51a1e375b40d20cf2c18b6d5fa2fb6bcde4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1015638258975595, + "K": [ + [ + 384.6036739213754, + 0.0, + 322.0444861344446 + ], + [ + 0.0, + 390.76392855394323, + 225.0955587386383 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.387271577359117, + -7.937003150329084, + 1.134685083405647 + ], + "camera_target": [ + -12.809409378946123, + -8.598588915414402, + 0.9335735377702796 + ], + "camera_roll_rad": -0.010174378191640666, + "camera_pose_world_cv": [ + [ + -0.8455522060394287, + 0.11634726822376251, + -0.5210611820220947, + -12.387271881103516 + ], + [ + 0.5335288047790527, + 0.22017037868499756, + -0.816622257232666, + -7.937003135681152 + ], + [ + 0.019710451364517212, + -0.9684978723526001, + -0.2482401728630066, + 1.1346850395202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27328996752028956, + 0.2769761127229203, + 0.27474893109044657 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9450252018237555, + 0.943560281797103, + 0.9410489903228417 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5477.820782247934, + "intensity": 0.943560281797103 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.892990202827283, + 0.8973492606242013, + 0.9043237530992706 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5596.965683429087, + "intensity": 0.8990928837429686 + }, + "point_color_scale": [ + 1.1090167245925338, + 1.1000016881129189, + 1.0845473398621504 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e6cb00fa190e74d06b98662253c7d3bb61baf90 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0421779952077739, + "K": [ + [ + 402.2631208279684, + 0.0, + 323.01150285293886 + ], + [ + 0.0, + 418.1121052797539, + 226.3647010249204 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.64344550966875, + -8.210352687214135, + 1.043554842399641 + ], + "camera_target": [ + -12.845582375492949, + -8.598009008220385, + 0.9797761454858694 + ], + "camera_roll_rad": -0.010883115892492558, + "camera_pose_world_cv": [ + [ + -0.43550825119018555, + -0.07399982213973999, + 0.8971381187438965, + -13.64344596862793 + ], + [ + -0.8999230861663818, + 0.0117567777633667, + -0.4358903169631958, + -8.210352897644043 + ], + [ + 0.02170845866203308, + -0.9971890449523926, + -0.07171422243118286, + 1.0435547828674316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3544489946395687, + 0.3533179278096559, + 0.3575597378966408 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.844621491362085, + 0.875859817916528, + 0.9258411404036372 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6203.284640289247, + "intensity": 0.8883551485383053 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6232267084540186, + 0.6255306808924961, + 0.6292170367940602 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5573.556200505535, + "intensity": 0.6264522698678872 + }, + "point_color_scale": [ + 1.0112434375045223, + 1.0167838750195082, + 1.0256485750434856 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ecc653b695dcb4131d8a5c4d77c053b5574939 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8756422278092314, + "K": [ + [ + 492.4612883743567, + 0.0, + 348.30566381879146 + ], + [ + 0.0, + 512.6874674746218, + 249.6512034724113 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.078426515348681, + -8.687444358664154, + 1.0987067675290523 + ], + "camera_target": [ + -12.893381728984346, + -8.692471152392809, + 0.9369787501800755 + ], + "camera_roll_rad": 0.04205960570574768, + "camera_pose_world_cv": [ + [ + 0.010207772254943848, + 0.19447675347328186, + -0.9808541536331177, + -12.078426361083984 + ], + [ + 0.9965461492538452, + -0.08282190561294556, + -0.006050139665603638, + -8.687444686889648 + ], + [ + -0.0824129581451416, + -0.9774044752120972, + -0.1946502923965454, + 1.0987067222595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3366036996694222, + 0.3579584634794555, + 0.3400047075382683 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8336914409553859, + 0.8771582774868876, + 0.9467052159372904 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6471.819996614491, + "intensity": 0.8945450120994883 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.901848104880963, + 0.9297316993645668, + 0.974345450538333 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6092.709851232801, + "intensity": 0.9408851371580084 + }, + "point_color_scale": [ + 1.1554503077221263, + 1.1633636517561445, + 1.1760250022105736 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3dba3742957d4251c620f2ef59837b486f0b2f80 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.031243712757146, + "K": [ + [ + 441.7711246944106, + 0.0, + 337.9000912770947 + ], + [ + 0.0, + 423.45748963455753, + 244.8154672704363 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.430754809469443, + -8.386911039874022, + 1.0239647668698786 + ], + "camera_target": [ + -12.87868680199097, + -8.63482861482201, + 0.9415025065512347 + ], + "camera_roll_rad": 0.017478455319916, + "camera_pose_world_cv": [ + [ + -0.479089617729187, + 0.15597182512283325, + -0.8637973666191101, + -12.430754661560059 + ], + [ + 0.8770875334739685, + 0.046380043029785156, + -0.4780861437320709, + -8.386911392211914 + ], + [ + -0.03450500965118408, + -0.986672043800354, + -0.15902113914489746, + 1.023964762687683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7961170673370361, + -0.6051427721977234, + 1.8727085659975273e-08, + -12.845937728881836 + ], + [ + 0.6051427721977234, + -0.7961170673370361, + -3.7757821758077625e-08, + -8.645413398742676 + ], + [ + 3.7757821758077625e-08, + -1.8727085659975273e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21423156877930563, + 0.23503282406784648, + 0.2151472608887355 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.2437199345442125, + 1.1703890718232484, + 1.044679021444453 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4604.926918426632, + "intensity": 1.1703890718232484 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7433985834412008, + 0.7590401666344374, + 0.7840666997436161 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5908.77168688124, + "intensity": 0.765296799911732 + }, + "point_color_scale": [ + 1.144361656782128, + 1.1475009329236923, + 1.1525237747501955 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_001/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62cdb6c8ed6693ed683301a78b81664444a5cdd9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0145375764576434, + "K": [ + [ + 434.8124112290972, + 0.0, + 333.8387129306588 + ], + [ + 0.0, + 431.8267722625095, + 249.17057593297582 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.25335921365161, + -9.869658689002833, + 0.6529582574605506 + ], + "camera_target": [ + -13.240951239968288, + -9.38312296499415, + 0.8480478094346361 + ], + "camera_roll_rad": 0.0108098813051343, + "camera_pose_world_cv": [ + [ + 0.9996464252471924, + -0.012128103524446487, + 0.023662753403186798, + -13.253358840942383 + ], + [ + -0.017446279525756836, + 0.37241172790527344, + 0.9279037714004517, + -9.869658470153809 + ], + [ + -0.020065993070602417, + -0.9279885292053223, + 0.3720684051513672, + 0.6529582738876343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3180929464022697, + 0.35037304734448654, + 0.3215120340168751 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1246139164874565, + 1.1549186129401683, + 1.2034061272645076 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6019.342673589832, + "intensity": 1.167040491521253 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7944615980992893, + 0.7574365217561583, + 0.693964962310791 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 4801.684501800395, + "intensity": 0.7574365217561583 + }, + "point_color_scale": [ + 0.9267121983517337, + 0.9448340801559562, + 0.9738290910427123 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_002/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..662dda44e77b8735c2a80647cfc1e142f2ca1799 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1902316695719368, + "K": [ + [ + 360.07293597880613, + 0.0, + 296.76375380774897 + ], + [ + 0.0, + 354.5101627646076, + 218.24427480255352 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.02396053606344, + -10.148464807588473, + 1.0704277617260989 + ], + "camera_target": [ + -13.24526390794896, + -9.377116707567078, + 0.8429732779203023 + ], + "camera_roll_rad": 0.020808019582107554, + "camera_pose_world_cv": [ + [ + 0.9635175466537476, + 0.03514964133501053, + -0.265327125787735, + -13.02396011352539 + ], + [ + 0.26463523507118225, + -0.2733725905418396, + 0.9247896075248718, + -10.148465156555176 + ], + [ + -0.04002714902162552, + -0.9612658619880676, + -0.27270108461380005, + 1.0704277753829956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31157322306242735, + 0.31093032118421854, + 0.3079747440555578 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0637926375150029, + 1.0815984660778664, + 1.110087791778448 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5827.09632448836, + "intensity": 1.0887207975030118 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8683700657545278, + 0.8630066646191785, + 0.8538122626728655 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5411.217352819534, + "intensity": 0.8630066646191785 + }, + "point_color_scale": [ + 0.9188824932321686, + 0.9210925858886717, + 0.9246287341390771 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_003/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c93c3dddd5e05af25514c9d18e58878ab44b9308 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0044080315657584, + "K": [ + [ + 458.1795322629327, + 0.0, + 301.5766101655418 + ], + [ + 0.0, + 437.02494187227825, + 238.7360652435004 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.465089679708564, + -9.26932285394925, + 1.1185436599904117 + ], + "camera_target": [ + -13.260533045764939, + -9.404601818380486, + 0.9008222547941883 + ], + "camera_roll_rad": -0.0158394029484469, + "camera_pose_world_cv": [ + [ + -0.17571139335632324, + 0.2513914406299591, + -0.9518024921417236, + -12.465089797973633 + ], + [ + 0.9839667081832886, + 0.074881911277771, + -0.1618713140487671, + -9.269322395324707 + ], + [ + 0.030579715967178345, + -0.9649845361709595, + -0.26051831245422363, + 1.1185436248779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35077099005220186, + 0.33381634865710813, + 0.3351813507346591 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9136663490068827, + 0.9122198323143277, + 0.9097400894128049 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5477.34699088165, + "intensity": 0.9122198323143277 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7026014411227238, + 0.6738764425100355, + 0.6246335877454272 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 4891.049905959146, + "intensity": 0.6738764425100355 + }, + "point_color_scale": [ + 1.0600842556722776, + 1.0700897023260967, + 1.0860984169722065 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_004/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16289b3657ff2cd2fa80d160789eb179524f347b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8335507598744455, + "K": [ + [ + 562.3544339007465, + 0.0, + 294.12972240175964 + ], + [ + 0.0, + 542.1151187856849, + 250.19949947189048 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.22567356817647, + -9.295783362250283, + 0.8982793568471344 + ], + "camera_target": [ + -13.263430081312002, + -9.452849273502807, + 0.934639362206763 + ], + "camera_roll_rad": 0.016064643461029607, + "camera_pose_world_cv": [ + [ + -0.15066993236541748, + -0.029407024383544922, + -0.9881466031074524, + -12.22567367553711 + ], + [ + 0.9880626201629639, + -0.03694051504135132, + -0.14955782890319824, + -9.295783042907715 + ], + [ + -0.032104551792144775, + -0.9988846778869629, + 0.0346217155456543, + 0.8982793688774109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29926408815454714, + 0.30643658368466675, + 0.29319176725768764 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0502168164365928, + 1.0371007406276116, + 1.0146160392407861 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5319.330462107772, + "intensity": 1.0371007406276116 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6308832931694903, + 0.6302280336377195, + 0.6291047315832552 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5485.146883422754, + "intensity": 0.6302280336377195 + }, + "point_color_scale": [ + 0.9170942710003496, + 0.8828730578892282, + 0.8242081211273061 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_005/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3da22f9cac47ccc8b71df3d8721b0ce1db9d323f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9460612078246302, + "K": [ + [ + 453.06171840432023, + 0.0, + 326.87027789262254 + ], + [ + 0.0, + 468.9474929820767, + 224.25778440935773 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.473845562623612, + -10.148781696816771, + 0.8668638410379368 + ], + "camera_target": [ + -13.20798596528761, + -9.43488662268051, + 0.938630586627665 + ], + "camera_roll_rad": -0.01809097305377664, + "camera_pose_world_cv": [ + [ + 0.9353281855583191, + 0.06661103665828705, + 0.3474538326263428, + -13.473845481872559 + ], + [ + -0.35194337368011475, + 0.07521343231201172, + 0.932994544506073, + -10.148781776428223 + ], + [ + 0.03601458668708801, + -0.9949402213096619, + 0.09379255771636963, + 0.8668638467788696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3435195822340542, + 0.3621025080605256, + 0.3415071775963295 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.2254789998151447, + 1.168703744649512, + 1.0713747357941419 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4806.004556323221, + "intensity": 1.168703744649512 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.9113920494921698, + 0.9023506043395817, + 0.8868509840780021 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5356.8588511398375, + "intensity": 0.9023506043395817 + }, + "point_color_scale": [ + 0.9072194223951857, + 0.882277752684922, + 0.8395206046101843 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_006/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db49a8b1d528e88538eea4ca57abdcc28ef10ce9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0038667781636825, + "K": [ + [ + 423.91773836347573, + 0.0, + 305.18144730317397 + ], + [ + 0.0, + 437.30539386785057, + 220.61514995690635 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.761560601914072, + -9.35556493113402, + 0.7877741447049283 + ], + "camera_target": [ + -13.212652984623677, + -9.446649914917998, + 0.9051840706499603 + ], + "camera_roll_rad": 0.049779321978089694, + "camera_pose_world_cv": [ + [ + -0.14264416694641113, + 0.2189425528049469, + 0.9652547836303711, + -13.761560440063477 + ], + [ + -0.9849845170974731, + 0.064422607421875, + -0.16017231345176697, + -9.355565071105957 + ], + [ + -0.097252756357193, + -0.9736086130142212, + 0.206465482711792, + 0.7877741456031799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38401293924890634, + 0.37734836897584645, + 0.3665539992632202 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.876324551015691, + 0.8856680347248349, + 0.9006176086594652 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5710.106289276067, + "intensity": 0.8894054282084924 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6486706563496795, + 0.6538668804335821, + 0.6621808389678264 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5658.434659989162, + "intensity": 0.6559453700671432 + }, + "point_color_scale": [ + 1.0494860999036917, + 1.0163933166485104, + 0.9596628310682 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_007/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c44a738ad310129b9463196d5e44f2003250f6d7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8155266047707297, + "K": [ + [ + 559.8159017201214, + 0.0, + 318.9699021689114 + ], + [ + 0.0, + 555.5882691369033, + 232.9185416768174 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.524317062923444, + -8.789174612116584, + 1.1269350548968176 + ], + "camera_target": [ + -13.253972687219434, + -9.437553793085806, + 0.9004180234405857 + ], + "camera_roll_rad": -0.02451527334103991, + "camera_pose_world_cv": [ + [ + -0.6717302799224854, + 0.1362198293209076, + -0.7281642556190491, + -12.524316787719727 + ], + [ + 0.7392561435699463, + 0.18661141395568848, + -0.6470524668693542, + -8.789175033569336 + ], + [ + 0.047742247581481934, + -0.9729443192481995, + -0.22605359554290771, + 1.1269350051879883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.270072052229171, + 0.2905152821294896, + 0.28155559199043523 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0668470073984642, + 1.1141545990085284, + 1.1898467455846313 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6335.0282473419265, + "intensity": 1.1330776356525543 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8894281599983774, + 0.9231254131868887, + 0.9770410182885066 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6219.562202910774, + "intensity": 0.9366043144622931 + }, + "point_color_scale": [ + 1.1255565467262068, + 1.1032413630812665, + 1.0649867625470832 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_008/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0c479f4867a995478e8a99ab525e14f51869e47 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3071216355401478, + "K": [ + [ + 311.4972594224194, + 0.0, + 334.4109899824734 + ], + [ + 0.0, + 313.3820700400071, + 224.83890150225972 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.607519478612666, + -9.541309842769278, + 0.840285464532219 + ], + "camera_target": [ + -13.263646727519042, + -9.418716147903165, + 0.9379295747788279 + ], + "camera_roll_rad": 0.04702320850936949, + "camera_pose_world_cv": [ + [ + 0.3571789860725403, + 0.21076849102973938, + 0.909945011138916, + -13.607519149780273 + ], + [ + -0.9296200275421143, + 0.17483830451965332, + 0.32440459728240967, + -9.54131031036377 + ], + [ + -0.09071889519691467, + -0.9617735147476196, + 0.2583831548690796, + 0.8402854800224304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26681872790845457, + 0.258500549253714, + 0.2558002950005459 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1084301681021191, + 1.0517478188674532, + 0.9545780773223117 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4730.093153811845, + "intensity": 1.0517478188674532 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7389876714690666, + 0.7548595241108395, + 0.780254488337676 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5917.017349076714, + "intensity": 0.7612082651675485 + }, + "point_color_scale": [ + 1.052640348060277, + 1.0962797016352595, + 1.166102667355231 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_009/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c329950479e76e2d92c05b6ad974fee2c5ddbe --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8966929969496849, + "K": [ + [ + 510.8163718423757, + 0.0, + 348.3297130454577 + ], + [ + 0.0, + 498.94249331939545, + 223.66381411001532 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.878516182374726, + -9.353959486477377, + 0.7061148499976435 + ], + "camera_target": [ + -13.16846778079538, + -9.393473342188315, + 0.9192250660488801 + ], + "camera_roll_rad": 0.044536535251123305, + "camera_pose_world_cv": [ + [ + -0.029848337173461914, + 0.29042181372642517, + 0.9564330577850342, + -13.87851619720459 + ], + [ + -0.9959156513214111, + 0.07293069362640381, + -0.053225964307785034, + -9.353959083557129 + ], + [ + -0.08521130681037903, + -0.9541153907775879, + 0.28705883026123047, + 0.7061148285865784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33432201681073537, + 0.32960940205704, + 0.34359405484897354 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9814966963305346, + 0.9386391932725363, + 0.8651691880302537 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4847.725890764162, + "intensity": 0.9386391932725363 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.9114661667701695, + 0.8841385857319941, + 0.8372913039522653 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5058.4470340610005, + "intensity": 0.8841385857319941 + }, + "point_color_scale": [ + 0.9010108741292308, + 0.8870037902624094, + 0.8629916464907155 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_010/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c069247f96ab326aa0c4c823b8ffcebbbca67cdf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.199766990093051, + "K": [ + [ + 341.8895744054906, + 0.0, + 294.4954980318865 + ], + [ + 0.0, + 350.89474404465767, + 218.2122192853318 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.829026255316444, + -9.664129867496142, + 0.7121511450339297 + ], + "camera_target": [ + -13.257720432016706, + -9.447050005252265, + 0.8482711046399959 + ], + "camera_roll_rad": -0.00017823557183396788, + "camera_pose_world_cv": [ + [ + 0.35512208938598633, + 0.2033482789993286, + 0.9124351143836975, + -13.829026222229004 + ], + [ + -0.9348199367523193, + 0.07688522338867188, + 0.34669941663742065, + -9.664130210876465 + ], + [ + 0.00034797191619873047, + -0.9760830998420715, + 0.21739768981933594, + 0.7121511697769165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25988712720582907, + 0.26211081446106677, + 0.25876477413648846 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0062017660144693, + 0.9942186814975527, + 0.9736762508971245 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5327.817637250204, + "intensity": 0.9942186814975527 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5864372316115032, + 0.5837687899483956, + 0.5791943185259257 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5434.699155138767, + "intensity": 0.5837687899483956 + }, + "point_color_scale": [ + 1.0413434610788435, + 1.0768474411298612, + 1.1336538092114898 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_011/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ee4c426612fd66b7d02e1712f0ff58a914095bc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3074779322798842, + "K": [ + [ + 298.9926354845636, + 0.0, + 296.71218483622926 + ], + [ + 0.0, + 313.2664427752536, + 232.89192237774273 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.715276112670903, + -9.826116903432986, + 1.1344994963120354 + ], + "camera_target": [ + -13.243888537304457, + -9.380007715451583, + 0.8923459949802846 + ], + "camera_roll_rad": 0.04674616512443537, + "camera_pose_world_cv": [ + [ + 0.6657056212425232, + 0.19120511412620544, + -0.7213020920753479, + -12.715275764465332 + ], + [ + 0.7409940958023071, + -0.2835201025009155, + 0.608723521232605, + -9.826116561889648 + ], + [ + -0.08811265230178833, + -0.9397112131118774, + -0.33042269945144653, + 1.1344995498657227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2262987304939106, + 0.24268421924209824, + 0.22986292219209203 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9110265131260706, + 0.8754525247434988, + 0.8144685446590899 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4919.500407305765, + "intensity": 0.8754525247434988 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5696107030104595, + 0.5712389064134378, + 0.573844031858203 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5556.941120438315, + "intensity": 0.5718901877746291 + }, + "point_color_scale": [ + 0.7899282348601336, + 0.8224399216815294, + 0.8744586205957625 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_012/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93bc08b592179b56740fe985a96053b62c19b87b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2853032632395092, + "K": [ + [ + 324.1320229920889, + 0.0, + 325.45683343528964 + ], + [ + 0.0, + 320.56696041196597, + 234.1547504714237 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.319408646235901, + -9.113737191146972, + 0.7728319874938105 + ], + "camera_target": [ + -13.21780323918468, + -9.4349699426791, + 0.9170485514346074 + ], + "camera_roll_rad": 0.008499223392878424, + "camera_pose_world_cv": [ + [ + -0.3390308618545532, + -0.13498803973197937, + -0.9310404062271118, + -12.319408416748047 + ], + [ + 0.9406250715255737, + -0.06631827354431152, + -0.3329057991504669, + -9.113737106323242 + ], + [ + -0.016806691884994507, + -0.9886254072189331, + 0.14945709705352783, + 0.7728319764137268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3215796954388687, + 0.2992734615669254, + 0.2871913553604182 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.175828885424672, + 1.1679518788826364, + 1.1544484390962897 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5403.652995537901, + "intensity": 1.1679518788826364 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6540164800998738, + 0.6693198854645067, + 0.6938053340479196 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5953.138016630604, + "intensity": 0.67544124761036 + }, + "point_color_scale": [ + 1.003790800393399, + 1.0421161585672016, + 1.1034367316452862 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_013/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58fa200d6eda7c71631b27de1b974c964ba042e4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9020586673305924, + "K": [ + [ + 484.30970675981627, + 0.0, + 346.86632328942295 + ], + [ + 0.0, + 495.5347996582209, + 245.2075570700717 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.326793553500403, + -10.307710412256437, + 0.6442840776873165 + ], + "camera_target": [ + -13.166359263743773, + -9.444342251537234, + 0.9688624299953179 + ], + "camera_roll_rad": -0.04267483908173639, + "camera_pose_world_cv": [ + [ + 0.9741910696029663, + 0.14692042768001556, + 0.17136560380458832, + -13.326793670654297 + ], + [ + -0.21108846366405487, + 0.3240429162979126, + 0.922191858291626, + -10.307710647583008 + ], + [ + 0.07995902001857758, + -0.9345643520355225, + 0.34669291973114014, + 0.6442840695381165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36976507482992915, + 0.37275764071680717, + 0.3553995544171295 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8373690668376893, + 0.8596965001208214, + 0.8954203933738328 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6014.085358015716, + "intensity": 0.8686274734340743 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8622857730450738, + 0.8333978775136175, + 0.7838757708882637 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5004.817287141213, + "intensity": 0.8333978775136175 + }, + "point_color_scale": [ + 0.8025061108966967, + 0.8238216729339326, + 0.8579265721935102 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_014/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0edd60b10c13c4ebb59a9aafc68842c1e85bd8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0466706203512526, + "K": [ + [ + 417.72055840514463, + 0.0, + 347.52299635879 + ], + [ + 0.0, + 415.94523610032775, + 247.7850707119833 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.54802681669394, + -9.814313307483443, + 1.037346017289149 + ], + "camera_target": [ + -13.240568476044333, + -9.443235460498729, + 0.9057535474048133 + ], + "camera_roll_rad": -0.04148125178829742, + "camera_pose_world_cv": [ + [ + 0.7813058495521545, + -0.10367938876152039, + 0.6154768466949463, + -13.548027038574219 + ], + [ + -0.6190078258514404, + -0.2550163269042969, + 0.7428297400474548, + -9.814312934875488 + ], + [ + 0.07994049787521362, + -0.9613621830940247, + -0.2634240984916687, + 1.0373460054397583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3179722193397201, + 0.32132580297924973, + 0.29521674986296637 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.064696011037724, + 1.0400484427338157, + 0.9977954684985446 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5161.450270814571, + "intensity": 1.0400484427338157 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.697533473150797, + 0.6808082080258128, + 0.6521363249544115 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5149.046007213701, + "intensity": 0.6808082080258128 + }, + "point_color_scale": [ + 1.1579587508838871, + 1.1572094163078437, + 1.155924842748912 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_015/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af8da44de8feeb73e4871902811305d34b8de318 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8190826978129827, + "K": [ + [ + 542.9689703480427, + 0.0, + 295.07670196146745 + ], + [ + 0.0, + 552.8858069471477, + 241.94044543023608 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.76601349367475, + -9.117018690967743, + 0.8472392675767597 + ], + "camera_target": [ + -13.251360949440885, + -9.370666208935088, + 0.8778296168289336 + ], + "camera_roll_rad": 0.04752420556153035, + "camera_pose_world_cv": [ + [ + -0.4355499744415283, + 0.08949476480484009, + 0.8957047462463379, + -13.766013145446777 + ], + [ + -0.8951618671417236, + 0.061698079109191895, + -0.4414505660533905, + -9.117018699645996 + ], + [ + -0.09477075934410095, + -0.9940744638442993, + 0.05323970317840576, + 0.8472392559051514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30218745478752956, + 0.30210260266622513, + 0.3098748874428471 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1198502411979288, + 1.0836991584977165, + 1.021725873868781 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5023.443351852017, + "intensity": 1.0836991584977165 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7902875214562762, + 0.806940217234744, + 0.8335845304802926 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5909.357651459728, + "intensity": 0.8136012955461311 + }, + "point_color_scale": [ + 0.9018776511967397, + 0.8990035353175526, + 0.8940764795246602 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b03_016/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b79ac55f7ccb80e1fcf3e0128e6bcfb6b923f4c9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b03_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0018986218868324, + "K": [ + [ + 426.3774707086601, + 0.0, + 288.22771197395053 + ], + [ + 0.0, + 438.3275356405815, + 254.14786747794267 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.613256104361707, + -9.616932765051484, + 0.7516933859913247 + ], + "camera_target": [ + -13.165527602032823, + -9.408007944671825, + 0.9386962483564287 + ], + "camera_roll_rad": 0.005571313772942586, + "camera_pose_world_cv": [ + [ + 0.42640841007232666, + 0.31604644656181335, + 0.8475202918052673, + -13.613256454467773 + ], + [ + -0.9044708013534546, + 0.15977370738983154, + 0.39548102021217346, + -9.61693286895752 + ], + [ + -0.01042097806930542, + -0.9351937770843506, + 0.35398364067077637, + 0.7516933679580688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.39827877283096313, + -0.9172644019126892, + -1.7441919020200203e-09, + -13.215091705322266 + ], + [ + 0.9172644019126892, + 0.39827877283096313, + 4.3408942218547963e-08, + -9.416607856750488 + ], + [ + -3.912280632789589e-08, + -1.8888743014144893e-08, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32564869090940246, + 0.3262316758236099, + 0.3143157648165693 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0638907789081338, + 1.1025202050346987, + 1.1643272868372028 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6191.062512721671, + "intensity": 1.1179719754853248 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6023815407829526, + 0.5794843699751223, + 0.540232077161699 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 4935.528450705401, + "intensity": 0.5794843699751223 + }, + "point_color_scale": [ + 0.9410266280147187, + 0.9721628908958387, + 1.0219809115056306 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_001/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4008dc98b97ef30f356c3aa615e0a93174c08e9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0302634132345676, + "K": [ + [ + 416.692215079084, + 0.0, + 326.12781961362543 + ], + [ + 0.0, + 423.9417603201977, + 252.0041442722506 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.594769216733276, + -9.14936916219492, + 0.8399163142117946 + ], + "camera_target": [ + -12.83491804270914, + -9.445736386619243, + 0.8609369273767864 + ], + "camera_roll_rad": 0.02054703009480427, + "camera_pose_world_cv": [ + [ + -0.3620786666870117, + 0.038911372423172, + 0.9313350915908813, + -13.594769477844238 + ], + [ + -0.9312424659729004, + 0.02892005443572998, + -0.3632509410381317, + -9.149369239807129 + ], + [ + -0.041068822145462036, + -0.9988241195678711, + 0.02576470375061035, + 0.8399162888526917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25668716193211777, + 0.2785832072577072, + 0.2679937471579785 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0483929705322503, + 1.0825936406203878, + 1.1373147127614083 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6123.94388515691, + "intensity": 1.096273908655643 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8909149903489231, + 0.8616387625153098, + 0.8114509433719732 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5014.608854209898, + "intensity": 0.8616387625153098 + }, + "point_color_scale": [ + 1.031323473479882, + 1.0424114947391356, + 1.0601523287539414 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_002/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a59e446dbed88ba4b13bf186bb5c9d2f4427ab5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.219395240554432, + "K": [ + [ + 356.7721758796612, + 0.0, + 325.5259229660714 + ], + [ + 0.0, + 343.6087285844803, + 235.32522256773356 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.275096879936449, + -8.722496463442324, + 1.0844594896407065 + ], + "camera_target": [ + -12.880788708463534, + -9.416368216586575, + 0.9844825643734292 + ], + "camera_roll_rad": 0.026528009703371033, + "camera_pose_world_cv": [ + [ + -0.7485311031341553, + 0.11081692576408386, + -0.6537742614746094, + -12.275096893310547 + ], + [ + 0.6610004901885986, + 0.04630887508392334, + -0.7489551305770874, + -8.722496032714844 + ], + [ + -0.05272135138511658, + -0.9927613735198975, + -0.10791367292404175, + 1.0844595432281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2787954234118538, + 0.29114136735325735, + 0.28680820957419634 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0125013436049684, + 1.0061804854820793, + 0.9953447286999837 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5410.256684077046, + "intensity": 1.0061804854820793 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6791705116607072, + 0.6806413202697482, + 0.6829946140442137 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5543.1809925658445, + "intensity": 0.6812296437133646 + }, + "point_color_scale": [ + 0.8082498303328782, + 0.8349512085129591, + 0.8776734136010887 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_003/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b66070daf159fad0fb30388aed915d12acd190e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8159034650017352, + "K": [ + [ + 539.5044740018791, + 0.0, + 334.81079866251133 + ], + [ + 0.0, + 555.3008200746165, + 217.0730823843056 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.612039020322317, + -9.004381205726919, + 0.8819123916446958 + ], + "camera_target": [ + -12.811764791339076, + -9.41737747701543, + 0.8913194418050939 + ], + "camera_roll_rad": -0.03892794090450771, + "camera_pose_world_cv": [ + [ + -0.4579334259033203, + -0.026414692401885986, + 0.8885940313339233, + -13.612038612365723 + ], + [ + -0.8855780363082886, + -0.07389187812805176, + -0.4585755467414856, + -9.00438117980957 + ], + [ + 0.07777303457260132, + -0.9969163537025452, + 0.010445356369018555, + 0.8819124102592468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30484231982559257, + 0.3086018651602896, + 0.30729566458715246 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9659244084907205, + 0.9435113122602259, + 0.905088861579378 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5160.643084140621, + "intensity": 0.9435113122602259 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8339589823689602, + 0.8128201225606199, + 0.7765820771748939 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5128.474119714975, + "intensity": 0.8128201225606199 + }, + "point_color_scale": [ + 1.0039499348822796, + 1.0317302837631992, + 1.0761788419726706 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_004/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..533bada4d87782ba79a3967a8b03be63a5f347ae --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9982829979258039, + "K": [ + [ + 440.966085208625, + 0.0, + 302.6155991983885 + ], + [ + 0.0, + 440.21488062742355, + 250.67260196064146 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.378695747226843, + -8.798546193709715, + 0.784760945516148 + ], + "camera_target": [ + -12.876171184447927, + -9.401599837423774, + 0.9318394306432543 + ], + "camera_roll_rad": 0.01937312475779661, + "camera_pose_world_cv": [ + [ + -0.7753795385360718, + -0.08768671751022339, + -0.6253781318664551, + -12.378695487976074 + ], + [ + 0.6303471922874451, + -0.16716927289962769, + -0.7581009268760681, + -8.798545837402344 + ], + [ + -0.038068681955337524, + -0.982021152973175, + 0.18489277362823486, + 0.7847609519958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36176933427303554, + 0.38889450427482175, + 0.3630279439248449 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9623148153509441, + 0.9153265653645468, + 0.8347752796735801 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4766.64346967353, + "intensity": 0.9153265653645468 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5775341544521897, + 0.5882693008721862, + 0.6054455351441808 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5862.329065709984, + "intensity": 0.5925633594401849 + }, + "point_color_scale": [ + 0.8232647589889035, + 0.8538947627071494, + 0.9029027686563428 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_005/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..56d7de1af700f003c5c1d9d26da88051c1cf0cb9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3048806720646637, + "K": [ + [ + 304.3313959030108, + 0.0, + 308.18075235107307 + ], + [ + 0.0, + 314.11055442147654, + 222.97822056143272 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.545460369740212, + -8.618285279816437, + 1.1134773723336255 + ], + "camera_target": [ + -12.806438298103792, + -9.485766603440885, + 0.9639402713427705 + ], + "camera_roll_rad": -0.04832008642311273, + "camera_pose_world_cv": [ + [ + -0.9576623439788818, + -0.04569713771343231, + -0.2842439115047455, + -12.54546070098877 + ], + [ + 0.271697461605072, + 0.18303334712982178, + -0.944817066192627, + -8.618285179138184 + ], + [ + 0.09520154446363449, + -0.9820441007614136, + -0.16286832094192505, + 1.113477349281311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35026125722169266, + 0.3213343464469812, + 0.33770676297227636 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0523148619155442, + 1.0901076237129599, + 1.150576042588825 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6183.892801621175, + "intensity": 1.105224728431926 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.650792641596663, + 0.6325753062588327, + 0.6013455885368382 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5088.590251455687, + "intensity": 0.6325753062588327 + }, + "point_color_scale": [ + 1.0904186474578488, + 1.0772185939385295, + 1.0545899307625535 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_006/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f254ff303fe0b63c81922b73895ec175fd1d6ec --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.038041250587891, + "K": [ + [ + 425.56890178583495, + 0.0, + 332.37110564594195 + ], + [ + 0.0, + 420.1223786044404, + 261.71475985924565 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.288081341408425, + -9.157813746505873, + 1.0943937697080695 + ], + "camera_target": [ + -12.810096483464712, + -9.460481347161808, + 0.9592711012541831 + ], + "camera_roll_rad": 0.04560169769129202, + "camera_pose_world_cv": [ + [ + -0.4822903871536255, + 0.2339392602443695, + -0.8441969752311707, + -12.288081169128418 + ], + [ + 0.8714913129806519, + 0.030360698699951172, + -0.4894702434539795, + -9.157814025878906 + ], + [ + -0.08887588977813721, + -0.971777081489563, + -0.2185186743736267, + 1.0943937301635742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24013603261176453, + 0.23496882629263197, + 0.22959659684969091 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9552452015254425, + 0.9852875722100896, + 1.033355365305525 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6102.471362910676, + "intensity": 0.9973045204839485 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.56254844289863, + 0.5835855833824551, + 0.6172450081565756 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6210.713677810538, + "intensity": 0.5920004395759852 + }, + "point_color_scale": [ + 0.9961855052129287, + 0.990076983451683, + 0.9796052318609765 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_007/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa2c5d46ca9c3e4721e3f7600e4df9379edce9e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9807041860135018, + "K": [ + [ + 431.41195061682043, + 0.0, + 341.69971692401043 + ], + [ + 0.0, + 449.57248794834976, + 222.7071594056015 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.534616886623121, + -9.890127279075667, + 1.0517570508756628 + ], + "camera_target": [ + -12.822706765630329, + -9.436797512401135, + 0.9039341248891876 + ], + "camera_roll_rad": 0.03293960052348367, + "camera_pose_world_cv": [ + [ + 0.5263807773590088, + -0.18056610226631165, + 0.8308545351028442, + -13.534616470336914 + ], + [ + -0.8477727174758911, + -0.036935508251190186, + 0.5290720462799072, + -9.890127182006836 + ], + [ + -0.06484445929527283, + -0.982869029045105, + -0.17252111434936523, + 1.0517570972442627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22749804296855972, + 0.23579334357711276, + 0.22973152135595512 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0197650653463157, + 1.0142261219827176, + 1.0047307905022633 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5421.982129406773, + "intensity": 1.0142261219827176 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6806399353901008, + 0.7065643415717704, + 0.7480433914624416 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6223.201924289058, + "intensity": 0.7169341040444381 + }, + "point_color_scale": [ + 0.8448188540394064, + 0.8085411233623618, + 0.7463507279159999 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_008/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..275bfbf340d59bcac6a979c9bf69133eae9169db --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9145917820400592, + "K": [ + [ + 475.5844159372857, + 0.0, + 294.22108713872143 + ], + [ + 0.0, + 487.7202389610612, + 254.28437007966366 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.202127307005087, + -9.230860140709733, + 0.8532839931183106 + ], + "camera_target": [ + -12.824224423004228, + -9.4114664519453, + 0.908342409228688 + ], + "camera_roll_rad": -0.04790324404022253, + "camera_pose_world_cv": [ + [ + -0.2697486877441406, + -0.1076292097568512, + -0.9568969011306763, + -12.202127456665039 + ], + [ + 0.9582017660140991, + 0.06836307048797607, + -0.27780580520629883, + -9.230859756469727 + ], + [ + 0.09531638026237488, + -0.9918379783630371, + 0.08468973636627197, + 0.8532840013504028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35636734885168186, + 0.35796854628235586, + 0.3910073203087441 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.9065652900391755, + 0.9177402951485729, + 0.9356203033236087 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5742.352642199283, + "intensity": 0.9222102971923318 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.643163521895091, + 0.6457860187054505, + 0.6499820136020259 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5581.087038879897, + "intensity": 0.6468350174295944 + }, + "point_color_scale": [ + 0.937389740800491, + 0.9191732215239907, + 0.8879449027642757 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_009/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c626a6f361033fb2a45bf8bb8eeecc944290022 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0798341778398417, + "K": [ + [ + 403.61499164270293, + 0.0, + 308.16724348453374 + ], + [ + 0.0, + 400.455901413035, + 253.84355697457949 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -11.8937097731196, + -9.706522450651379, + 0.836180856674089 + ], + "camera_target": [ + -12.895712815984663, + -9.412779236691422, + 0.8639843894727565 + ], + "camera_roll_rad": 0.00891966140815633, + "camera_pose_world_cv": [ + [ + 0.2808164358139038, + -0.030557096004486084, + -0.9592750072479248, + -11.893710136413574 + ], + [ + 0.9595959186553955, + -0.009630918502807617, + 0.2812172770500183, + -9.706521987915039 + ], + [ + -0.017832070589065552, + -0.9994867444038391, + 0.026618003845214844, + 0.8361808657646179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22760975750096454, + 0.2287026272896766, + 0.2382279391223301 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.1585247961200362, + 1.0990112142117614, + 0.9969879309404331 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4726.400953632808, + "intensity": 1.0990112142117614 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6492220056779068, + 0.6444461786115113, + 0.6362590464976907 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5394.132197206132, + "intensity": 0.6444461786115113 + }, + "point_color_scale": [ + 1.0700783502768345, + 1.0718842165139906, + 1.074773602493441 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_010/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e38300ab86214b120d66a42f4f76d5c753f00a3e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1463452620437633, + "K": [ + [ + 360.29418198645783, + 0.0, + 324.0385168429164 + ], + [ + 0.0, + 371.8314357381588, + 263.4277518601241 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.439221415624697, + -9.809419158628529, + 0.7206912715711481 + ], + "camera_target": [ + -12.877749988724895, + -9.452652384362766, + 0.8746085854267514 + ], + "camera_roll_rad": 0.04823512984373439, + "camera_pose_world_cv": [ + [ + 0.608522891998291, + -0.2636200487613678, + -0.7484680414199829, + -12.439221382141113 + ], + [ + 0.7880752086639404, + 0.09029901027679443, + 0.6089200377464294, + -9.809419631958008 + ], + [ + -0.09293767809867859, + -0.9603908658027649, + 0.26270151138305664, + 0.7206912636756897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33487707444729037, + 0.3636016012374066, + 0.3502588613467255 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0904865074725656, + 1.0853475057883633, + 1.0765377886154452 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5432.3587059602705, + "intensity": 1.0853475057883633 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.8453339550054277, + 0.8682987464789664, + 0.9050424128366286 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6023.423199061638, + "intensity": 0.877484663068382 + }, + "point_color_scale": [ + 0.8983410808339356, + 0.9134779057002302, + 0.9376968254863017 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_011/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2341264d5bcc99eccda4244b1ac46746b7b8437c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2132285360060537, + "K": [ + [ + 356.53565773300414, + 0.0, + 319.14002983226595 + ], + [ + 0.0, + 345.87558901329254, + 244.42219604583704 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.250262079268357, + -9.734884787358835, + 0.6796948167709128 + ], + "camera_target": [ + -12.809761988458185, + -9.390164946927268, + 0.8823667062827019 + ], + "camera_roll_rad": 0.011097733591946407, + "camera_pose_world_cv": [ + [ + 0.6220889687538147, + 0.2545350193977356, + 0.7404170036315918, + -13.250262260437012 + ], + [ + -0.7826685309410095, + 0.2273719310760498, + 0.5794241428375244, + -9.734885215759277 + ], + [ + -0.020866215229034424, + -0.939954400062561, + 0.3406621217727661, + 0.6796948313713074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3899890788093611, + 0.3552075977339566, + 0.35317884125005217 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.235645356382324, + 1.1931779747029594, + 1.1203767489669056 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4991.545357024535, + "intensity": 1.1931779747029594 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.5549284859942599, + 0.5577364139182895, + 0.5622290985967371 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5600.487779004025, + "intensity": 0.5588595850879015 + }, + "point_color_scale": [ + 1.045050923157415, + 1.0478008665467708, + 1.0522007759697403 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_012/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a26228f0089bc8657dc66b7548251da52654a99d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9667680736584577, + "K": [ + [ + 437.2292680947866, + 0.0, + 345.78842050990215 + ], + [ + 0.0, + 457.21280350743274, + 237.2631956151868 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.811099923890263, + -9.420735464282638, + 0.9285810045518579 + ], + "camera_target": [ + -12.801081135805134, + -9.39380130805591, + 0.9060137299344905 + ], + "camera_roll_rad": 0.02522965129545926, + "camera_pose_world_cv": [ + [ + 0.025497078895568848, + -0.02363806962966919, + 0.999395489692688, + -13.811100006103516 + ], + [ + -0.9984024167060852, + 0.04982554912567139, + 0.026650339365005493, + -9.420735359191895 + ], + [ + -0.05042529106140137, + -0.9984782934188843, + -0.02232980728149414, + 0.9285809993743896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.321202997042301, + 0.32066565232952854, + 0.3344292918514334 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8111451897421266, + 0.8428119211146995, + 0.8934786913108161 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 6240.327832088166, + "intensity": 0.8554786136637287 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7552421307189258, + 0.7866882948661582, + 0.83700215750173 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 6286.875313733176, + "intensity": 0.7992667605250512 + }, + "point_color_scale": [ + 1.1285509360225239, + 1.0805377953412396, + 0.9982295541733243 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_013/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea0579ee14ff1490be44b1f68a9ca7c4e2d6a906 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9992109413958001, + "K": [ + [ + 425.4159858018778, + 0.0, + 304.8802496620625 + ], + [ + 0.0, + 439.72930443274856, + 250.39687499498555 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.286242865572492, + -9.298440340124921, + 0.9990838502331156 + ], + "camera_target": [ + -12.824469487749344, + -9.414052076692448, + 0.8564830421711526 + ], + "camera_roll_rad": -0.04745650901031395, + "camera_pose_world_cv": [ + [ + -0.2323009967803955, + 0.22416198253631592, + -0.9464607238769531, + -12.286242485046387 + ], + [ + 0.9683077335357666, + 0.14508271217346191, + -0.20330128073692322, + -9.298439979553223 + ], + [ + 0.091742604970932, + -0.9636921882629395, + -0.25076043605804443, + 0.9990838766098022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23909487608762778, + 0.2426116973019329, + 0.23357877572326027 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8284538830766978, + 0.847264383107961, + 0.8773611831579824 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5940.12052577011, + "intensity": 0.8547885831204665 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7532924637030762, + 0.7473944396710038, + 0.7372835413303084 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5387.265034765912, + "intensity": 0.7473944396710038 + }, + "point_color_scale": [ + 0.8258145926264662, + 0.8496039719911579, + 0.8876669789746651 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_014/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d83f35f764c288d4700f939b96f25d4c962fe05a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0632782420734126, + "K": [ + [ + 393.4402211858897, + 0.0, + 300.3060536538613 + ], + [ + 0.0, + 408.0793172472336, + 247.0430901136444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -13.715580912798428, + -9.554579744753491, + 0.8260254497523865 + ], + "camera_target": [ + -12.872678704945649, + -9.431835118864003, + 0.9630702563895072 + ], + "camera_roll_rad": -0.0002471353877485302, + "camera_pose_world_cv": [ + [ + 0.14402377605438232, + 0.1572604477405548, + 0.9769985675811768, + -13.715580940246582 + ], + [ + -0.9895740747451782, + 0.022400856018066406, + 0.14227187633514404, + -9.554579734802246 + ], + [ + 0.0004881322383880615, + -0.9873030185699463, + 0.15884709358215332, + 0.8260254263877869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2762656144542641, + 0.2693890965993445, + 0.2742360468138901 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.0795137304999416, + 1.017777555697492, + 0.9119441131790074 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 4633.459615626619, + "intensity": 1.017777555697492 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6911621165426741, + 0.7027061765024812, + 0.7211766724381725 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5826.415142594342, + "intensity": 0.707323800486404 + }, + "point_color_scale": [ + 1.0826632813255634, + 1.079216846391137, + 1.073308672217834 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_015/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9385d8ce75ef5c0299969a87890f9683f9f6bc14 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8886018518085753, + "K": [ + [ + 500.66529566619954, + 0.0, + 343.41887306090644 + ], + [ + 0.0, + 504.15361810035824, + 229.40732289827378 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.44055476855892, + -9.906765319429027, + 1.1399997925892165 + ], + "camera_target": [ + -12.866850476379838, + -9.468533204133992, + 0.8759947870214815 + ], + "camera_roll_rad": 0.02255362674288143, + "camera_pose_world_cv": [ + [ + 0.728536069393158, + 0.2438262403011322, + -0.6401436924934387, + -12.44055461883545 + ], + [ + 0.6837553977966309, + -0.31532132625579834, + 0.6580660939216614, + -9.90676498413086 + ], + [ + -0.041397154331207275, + -0.9171265959739685, + -0.39644044637680054, + 1.1399997472763062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2782004398548314, + 0.2778025666751178, + 0.27007071289600004 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 1.105786350592641, + 1.1236503363495365, + 1.1522327135605694 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5815.954192487954, + "intensity": 1.1307959306522948 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.6903486696594092, + 0.6634373665239467, + 0.617303704006011 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 4920.522257189461, + "intensity": 0.6634373665239467 + }, + "point_color_scale": [ + 1.099757301005593, + 1.0874465512127245, + 1.066342408710664 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000272/scene_b04_016/scene_meta.json b/so100/ProcTHOR/test/bg_000272/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..30fa4fbe5e9c57dd79d7f6077b66dfe980acd9e6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000272/scene_b04_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 272, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0242998484718142, + "K": [ + [ + 423.2767925962153, + 0.0, + 333.05679054023625 + ], + [ + 0.0, + 426.9059497745907, + 242.71814174860765 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -12.284569326268551, + -8.934367731150209, + 0.893004692059077 + ], + "camera_target": [ + -12.851405374347173, + -9.454039546640164, + 0.937148952387139 + ], + "camera_roll_rad": -0.03162700322702565, + "camera_pose_world_cv": [ + [ + -0.6717541217803955, + -0.08487644791603088, + -0.7358959913253784, + -12.28456974029541 + ], + [ + 0.7380814552307129, + 0.007942676544189453, + -0.674665093421936, + -8.934368133544922 + ], + [ + 0.06310799717903137, + -0.9963600635528564, + 0.05731046199798584, + 0.8930047154426575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9980881214141846, + -0.061806004494428635, + -8.936422091210261e-08, + -12.848731994628906 + ], + [ + 0.061806004494428635, + -0.9980881214141846, + 2.764265261134824e-09, + -9.440069198608398 + ], + [ + -8.936422091210261e-08, + -2.764265261134824e-09, + 1.0, + 0.742155134677887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24282936668425226, + 0.2435133636043932, + 0.24804239559674654 + ], + "directional_primary": { + "direction": [ + 0.2538594729845683, + 0.7394514962522152, + -0.6235117085238718 + ], + "color": [ + 0.8620052783476257, + 0.8694656885207386, + 0.8814023447977194 + ], + "azimuth_rad": 1.2400957655491016, + "elevation_rad": 0.6732264465562205, + "color_temp_k": 5671.022097166175, + "intensity": 0.8724498525899838 + }, + "directional_fill": { + "direction": [ + 0.1446992841414622, + -0.4455613291362681, + -0.8834801736016888 + ], + "color": [ + 0.7716225534090502, + 0.7538766803514687, + 0.7234551836813291 + ], + "azimuth_rad": -1.2567839777100094, + "elevation_rad": 1.0832397771209685, + "color_temp_k": 5163.721562347609, + "intensity": 0.7538766803514687 + }, + "point_color_scale": [ + 0.770886510637307, + 0.7919769219138703, + 0.8257215799563717 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2495ee1a6b038072c1d4b23c11f47563496c6475 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0502845275458694, + "K": [ + [ + 394.71657986921485, + 0.0, + 291.1223497925318 + ], + [ + 0.0, + 414.2143947432851, + 258.42521717657434 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5911754614982039, + -5.759526387022385, + 1.169621635006337 + ], + "camera_target": [ + -1.8221421802763071, + -5.260639812215105, + 0.9522901169188227 + ], + "camera_roll_rad": 0.050205272738464854, + "camera_pose_world_cv": [ + [ + 0.9183782935142517, + 0.06270946562290192, + -0.3907029628753662, + -1.5911754369735718 + ], + [ + 0.38456594944000244, + -0.37405240535736084, + 0.8439158797264099, + -5.759526252746582 + ], + [ + -0.09322188794612885, + -0.9252850413322449, + -0.3676375150680542, + 1.1696215867996216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31214405359230274, + 0.3153044823328881, + 0.3259078030234801 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9463494510659985, + 0.9058944918580785, + 0.8365431332159299 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4862.036093740691, + "intensity": 0.9058944918580785 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8042944698959744, + 0.7766743561968205, + 0.7293255898554136 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 4991.9710562130795, + "intensity": 0.7766743561968205 + }, + "point_color_scale": [ + 1.123589141016085, + 1.117984152765941, + 1.1083756014799802 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee2e42f6049251f39c06093d00dd77f6f9c49a6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.200110473580766, + "K": [ + [ + 367.54141563033926, + 0.0, + 301.07939956834014 + ], + [ + 0.0, + 350.76544987963064, + 258.7661424305084 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.255080990467877, + -4.603783251016708, + 1.1272953246488933 + ], + "camera_target": [ + -1.897622725019036, + -5.326707274377665, + 0.9469799448656449 + ], + "camera_roll_rad": -0.003536023562727801, + "camera_pose_world_cv": [ + [ + -0.7482814788818359, + 0.11646449565887451, + -0.6530784368515015, + -1.2550809383392334 + ], + [ + 0.6633453369140625, + 0.14167964458465576, + -0.7347790002822876, + -4.603783130645752 + ], + [ + 0.006952136754989624, + -0.9830377101898193, + -0.183272123336792, + 1.1272953748703003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32076763555273047, + 0.32492454910550556, + 0.3425070529434835 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0863567929073088, + 1.1004645381591933, + 1.1230369305622085 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5755.0881087773105, + "intensity": 1.1061076362599471 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7128343681776421, + 0.7358419570475148, + 0.772654099239311 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6117.61609294823, + "intensity": 0.7450449925954639 + }, + "point_color_scale": [ + 1.2390662075783503, + 1.1828414931567295, + 1.086456268433951 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12fad4ba3da496e41d14369311a284bc2dd8d4b2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1420113923936912, + "K": [ + [ + 363.5837305204533, + 0.0, + 316.8538277099008 + ], + [ + 0.0, + 373.6057823042085, + 230.27954356342025 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.6340007850533005, + -5.850502535961151, + 0.7031184664055697 + ], + "camera_target": [ + -1.8905434061604593, + -5.324319985493734, + 0.9298130846166179 + ], + "camera_roll_rad": -0.001673711530228647, + "camera_pose_world_cv": [ + [ + 0.5770375728607178, + 0.19907459616661072, + 0.7920839786529541, + -2.634000778198242 + ], + [ + -0.8167111873626709, + 0.1367943286895752, + 0.5605981945991516, + -5.8505024909973145 + ], + [ + 0.0032483935356140137, + -0.9703900218009949, + 0.24152183532714844, + 0.7031184434890747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2590286828165967, + 0.28416682592197906, + 0.266982125476865 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9432543091462376, + 0.9669253952041909, + 1.004799132896916 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5984.867588050754, + "intensity": 0.9763938296273722 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8235746275399578, + 0.7875579128686023, + 0.7258149734319931 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 4846.683606503333, + "intensity": 0.7875579128686023 + }, + "point_color_scale": [ + 1.1006478067117755, + 1.0577931478694353, + 0.9843280184254238 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5c85e88f1772d2c401f457c1533b5396cdbdfc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.926899724450144, + "K": [ + [ + 464.5055390643328, + 0.0, + 303.5206843250001 + ], + [ + 0.0, + 480.2373900201974, + 256.4542745475832 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4334284936288104, + -4.833394851106407, + 0.9724015159485866 + ], + "camera_target": [ + -1.8731564872686637, + -5.28155421351713, + 0.9495138332905025 + ], + "camera_roll_rad": 0.031191602422708256, + "camera_pose_world_cv": [ + [ + -0.7108101844787598, + 0.06996357440948486, + -0.6998957395553589, + -1.4334285259246826 + ], + [ + 0.7006193399429321, + -0.01771014928817749, + -0.7133154273033142, + -4.833395004272461 + ], + [ + -0.06230136752128601, + -0.9973923563957214, + -0.03642922639846802, + 0.97240149974823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3391804357925339, + 0.35017438497541586, + 0.32306705405036173 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.8870129109907058, + 0.902890871959953, + 0.9282956095107486 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5849.257073150084, + "intensity": 0.9092420563476519 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6579338701827399, + 0.6590990947970984, + 0.660963454180072 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5535.333114648538, + "intensity": 0.6595651846428418 + }, + "point_color_scale": [ + 0.8787459680491572, + 0.9007293361305317, + 0.9359027250607311 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a9051512c25cbf331543627bf39ec60d7a6b95a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.234124817192106, + "K": [ + [ + 346.75652908669525, + 0.0, + 304.63004898456455 + ], + [ + 0.0, + 338.2742549931097, + 247.89976935048222 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4240569448318157, + -5.429041742861057, + 1.099081669097549 + ], + "camera_target": [ + -1.813555665948096, + -5.3051115829516355, + 0.9762574994291743 + ], + "camera_roll_rad": -0.00018583539214603317, + "camera_pose_world_cv": [ + [ + 0.1990107297897339, + -0.18949982523918152, + 0.9615011215209961, + -2.4240570068359375 + ], + [ + -0.9799971580505371, + -0.03884732723236084, + 0.19518274068832397, + -5.429041862487793 + ], + [ + 0.00036463141441345215, + -0.9811119437217712, + -0.19344031810760498, + 1.0990816354751587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30124470203988274, + 0.32819728120479036, + 0.3013770452632945 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9946641945690126, + 0.9708772449704804, + 0.9300996170872826 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5149.993274171703, + "intensity": 0.9708772449704804 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7550044093395286, + 0.7859883751230415, + 0.8355627203766622 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6276.168983772295, + "intensity": 0.7983819614364467 + }, + "point_color_scale": [ + 0.7799537586902652, + 0.8010754143904294, + 0.8348700635106925 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da0515e8ba476b0107b78caa40df5f7621cd0145 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9845478552173074, + "K": [ + [ + 460.61169614494514, + 0.0, + 346.18251007308504 + ], + [ + 0.0, + 447.5002368498837, + 233.2162085210671 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.5537693585120382, + -5.2167445572598385, + 1.0081589812901177 + ], + "camera_target": [ + -1.8140414837560745, + -5.282927302821747, + 1.0015872094000664 + ], + "camera_roll_rad": 0.0448086927728127, + "camera_pose_world_cv": [ + [ + -0.08954477310180664, + -0.0008023679256439209, + 0.9959825873374939, + -2.55376935005188 + ], + [ + -0.99195396900177, + 0.08992695808410645, + -0.08911004662513733, + -5.216744422912598 + ], + [ + -0.08949404954910278, + -0.9959481954574585, + -0.008848309516906738, + 1.0081589221954346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3868276044572625, + 0.37584069792759645, + 0.3620531656996465 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.8918386846930361, + 0.8845469341049473, + 0.8720467902396525 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5382.235909110319, + "intensity": 0.8845469341049473 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8247076463776813, + 0.7995299458550573, + 0.756368173530559 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5050.133878159092, + "intensity": 0.7995299458550573 + }, + "point_color_scale": [ + 1.1703161613562705, + 1.164526605936655, + 1.1546016537887425 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7267edc7f5b02073eb8abfded6a16c701e1083bd --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.302895699533611, + "K": [ + [ + 315.8079651166456, + 0.0, + 330.779666114509 + ], + [ + 0.0, + 314.7576088958942, + 218.1257584603984 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9990076867201723, + -4.494936884827125, + 0.8429331182727683 + ], + "camera_target": [ + -1.9002221877590713, + -5.235369981334949, + 0.985029632829205 + ], + "camera_roll_rad": -0.010704324527183166, + "camera_pose_world_cv": [ + [ + -0.9915194511413574, + 0.0034882649779319763, + 0.12991435825824738, + -1.9990077018737793 + ], + [ + -0.128248393535614, + -0.18802058696746826, + -0.9737560749053955, + -4.494936943054199 + ], + [ + 0.021029863506555557, + -0.9821590185165405, + 0.1868736743927002, + 0.8429331183433533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3381413555732167, + 0.3447530607476897, + 0.3408276302835861 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.8915779033998216, + 0.938726415338235, + 1.0141640344396965 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6484.737053287193, + "intensity": 0.9575858201136003 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7305297625541627, + 0.7557402424706319, + 0.7960770103369826 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6158.387974653633, + "intensity": 0.7658244344372196 + }, + "point_color_scale": [ + 0.8340074578796719, + 0.8475860187185721, + 0.8693117160608125 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b8752c590c6b58df3ccfa0883435cd589ed7c56 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.230324189326033, + "K": [ + [ + 323.34620033567495, + 0.0, + 308.6966996116514 + ], + [ + 0.0, + 339.6400398267608, + 261.44142290023615 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7314976796585033, + -5.940043164262615, + 1.1668870840535328 + ], + "camera_target": [ + -1.872875014134432, + -5.308611907444495, + 0.9457406138559441 + ], + "camera_roll_rad": -0.029537389867188277, + "camera_pose_world_cv": [ + [ + 0.9699650406837463, + 0.12815099954605103, + -0.20674899220466614, + -1.7314976453781128 + ], + [ + 0.23674169182777405, + -0.30213838815689087, + 0.9233990907669067, + -5.940042972564697 + ], + [ + 0.05586767941713333, + -0.9446109533309937, + -0.32340240478515625, + 1.1668870449066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3354364074700577, + 0.3633513646869906, + 0.3623988383786252 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0832618080143985, + 1.0586322753400446, + 1.0164102193268667 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5167.636746987083, + "intensity": 1.0586322753400446 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6240871302046982, + 0.6145057927286026, + 0.5980806427695815 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5277.257999390478, + "intensity": 0.6145057927286026 + }, + "point_color_scale": [ + 0.9790136356159379, + 1.0179725487415672, + 1.0803068097425739 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce0549a0791868cd122dc9ffd0a6915f308be3f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2741773120524644, + "K": [ + [ + 312.2881448500774, + 0.0, + 307.37449647858574 + ], + [ + 0.0, + 324.3118940350265, + 261.6348082719454 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0832010022869247, + -4.759074690591222, + 1.1292956895931914 + ], + "camera_target": [ + -1.8218904414836286, + -5.242269029406356, + 0.9292754725830201 + ], + "camera_roll_rad": 0.0073877527523673325, + "camera_pose_world_cv": [ + [ + -0.881920576095581, + -0.1497410535812378, + 0.4469832181930542, + -2.0832009315490723 + ], + [ + -0.4711938500404358, + 0.3079489469528198, + -0.8265253305435181, + -4.759074687957764 + ], + [ + -0.013883218169212341, + -0.9395452737808228, + -0.3421434164047241, + 1.1292957067489624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31326672540223494, + 0.29028596947996116, + 0.29868630461595014 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0628830171772579, + 1.072212879466994, + 1.0871406591305723 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5673.426407717283, + "intensity": 1.0759448243828886 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.853529800412121, + 0.8310916318924761, + 0.7926262001445137 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5114.308155363758, + "intensity": 0.8310916318924761 + }, + "point_color_scale": [ + 1.1417989462429339, + 1.1110073574521848, + 1.0582217766680437 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d4b3223b49fbfcaf268a62148d8cd829d1e75a4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2199930291505208, + "K": [ + [ + 355.0711254044646, + 0.0, + 342.6445837252086 + ], + [ + 0.0, + 343.39004777338084, + 238.91662059502238 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.194971160743241, + -5.548754391969343, + 0.9859583597744574 + ], + "camera_target": [ + -1.8792637776943923, + -5.323512938389203, + 0.9837306843314194 + ], + "camera_roll_rad": -0.05023709497176608, + "camera_pose_world_cv": [ + [ + 0.5783272385597229, + 0.0536036491394043, + 0.8140419721603394, + -2.1949710845947266 + ], + [ + -0.8096152544021606, + -0.08497309684753418, + 0.5807777643203735, + -5.5487542152404785 + ], + [ + 0.1003035306930542, + -0.9949404001235962, + -0.005743861198425293, + 0.9859583377838135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2892529061588197, + 0.2820826554426403, + 0.2624756022686263 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9703593342659795, + 1.0130160168581535, + 1.0812667090056323 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6328.22182442239, + "intensity": 1.0300786898950232 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6854226663501645, + 0.7001827812683247, + 0.7237989651373808 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5918.082149356835, + "intensity": 0.7060868272355887 + }, + "point_color_scale": [ + 0.9976787625356721, + 0.9695563569161476, + 0.9213465187112486 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87a59f95c48e767879d5aad9878c69a6497d0f89 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9854137082736575, + "K": [ + [ + 432.47368818411087, + 0.0, + 291.29269052528514 + ], + [ + 0.0, + 447.0354748944989, + 242.2197417147855 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.443165906514229, + -4.968461200658698, + 1.0523135662392065 + ], + "camera_target": [ + -1.8911267629961956, + -5.236256757562867, + 0.9730693844401623 + ], + "camera_roll_rad": 0.04693708615240538, + "camera_pose_world_cv": [ + [ + -0.49877607822418213, + 0.1763780117034912, + -0.8485949039459229, + -1.443165898323059 + ], + [ + 0.8617621660232544, + -0.003768324851989746, + -0.5072985887527466, + -4.968461036682129 + ], + [ + -0.09267410635948181, + -0.9843152761459351, + -0.15011632442474365, + 1.0523135662078857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29235823323956456, + 0.2900514613417816, + 0.29171322368662844 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.115364534825601, + 1.0552922334312098, + 0.9523111453265393 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4686.788543477394, + "intensity": 1.0552922334312098 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6308616462712344, + 0.6170955532974575, + 0.5934965367709828 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5181.31601337409, + "intensity": 0.6170955532974575 + }, + "point_color_scale": [ + 1.034945278435667, + 0.9913086446099126, + 0.9165029866229055 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c590ab1b75a0f3506173188af26fff264edea5c2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9419807270900781, + "K": [ + [ + 451.89449870577863, + 0.0, + 333.48120186994146 + ], + [ + 0.0, + 471.3160664634524, + 243.98924915880156 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.28674399780379, + -4.781558109710627, + 0.7610686852948263 + ], + "camera_target": [ + -1.876762427681297, + -5.2545257807799794, + 0.9479514620499618 + ], + "camera_roll_rad": -0.004529248303106095, + "camera_pose_world_cv": [ + [ + -0.7572954893112183, + 0.18053694069385529, + 0.6276228427886963, + -2.2867438793182373 + ], + [ + -0.6530150771141052, + -0.2221025824546814, + -0.7240456342697144, + -4.781558036804199 + ], + [ + 0.008679747581481934, + -0.9581633806228638, + 0.2860908508300781, + 0.7610687017440796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32742013950960197, + 0.33038394215608957, + 0.33604862840908895 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0525119711879476, + 0.998268126839363, + 0.9052786793846467 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4723.743560183475, + "intensity": 0.998268126839363 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7622670114072203, + 0.7399795335857968, + 0.7017724287490708 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5069.727910225865, + "intensity": 0.7399795335857968 + }, + "point_color_scale": [ + 0.9191367686428741, + 0.9561743215214054, + 1.0154344061270555 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf3e8aacac8255c167430d49106a4f7ff9f0c29f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2744660626955835, + "K": [ + [ + 327.310745979899, + 0.0, + 317.4317845044435 + ], + [ + 0.0, + 324.2139916527362, + 249.5776114112337 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9971564318724346, + -4.812318998538528, + 0.7223997013447407 + ], + "camera_target": [ + -1.848309037713808, + -5.306115439829356, + 0.9778971233970696 + ], + "camera_roll_rad": -0.01669001306703336, + "camera_pose_world_cv": [ + [ + -0.9611899852752686, + 0.0960909053683281, + 0.2586129903793335, + -1.9971563816070557 + ], + [ + -0.27426227927207947, + -0.43441617488861084, + -0.8579410910606384, + -4.812318801879883 + ], + [ + 0.029905356466770172, + -0.8955720067024231, + 0.44391071796417236, + 0.7223997116088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21852469389160842, + 0.23722394036305577, + 0.2287592006350874 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0196085566592277, + 1.0122374009747035, + 0.9996011340869478 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5395.970822691166, + "intensity": 1.0122374009747035 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7021975721639381, + 0.7087595035300016, + 0.7192585937157033 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5684.483452523165, + "intensity": 0.7113842760764271 + }, + "point_color_scale": [ + 1.1147735665211522, + 1.07080113052305, + 0.9954198116691606 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..190c7fcc6812b44caab364549b408ff8213cdfa6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1909284300573642, + "K": [ + [ + 363.88096606213657, + 0.0, + 326.64108061747703 + ], + [ + 0.0, + 354.2442569042445, + 243.27825412900364 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9854961438149203, + -4.346281755867482, + 0.9764582660806533 + ], + "camera_target": [ + -1.8996209283890113, + -5.258903156372053, + 1.0066566020242471 + ], + "camera_roll_rad": 0.012650768558207279, + "camera_pose_world_cv": [ + [ + -0.9952054023742676, + 0.028271272778511047, + 0.09363280981779099, + -1.985496163368225 + ], + [ + -0.09448295831680298, + -0.030400991439819336, + -0.9950622320175171, + -4.3462815284729 + ], + [ + -0.025285139679908752, + -0.9991378784179688, + 0.03292644023895264, + 0.9764582514762878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3368310148693676, + 0.3378103662270966, + 0.3301876582431204 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9102713557073135, + 0.8825565804871017, + 0.8350455372524529 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5051.38812735358, + "intensity": 0.8825565804871017 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.5488792639561707, + 0.5517251790193066, + 0.5562786431203243 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5602.95180749914, + "intensity": 0.552863545044561 + }, + "point_color_scale": [ + 1.1810542336180345, + 1.1812812325491182, + 1.1816444308388518 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a1b860a3d8b2b415452ae19094e2b0aaa42476c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.256446901082041, + "K": [ + [ + 336.39657674366435, + 0.0, + 337.39221463692746 + ], + [ + 0.0, + 330.39771819384407, + 232.54403566239378 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4566298896054124, + -4.6193890532834, + 0.7719802480320271 + ], + "camera_target": [ + -1.8160320553510276, + -5.289297711195033, + 0.8817698473243268 + ], + "camera_roll_rad": 0.024850357681378124, + "camera_pose_world_cv": [ + [ + -0.88346266746521, + -0.023711368441581726, + -0.4679015278816223, + -1.4566298723220825 + ], + [ + 0.4659145474433899, + -0.14928334951400757, + -0.8721457719802856, + -4.619389057159424 + ], + [ + -0.04917018115520477, + -0.988510251045227, + 0.14293384552001953, + 0.7719802260398865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24091437160988852, + 0.2240913447956148, + 0.22406574253885445 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.960121206572168, + 0.9598967811070258, + 0.9595120517382103 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5496.659976221856, + "intensity": 0.9598967811070258 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7234488454084763, + 0.7479975299472016, + 0.787275425209162 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6147.878958029099, + "intensity": 0.7578170037626917 + }, + "point_color_scale": [ + 0.881451895489095, + 0.8591954342110444, + 0.8210415005915291 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..535606328b4c06f15706eb692aa1fbcaa9ca8428 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8216015847750734, + "K": [ + [ + 536.4953070163366, + 0.0, + 345.1188216882221 + ], + [ + 0.0, + 550.9849292227162, + 221.24651441256185 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8969005690611975, + -4.85182072696707, + 1.1154963636135369 + ], + "camera_target": [ + -1.8053821911677805, + -5.234797192548936, + 0.9044600119315598 + ], + "camera_roll_rad": 0.00962142405615403, + "camera_pose_world_cv": [ + [ + -0.9745476245880127, + -0.09105781465768814, + 0.20485526323318481, + -1.8969005346298218 + ], + [ + -0.22353878617286682, + 0.46383583545684814, + -0.8572555184364319, + -4.851820945739746 + ], + [ + -0.016959376633167267, + -0.8812293410301208, + -0.4723847508430481, + 1.1154963970184326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9059383869171143, + 0.42340973019599915, + -5.8186138574001234e-08, + -1.8549102544784546 + ], + [ + -0.42340973019599915, + -0.9059383869171143, + -1.2926219206121914e-08, + -5.283435821533203 + ], + [ + -5.8186138574001234e-08, + 1.2926219206121914e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3171010443361678, + 0.33554512229981304, + 0.32021439825059 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0213921925047935, + 1.0739314192503575, + 1.1579941820432598 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6459.666933100197, + "intensity": 1.094947109948583 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8405824968956527, + 0.8329212433433206, + 0.8197876658250371 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5368.599246094727, + "intensity": 0.8329212433433206 + }, + "point_color_scale": [ + 1.2018906177155206, + 1.1542305431017026, + 1.0725275580494427 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc56e852149568ebdf1a63699b2f1d10c9687cf9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0357668250770298, + "K": [ + [ + 436.67082625948484, + 0.0, + 290.73979975878984 + ], + [ + 0.0, + 421.2338613189616, + 253.013790985681 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9761699198347208, + -7.359680162001693, + 0.7326422503452006 + ], + "camera_target": [ + -1.3439297951231555, + -6.622006324783467, + 0.9376303038035795 + ], + "camera_roll_rad": -0.012183712026069708, + "camera_pose_world_cv": [ + [ + 0.8973072171211243, + -0.08584126830101013, + -0.4329793155193329, + -0.9761699438095093 + ], + [ + 0.4407728612422943, + 0.22679507732391357, + 0.8684948682785034, + -7.35968017578125 + ], + [ + 0.023644834756851196, + -0.9701522588729858, + 0.24134135246276855, + 0.7326422333717346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38710601618426155, + 0.3888030572294308, + 0.3612144942146204 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.1417536719124404, + 1.1454933452781184, + 1.1514768226632028 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5565.208518406209, + "intensity": 1.1469892146243894 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8203026520396722, + 0.7899224619198388, + 0.7378421360001247 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 4950.5755477027315, + "intensity": 0.7899224619198388 + }, + "point_color_scale": [ + 1.022790137835605, + 1.0418017931789905, + 1.0722204417284071 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..635eca5222bb7e7ab95e563cb1278586d0a79be2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9399571726660464, + "K": [ + [ + 493.58323198119854, + 0.0, + 314.9529835355883 + ], + [ + 0.0, + 472.4977204904612, + 234.05037533465358 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.9420561387752087, + -6.715352571818603, + 1.0061109917917017 + ], + "camera_target": [ + -1.3188637595379642, + -6.646240667232332, + 0.9458607095682763 + ], + "camera_roll_rad": 0.009837148894209759, + "camera_pose_world_cv": [ + [ + 0.10833239555358887, + -0.0972176194190979, + 0.9893497228622437, + -1.9420561790466309 + ], + [ + -0.9939218163490295, + 0.009012222290039062, + 0.10971856117248535, + -6.715352535247803 + ], + [ + -0.019582897424697876, + -0.9952223300933838, + -0.09565043449401855, + 1.0061110258102417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22496591452323614, + 0.23239883210132187, + 0.21266537684953246 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9248331777846747, + 0.9473127875002183, + 0.983280163045088 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5970.134912615722, + "intensity": 0.9563046313864356 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.9242198409321983, + 0.9091864079159231, + 0.8834148084594511 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5263.785152380112, + "intensity": 0.9091864079159231 + }, + "point_color_scale": [ + 1.0119052865022722, + 1.0034081083160253, + 0.9888415171396024 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a755a63be17bd5da98156c7ab86caa7393d13b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.159074326489727, + "K": [ + [ + 367.9487480131312, + 0.0, + 288.8338086630924 + ], + [ + 0.0, + 366.688130152019, + 263.8441490715484 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5393531301210115, + -6.797622077466349, + 1.1135736501386133 + ], + "camera_target": [ + -1.3198481387638135, + -6.61214784591835, + 0.9301182539526262 + ], + "camera_roll_rad": -0.03334104027556521, + "camera_pose_world_cv": [ + [ + 0.21623271703720093, + 0.23181059956550598, + -0.9484236240386963, + -0.5393531322479248 + ], + [ + 0.9741787910461426, + 0.01340174674987793, + 0.22538036108016968, + -6.797622203826904 + ], + [ + 0.06495591998100281, + -0.9726687073707581, + -0.22292697429656982, + 1.113573670387268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23800507581702227, + 0.22456634783981969, + 0.23990163552393365 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.1582609736495404, + 1.1125514422319767, + 1.0341922455161534 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4913.066864885661, + "intensity": 1.1125514422319767 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.9500537171669745, + 0.9322949494189744, + 0.90185134756526 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5227.879377366148, + "intensity": 0.9322949494189744 + }, + "point_color_scale": [ + 1.0395939326883277, + 1.0693817635967227, + 1.1170422930501547 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9046088ce2e7364a89e163d1a14ae2c7164d18c8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9907682202567808, + "K": [ + [ + 437.62722753581164, + 0.0, + 315.7790960431696 + ], + [ + 0.0, + 444.1779068990029, + 233.1283645569278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4934851026724971, + -7.274941653105635, + 0.8854876821999693 + ], + "camera_target": [ + -1.3100569891957659, + -6.607335522601071, + 0.9366123164525352 + ], + "camera_roll_rad": 0.02897505583694271, + "camera_pose_world_cv": [ + [ + 0.9637771248817444, + -0.03637029975652695, + 0.26421743631362915, + -1.4934850931167603 + ], + [ + -0.2603793144226074, + 0.0862358808517456, + 0.9616475701332092, + -7.274941444396973 + ], + [ + -0.05776041001081467, + -0.9956106543540955, + 0.07364213466644287, + 0.8854876756668091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21920282455210008, + 0.21068237838116072, + 0.21154120267743765 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9357289258231791, + 0.9374882129547539, + 0.9403030723652739 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5537.503778905591, + "intensity": 0.938191927807384 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8155344417512718, + 0.7796151977288054, + 0.7180393508331486 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 4841.813680699562, + "intensity": 0.7796151977288054 + }, + "point_color_scale": [ + 1.035032893821731, + 1.035756589708575, + 1.0369145031275253 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93c6dd04136314ef191c984e892e355b0bca23ca --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8818118864913883, + "K": [ + [ + 493.67961524170437, + 0.0, + 345.36935165964115 + ], + [ + 0.0, + 508.59554965495005, + 239.5948143882723 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.318750927220468, + -7.545720107659979, + 1.1096016404740512 + ], + "camera_target": [ + -1.3270873793920208, + -6.618696710748618, + 0.895310517780709 + ], + "camera_roll_rad": -0.0018378382937593377, + "camera_pose_world_cv": [ + [ + 0.999945342540741, + 0.005700680427253246, + -0.00876131933182478, + -1.3187509775161743 + ], + [ + 0.009820045903325081, + -0.22516906261444092, + 0.9742702841758728, + -7.545720100402832 + ], + [ + 0.0035812242422252893, + -0.9743030667304993, + -0.22521275281906128, + 1.109601616859436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.314568019519332, + 0.3013274143930742, + 0.29740588004463653 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.053730910611766, + 1.0948302416920548, + 1.1605891714205174 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6239.682202116202, + "intensity": 1.1112699741241705 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7377367175606989, + 0.7602016065154436, + 0.7961454288430351 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6084.119922415015, + "intensity": 0.7691875620973414 + }, + "point_color_scale": [ + 0.9841517325880712, + 1.0048318399623555, + 1.0379200117612106 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51230aa8d9f18433fe5762aa92d83b0770796307 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2933905906539587, + "K": [ + [ + 325.847430922202, + 0.0, + 326.94963921233654 + ], + [ + 0.0, + 317.8795658490047, + 223.02918434283376 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4515891312788405, + -5.758133744148915, + 1.0888430345592168 + ], + "camera_target": [ + -1.3383308705558323, + -6.601617931319265, + 0.927515538892261 + ], + "camera_roll_rad": 0.018414758436418918, + "camera_pose_world_cv": [ + [ + -0.9913461208343506, + 0.011725038290023804, + 0.13075149059295654, + -1.4515891075134277 + ], + [ + -0.12619292736053467, + 0.18936383724212646, + -0.9737643003463745, + -5.758133888244629 + ], + [ + -0.036177001893520355, + -0.9818371534347534, + -0.1862451434135437, + 1.0888429880142212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3178651868926276, + 0.31890560200135387, + 0.3244383292697005 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.8969770381369155, + 0.9416102834737216, + 1.0130234760126113 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6430.37914502149, + "intensity": 0.959463581608444 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.572571055586404, + 0.5744654670738125, + 0.5774965254536664 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5565.867001995478, + "intensity": 0.575223231668776 + }, + "point_color_scale": [ + 1.0423530000935255, + 1.0691673850180277, + 1.1120704008972315 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e0a7e8b0bf0fc30758b089834c9cda36c04401 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2325500385323302, + "K": [ + [ + 349.0673877284361, + 0.0, + 335.14583270582517 + ], + [ + 0.0, + 338.83927454869087, + 262.2473198370552 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6318555937585253, + -7.371152641684791, + 0.8600650044842733 + ], + "camera_target": [ + -1.3130708616430156, + -6.618846275772551, + 1.0192244256471388 + ], + "camera_roll_rad": -0.005418721355432275, + "camera_pose_world_cv": [ + [ + 0.919884443283081, + 0.08457307517528534, + 0.38296210765838623, + -1.6318556070327759 + ], + [ + -0.39204519987106323, + 0.17180943489074707, + 0.9037601947784424, + -7.371152877807617 + ], + [ + 0.0106373131275177, + -0.981493353843689, + 0.1912013292312622, + 0.8600649833679199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2888315376687854, + 0.27475720530318615, + 0.2863034094924868 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.1431620384409424, + 1.1803244028628657, + 1.2397841859379428 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6121.865723024895, + "intensity": 1.195189348631635 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6956832147236618, + 0.6989885398817707, + 0.7042770601347449 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5594.395967388828, + "intensity": 0.7003106699450142 + }, + "point_color_scale": [ + 0.8600324827373887, + 0.8662087535804527, + 0.8760907869293549 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f5aadbed66ef334e6c16821e347f02ea42a2a1d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.09946117532195, + "K": [ + [ + 383.3103175468501, + 0.0, + 327.94518919619384 + ], + [ + 0.0, + 391.6867166997383, + 218.79782970787747 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9184735568136202, + -7.031719297737104, + 0.8606469270880798 + ], + "camera_target": [ + -1.25126243880313, + -6.618372081715427, + 1.02259640316537 + ], + "camera_roll_rad": -0.028710945991049487, + "camera_pose_world_cv": [ + [ + 0.7881459593772888, + -0.13804638385772705, + -0.599807620048523, + -0.9184735417366028 + ], + [ + 0.6130358576774597, + 0.26297783851623535, + 0.745003342628479, + -7.031719207763672 + ], + [ + 0.05489104986190796, + -0.9548748731613159, + 0.29189229011535645, + 0.8606469035148621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31781711826491316, + 0.31074651310726653, + 0.3374738202052314 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.8201399855322752, + 0.8546259763430676, + 0.9098035616403356 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6294.223440541072, + "intensity": 0.8684203726673846 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6697527659758491, + 0.6963082780604264, + 0.7387970973957502 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6251.290621274552, + "intensity": 0.7069304828942573 + }, + "point_color_scale": [ + 0.8224348628580143, + 0.8139407835126278, + 0.7993795046348224 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..460a0b845770dddaa2573f1cc9362b3c640b7907 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0976890863574542, + "K": [ + [ + 389.5547445908167, + 0.0, + 308.1613300074076 + ], + [ + 0.0, + 392.4668940932627, + 237.5399079834777 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.00687696940609, + -7.500061740130043, + 0.749472268095892 + ], + "camera_target": [ + -1.2964842491497028, + -6.629931531086934, + 1.0100840209716804 + ], + "camera_roll_rad": -0.030681927032379912, + "camera_pose_world_cv": [ + [ + 0.9523339867591858, + -0.027976855635643005, + -0.3037717044353485, + -1.0068769454956055 + ], + [ + 0.2992994785308838, + 0.2782477140426636, + 0.9126874208450317, + -7.500061511993408 + ], + [ + 0.05898961424827576, + -0.9601019620895386, + 0.27335822582244873, + 0.7494722604751587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2217493477640391, + 0.2420637201005837, + 0.2432942175841217 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.229748597126354, + 1.1552439357020898, + 1.0275216589747802 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4578.677434983407, + "intensity": 1.1552439357020898 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.665364106576938, + 0.6833371903315634, + 0.7120941243389638 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6020.561795589194, + "intensity": 0.6905264238334134 + }, + "point_color_scale": [ + 1.1474472010131238, + 1.1433339954188977, + 1.1362827858287954 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd77cac36de9f4a8f73d025832fdef759a270590 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.892495357460213, + "K": [ + [ + 488.3193271667793, + 0.0, + 340.523318965884 + ], + [ + 0.0, + 501.6349945481496, + 245.53844451017426 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0285425097624725, + -6.909961552078903, + 1.1699303908582555 + ], + "camera_target": [ + -1.2713331367640228, + -6.673007671381301, + 0.9565130683215886 + ], + "camera_roll_rad": -0.04666325183860853, + "camera_pose_world_cv": [ + [ + 0.32045167684555054, + -0.21898704767227173, + 0.9216048717498779, + -2.0285425186157227 + ], + [ + -0.9429804682731628, + -0.16617518663406372, + 0.2883985936641693, + -6.909961700439453 + ], + [ + 0.08999240398406982, + -0.9614731073379517, + -0.259751558303833, + 1.169930338859558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3347396093762571, + 0.336716734424367, + 0.35898651198546927 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9564110218315502, + 0.9770274763023584, + 1.0100138034556514 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5918.491774984106, + "intensity": 0.9852740580906817 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.5668971382778034, + 0.56860836373466, + 0.5713463244656303 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5560.117580787507, + "intensity": 0.5692928539174025 + }, + "point_color_scale": [ + 1.0993345693313812, + 1.0977513436804915, + 1.0950372425646808 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8ebca5a649db36225818a9e8a7b7f8b85d9b62 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.956329355718326, + "K": [ + [ + 451.1572754303422, + 0.0, + 313.33682308496094 + ], + [ + 0.0, + 463.06987948935296, + 246.95270174028093 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6133958510809199, + -7.227911125943739, + 0.9580295694278511 + ], + "camera_target": [ + -1.254201357538026, + -6.655686356855959, + 0.97479269715129 + ], + "camera_roll_rad": -0.01349595854050304, + "camera_pose_world_cv": [ + [ + 0.6662155985832214, + 0.0034303665161132812, + -0.7457512617111206, + -0.6133958697319031 + ], + [ + 0.745270848274231, + 0.033119797706604004, + 0.6659387946128845, + -7.227910995483398 + ], + [ + 0.026983559131622314, + -0.9994454979896545, + 0.01950836181640625, + 0.958029568195343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2935092161347444, + 0.28465804317021537, + 0.28632592148212405 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9108746057403003, + 0.9597423708967326, + 1.0379307951470247 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6498.024921255499, + "intensity": 0.9792894769593057 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8150375131128966, + 0.8167962461563021, + 0.8196102190257507 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5543.027121812978, + "intensity": 0.8174997393736643 + }, + "point_color_scale": [ + 0.9757806973199273, + 0.9621338888340754, + 0.9387393600011865 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..272e6cf26ee0d6bd5b665d62119e5a20fe0e5d16 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7931790087713597, + "K": [ + [ + 580.2748751513953, + 0.0, + 290.9717934512661 + ], + [ + 0.0, + 573.0948365969158, + 244.7485060911679 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.211120996036512, + -7.089961917345747, + 0.9115430293053541 + ], + "camera_target": [ + -1.2927654432485571, + -6.585691411163156, + 0.9525304124359022 + ], + "camera_roll_rad": -0.01869496808353173, + "camera_pose_world_cv": [ + [ + 0.9869332909584045, + 0.024127043783664703, + -0.15931296348571777, + -1.2111209630966187 + ], + [ + 0.15676197409629822, + 0.08486998081207275, + 0.9839831590652466, + -7.089962005615234 + ], + [ + 0.0372614786028862, + -0.9960999488830566, + 0.0799788236618042, + 0.9115430116653442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2554158925170237, + 0.25877416366023426, + 0.2793934869898559 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.2074855391341661, + 1.1436773283997894, + 1.0342918242837156 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4702.9693646989, + "intensity": 1.1436773283997894 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8755137415766191, + 0.8347634193892508, + 0.7649057242109053 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 4802.6198246139365, + "intensity": 0.8347634193892508 + }, + "point_color_scale": [ + 0.8258459164006515, + 0.8574105236572003, + 0.9079138952676784 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..748053f61e4fa3dcb935c3727d1335994a78f350 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8913277110724923, + "K": [ + [ + 513.9454425601784, + 0.0, + 320.3422042560606 + ], + [ + 0.0, + 502.3881642201761, + 248.54407366808655 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.849751785694012, + -7.377502412899148, + 1.0709378357023205 + ], + "camera_target": [ + -1.3115456437855548, + -6.584512139277898, + 0.9114304590502484 + ], + "camera_roll_rad": -0.015042518361786016, + "camera_pose_world_cv": [ + [ + 0.8298234343528748, + -0.06726604700088501, + 0.5539571046829224, + -1.8497518301010132 + ], + [ + -0.5572366714477539, + -0.1526736617088318, + 0.8161975145339966, + -7.37750244140625 + ], + [ + 0.029672354459762573, + -0.9859849214553833, + -0.16417527198791504, + 1.0709378719329834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34664926473257607, + 0.36849356620336854, + 0.3413311630144451 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0388460039809004, + 1.0649259349065503, + 1.1066538243875894 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5985.046527284918, + "intensity": 1.07535790727681 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7636133143159897, + 0.7833242950317937, + 0.8148618641770801 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5998.249855739489, + "intensity": 0.7912086873181152 + }, + "point_color_scale": [ + 0.9572057768708433, + 0.9755186671692572, + 1.0048192916467193 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c339f97ef1008789208f8cfe247d3894a8a18c5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9750121750503167, + "K": [ + [ + 467.1503876187566, + 0.0, + 291.8762277724934 + ], + [ + 0.0, + 452.6688013219913, + 256.1979159174883 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.42010293936124, + -6.499165586904338, + 0.8601656114827579 + ], + "camera_target": [ + -1.3313296166114903, + -6.632988498111696, + 0.9723532355653736 + ], + "camera_roll_rad": -0.045425327910604794, + "camera_pose_world_cv": [ + [ + -0.13384854793548584, + -0.13232272863388062, + -0.9821279048919678, + -0.42010295391082764 + ], + [ + 0.9869011044502258, + 0.0722661018371582, + -0.14423546195030212, + -6.4991655349731445 + ], + [ + 0.09006008505821228, + -0.9885687828063965, + 0.12091684341430664, + 0.8601655960083008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3357006495059331, + 0.34321708549565866, + 0.35202672748003067 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0204180907031533, + 1.067297952392303, + 1.1423057310949427 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6363.309536987435, + "intensity": 1.0860498970679628 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6587352896836511, + 0.6677414915460864, + 0.6821514145259827 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5768.303648625912, + "intensity": 0.6713439722910605 + }, + "point_color_scale": [ + 0.9618208779756495, + 0.9976677283132095, + 1.0550226888533054 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1199d5681d86f5cc733abd11d52c850aeb6b5f8f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1017165108746754, + "K": [ + [ + 408.2784689332316, + 0.0, + 327.3221822989919 + ], + [ + 0.0, + 390.6970428919854, + 255.23065429892387 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.0775288727972114, + -7.068387341261939, + 1.1639584571580452 + ], + "camera_target": [ + -1.2798697694273873, + -6.594994563057739, + 0.973539398343152 + ], + "camera_roll_rad": 0.03826636441087884, + "camera_pose_world_cv": [ + [ + 0.49564939737319946, + -0.21145039796829224, + 0.842389702796936, + -2.077528953552246 + ], + [ + -0.8652873635292053, + -0.03658187389373779, + 0.49993956089019775, + -7.068387508392334 + ], + [ + -0.0748961865901947, + -0.9767038822174072, + -0.20109713077545166, + 1.1639584302902222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.307676526024044, + 0.3286396068270329, + 0.33629468179156624 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.906450711697497, + 0.8584883826871219, + 0.7762672472407647 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4701.880721350009, + "intensity": 0.8584883826871219 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8149720230597517, + 0.8351733467196922, + 0.867495464575597 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5979.127917000893, + "intensity": 0.8432538761836683 + }, + "point_color_scale": [ + 1.2011386876004009, + 1.1826627927479716, + 1.150989830143807 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f680bd72b59e40335bf285baccdfb8ac22483f9c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.842332502227929, + "K": [ + [ + 520.8154813604888, + 0.0, + 291.08314022836805 + ], + [ + 0.0, + 535.7476396476434, + 245.5756465344985 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.889400984119771, + -6.717808571382655, + 0.9644605257204673 + ], + "camera_target": [ + -1.2868626333009974, + -6.633724611674237, + 0.9912251473568503 + ], + "camera_roll_rad": 0.04841561378993281, + "camera_pose_world_cv": [ + [ + 0.1417713165283203, + 0.029963016510009766, + 0.9894459247589111, + -1.8894009590148926 + ], + [ + -0.9851760864257812, + 0.1017981767654419, + 0.1380768120288849, + -6.717808723449707 + ], + [ + -0.09658661484718323, + -0.9943537712097168, + 0.04395091533660889, + 0.964460551738739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.17426282167434692, + -0.9846991896629333, + -1.2058052334396052e-08, + -1.2951842546463013 + ], + [ + 0.9846991896629333, + 0.17426282167434692, + 4.3367734292587556e-08, + -6.631901264190674 + ], + [ + -4.0602902373620964e-08, + -1.9430935083164513e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27808268945055814, + 0.2645355940929485, + 0.2563363539477547 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0013273836378564, + 1.0049493115280816, + 1.0107443961524418 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5571.978036376321, + "intensity": 1.0063980826841716 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6465487887621736, + 0.649671470951914, + 0.6546677624554987 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5595.946647232155, + "intensity": 0.6509205438278102 + }, + "point_color_scale": [ + 0.8737234068029114, + 0.868879411555898, + 0.8605754197038751 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bac9b788e6d163c665a26caa430b1c081b06f0a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9630419344892475, + "K": [ + [ + 460.6567275172303, + 0.0, + 289.29132960375705 + ], + [ + 0.0, + 459.29007651421784, + 244.6101656003729 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3947894212455031, + -4.79231958478697, + 0.8313138566458027 + ], + "camera_target": [ + -1.2869436804770535, + -5.196066873899632, + 1.0139709605776288 + ], + "camera_roll_rad": -0.030892602608984007, + "camera_pose_world_cv": [ + [ + -0.4011967182159424, + -0.19219174981117249, + -0.8956025242805481, + -0.3947894275188446 + ], + [ + 0.9139788150787354, + -0.01920229196548462, + -0.40530771017074585, + -4.7923197746276855 + ], + [ + 0.06069904565811157, + -0.9811696410179138, + 0.1833631992340088, + 0.8313138484954834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28710227693993284, + 0.29423153765597976, + 0.2776183209512312 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.0619902676305544, + 1.100802824792133, + 1.1629029162506588 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6195.361264041712, + "intensity": 1.1163278476567644 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7368201570633547, + 0.7498880274566455, + 0.7707966200859111 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5846.115951984831, + "intensity": 0.755115175613962 + }, + "point_color_scale": [ + 1.1176761948538192, + 1.1553405570367083, + 1.2156035365293312 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..531096a4016d77a79f19382e6d5d40f03e78a9ba --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9364961274657334, + "K": [ + [ + 498.0147991514632, + 0.0, + 312.6371034188567 + ], + [ + 0.0, + 474.5297470326252, + 238.54841341818585 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6603934190646995, + -5.399638555603559, + 0.8034206408921397 + ], + "camera_target": [ + -1.2729288148528866, + -5.251332121714612, + 0.8929640489882388 + ], + "camera_roll_rad": 0.05188258780349242, + "camera_pose_world_cv": [ + [ + 0.2198929786682129, + -0.16035553812980652, + -0.9622542262077332, + -0.6603934168815613 + ], + [ + 0.9701188802719116, + -0.06774675846099854, + 0.2329798936843872, + -5.399638652801514 + ], + [ + -0.10254925489425659, + -0.9847316741943359, + 0.14066696166992188, + 0.8034206628799438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38117239033887046, + 0.3743500477118416, + 0.3455839214028718 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9812537134704499, + 1.0142386470207767, + 1.0670145407012994 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6142.084607673286, + "intensity": 1.0274326204409074 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.608337960428281, + 0.6194514928202188, + 0.6372331446473195 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5856.261821112808, + "intensity": 0.6238969057769941 + }, + "point_color_scale": [ + 1.163619577655739, + 1.1776959187972267, + 1.2002180646236076 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a625d51543d74ac6601e0411f073cbfa7ffabee8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0423205223313063, + "K": [ + [ + 424.54090863076163, + 0.0, + 292.9824825347528 + ], + [ + 0.0, + 418.04310169880466, + 258.5733890603528 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.45353800775141195, + -5.190451241915615, + 1.0996938965811478 + ], + "camera_target": [ + -1.3180377983528615, + -5.286022451605226, + 1.0209361674590298 + ], + "camera_roll_rad": -0.019760597498358505, + "camera_pose_world_cv": [ + [ + -0.11333763599395752, + 0.08522394299507141, + -0.9898947477340698, + -0.4535380005836487 + ], + [ + 0.9927771091461182, + 0.04917335510253906, + -0.10943406820297241, + -5.190451145172119 + ], + [ + 0.039349913597106934, + -0.9951477646827698, + -0.09018146991729736, + 1.0996938943862915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3364717206144005, + 0.3441007904993047, + 0.3477637268387844 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.8949967389144796, + 0.9394813859722689, + 1.0106568212647322 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6429.40138794246, + "intensity": 0.9572752447953847 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.812921234958986, + 0.7996119683234688, + 0.7767960826625822 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5262.219191258435, + "intensity": 0.7996119683234688 + }, + "point_color_scale": [ + 1.0052252086621924, + 1.0217242185044504, + 1.0481226342520633 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c28ac6a5b3c411ef86df7001bb372c60db13e48 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8912546878821003, + "K": [ + [ + 496.360619545161, + 0.0, + 301.75130377027716 + ], + [ + 0.0, + 502.435327702383, + 218.0567613675962 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1687281717515074, + -4.646348532333668, + 1.149231116952123 + ], + "camera_target": [ + -1.2966003222920313, + -5.264928302427281, + 0.9156685736102048 + ], + "camera_roll_rad": 0.02915451390673883, + "camera_pose_world_cv": [ + [ + -0.9735393524169922, + 0.12715822458267212, + -0.1898745596408844, + -1.1687281131744385 + ], + [ + 0.2218872308731079, + 0.327256441116333, + -0.9185148477554321, + -4.646348476409912 + ], + [ + -0.054659076035022736, + -0.9363409280776978, + -0.34681153297424316, + 1.1492310762405396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3501239471574873, + 0.341628215516105, + 0.3492754708824834 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.847133047641852, + 0.8893137611662995, + 0.9568029028054156 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6430.950408778033, + "intensity": 0.9061860465760785 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8693958325001203, + 0.8576456325079327, + 0.8375024325213254 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5304.278138282432, + "intensity": 0.8576456325079327 + }, + "point_color_scale": [ + 1.1144206509633814, + 1.1202840346052647, + 1.129665448432278 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd85fd21fe913e7916b95f6354635a0b53685614 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8605852223483716, + "K": [ + [ + 519.2842689338795, + 0.0, + 347.6050109552435 + ], + [ + 0.0, + 522.9040377934107, + 246.0181698605631 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5362329869263642, + -5.717407008101658, + 0.8687027707347292 + ], + "camera_target": [ + -1.2353534624399705, + -5.239733376851118, + 0.9633280529441257 + ], + "camera_roll_rad": 0.016717192705336212, + "camera_pose_world_cv": [ + [ + 0.5607628226280212, + -0.11050936579704285, + -0.8205685615539551, + -0.5362330079078674 + ], + [ + 0.8273097276687622, + 0.035019755363464355, + 0.5606533885002136, + -5.7174072265625 + ], + [ + -0.03322136402130127, + -0.9932579398155212, + 0.11106324195861816, + 0.86870276927948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2970631076255374, + 0.3169193502435491, + 0.3012309744313057 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.092618135182433, + 1.150212504666634, + 1.2423634958413563 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6481.791725395762, + "intensity": 1.1732502524603146 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6483384492279957, + 0.6638836833361796, + 0.688756057909274 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5963.966359804494, + "intensity": 0.6701017769794532 + }, + "point_color_scale": [ + 1.1280709255830113, + 1.106535851853026, + 1.0696185826016227 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e87e44be4409c8c6d0d7766e4dee2fecec99eb9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0321133668172955, + "K": [ + [ + 409.85849738040747, + 0.0, + 318.021611112795 + ], + [ + 0.0, + 423.02857872533207, + 247.89327809451703 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7761885334014416, + -5.756299396757663, + 0.9697271938373213 + ], + "camera_target": [ + -1.283924192576283, + -5.198811927911095, + 1.000818298460986 + ], + "camera_roll_rad": 0.044306976106576496, + "camera_pose_world_cv": [ + [ + 0.7491008043289185, + -0.03879985213279724, + 0.6613188982009888, + -1.7761884927749634 + ], + [ + -0.6565285921096802, + 0.08976316452026367, + 0.7489411234855652, + -5.7562994956970215 + ], + [ + -0.08842083811759949, + -0.9952071309089661, + 0.041768431663513184, + 0.9697272181510925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2292908253700034, + 0.23607934237391948, + 0.22006080278473455 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.1589368913805194, + 1.1638524097730512, + 1.1717172392011022 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5584.327327086824, + "intensity": 1.165818617130064 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7197474919396469, + 0.7452491300566356, + 0.7860517510438176 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6175.137874498061, + "intensity": 0.7554497853034311 + }, + "point_color_scale": [ + 0.8326412131674544, + 0.807065183817648, + 0.7632205620751228 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b642574c924afb79d3b1720a336d062d05fd830 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9219913787894424, + "K": [ + [ + 469.287914540738, + 0.0, + 309.43360140656637 + ], + [ + 0.0, + 483.19927949115504, + 233.7366598428796 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3681096834637483, + -4.739892794607701, + 1.097217771692776 + ], + "camera_target": [ + -1.270287161175368, + -5.2345452794097405, + 0.9280734584170764 + ], + "camera_roll_rad": -0.003676152979949561, + "camera_pose_world_cv": [ + [ + -0.9805209636688232, + -0.0689101591706276, + 0.18393035233020782, + -1.3681097030639648 + ], + [ + -0.19629162549972534, + 0.3105555772781372, + -0.9300671815872192, + -4.739892959594727 + ], + [ + 0.0069704800844192505, + -0.9480541944503784, + -0.3180326223373413, + 1.0972177982330322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26670926346161294, + 0.28547676259229104, + 0.2713766289680224 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9854166937544596, + 1.0180417338195584, + 1.0702417979237169 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6132.825159739361, + "intensity": 1.031091749845598 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6184985953076251, + 0.6344109276106166, + 0.6598706592954031 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5996.6582945176815, + "intensity": 0.6407758605318132 + }, + "point_color_scale": [ + 1.0868100377043421, + 1.0697186549477946, + 1.0404191416508561 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f75594f9c5f99fb01dcf31c416bcd0b4ea5cd08 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9838061332648077, + "K": [ + [ + 459.1500698592529, + 0.0, + 305.3627822996874 + ], + [ + 0.0, + 447.8989663369871, + 250.0054199839863 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6447783022755753, + -4.871195215830365, + 0.9794553795672806 + ], + "camera_target": [ + -1.238203854112904, + -5.268146274694747, + 0.967001006664475 + ], + "camera_roll_rad": 0.04306752465303819, + "camera_pose_world_cv": [ + [ + -0.6973469257354736, + 0.044477373361587524, + 0.7153525948524475, + -1.6447782516479492 + ], + [ + -0.711554765701294, + 0.07680702209472656, + -0.6984201073646545, + -4.871195316314697 + ], + [ + -0.08600795269012451, + -0.9960535168647766, + -0.02191293239593506, + 0.9794553518295288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3122794093530597, + 0.3300811710399171, + 0.3208653043527749 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9719902728650709, + 0.9652557036851408, + 0.9537107279481177 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5400.328865424408, + "intensity": 0.9652557036851408 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6805090617594102, + 0.6648821410826057, + 0.6380931342080837 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5164.238651994995, + "intensity": 0.6648821410826057 + }, + "point_color_scale": [ + 1.0622828859963667, + 1.0654849713156704, + 1.0706083078265565 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5eb3f36181a1281130249571561240ab3505a887 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2162984146334497, + "K": [ + [ + 346.7031455717785, + 0.0, + 340.9084863070897 + ], + [ + 0.0, + 344.7446017185975, + 255.8638647119119 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3203594833933172, + -4.817321729287725, + 1.1407186512145726 + ], + "camera_target": [ + -1.3174983272981313, + -5.236464664647216, + 0.8900238344344562 + ], + "camera_roll_rad": -0.012722430101581812, + "camera_pose_world_cv": [ + [ + -0.9995638132095337, + -0.028944116085767746, + 0.00585806742310524, + -1.320359468460083 + ], + [ + -0.01988273486495018, + 0.512944221496582, + -0.8581916689872742, + -4.81732177734375 + ], + [ + 0.021834736689925194, + -0.8579338192939758, + -0.5132960081100464, + 1.140718698501587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34852922820395554, + 0.31765568210553347, + 0.3237591680275736 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.8924059679232327, + 0.8584009248377413, + 0.8001065652626135 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4934.079908657417, + "intensity": 0.8584009248377413 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8776971674418753, + 0.8605616069991999, + 0.8311863605260421 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5215.5418988964075, + "intensity": 0.8605616069991999 + }, + "point_color_scale": [ + 0.8685462392711825, + 0.8621025709493462, + 0.8510562823976268 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0521e5c07b3ee33dc312e94133282c2b963ef64 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.107526873302761, + "K": [ + [ + 387.4489506130427, + 0.0, + 305.57245894564437 + ], + [ + 0.0, + 388.164025973402, + 244.8483042426795 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6568573621629596, + -5.428319371861935, + 0.8904678978359428 + ], + "camera_target": [ + -1.2366559705323124, + -5.2598891458663015, + 1.0142764791569407 + ], + "camera_roll_rad": -0.04916085949045992, + "camera_pose_world_cv": [ + [ + 0.29655444622039795, + -0.1645895540714264, + -0.9407262206077576, + -0.6568573713302612 + ], + [ + 0.9501622915267944, + 0.15003442764282227, + 0.273279070854187, + -5.428319454193115 + ], + [ + 0.09616237878799438, + -0.9748846292495728, + 0.2008802890777588, + 0.8904678821563721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23399345347774206, + 0.2337515665731066, + 0.25250905705921256 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9626827444420797, + 1.0015288519572314, + 1.0636826239814743 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6263.884704729471, + "intensity": 1.0170672949632922 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8036074911232528, + 0.831281347942296, + 0.8755595188527653 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6157.062445723408, + "intensity": 0.8423508906699133 + }, + "point_color_scale": [ + 0.9652476364507065, + 0.9332380111291846, + 0.8783643677208612 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87533cf9c25a75961576f004487d56a9bad6a44a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0028851024520034, + "K": [ + [ + 432.5027735682782, + 0.0, + 344.1598793313261 + ], + [ + 0.0, + 437.81475834812903, + 256.1320328225977 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8538038384405521, + -5.454620511402056, + 1.0586377779788525 + ], + "camera_target": [ + -1.2902837154418925, + -5.268506909114368, + 1.0270856233211478 + ], + "camera_roll_rad": 0.04231493749616086, + "camera_pose_world_cv": [ + [ + 0.39598333835601807, + 0.027658790349960327, + -0.9178410768508911, + -0.853803813457489 + ], + [ + 0.9143761396408081, + -0.10368597507476807, + 0.3913639485836029, + -5.454620361328125 + ], + [ + -0.08434268832206726, + -0.9942255020141602, + -0.06634843349456787, + 1.0586377382278442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22842335770843175, + 0.23803318268819967, + 0.2323789457704159 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9678462403300189, + 0.9374901577357578, + 0.8854511590027387 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5037.426266082049, + "intensity": 0.9374901577357578 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6213073273276333, + 0.5990110076182684, + 0.5607887452593572 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 4968.258764964284, + "intensity": 0.5990110076182684 + }, + "point_color_scale": [ + 0.9249742960865005, + 0.9105465091560464, + 0.8858131601324108 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e88503c9e8cf48cf0aad9d7fe5432304116be426 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1182265443902641, + "K": [ + [ + 385.1905723791993, + 0.0, + 345.44392243958873 + ], + [ + 0.0, + 383.5612360365779, + 250.69620371428658 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6748298732319187, + -5.274725064779992, + 1.1361884685286954 + ], + "camera_target": [ + -1.2246983431220266, + -5.2909611372790275, + 0.9744468076218186 + ], + "camera_roll_rad": 0.03585559894239111, + "camera_pose_world_cv": [ + [ + -0.009236812591552734, + 0.28334546089172363, + -0.9589734673500061, + -0.67482990026474 + ], + [ + 0.9975918531417847, + -0.06331443786621094, + -0.02831616997718811, + -5.274724960327148 + ], + [ + -0.06874018907546997, + -0.956925630569458, + -0.28207826614379883, + 1.1361885070800781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28916451143381794, + 0.29732324270461064, + 0.2744975240767005 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9968774234384014, + 1.028451972408602, + 1.0789712507609233 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 6106.571918036223, + "intensity": 1.0410817919966824 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.610811709898873, + 0.6288250303858283, + 0.657646343164957 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6066.429581353776, + "intensity": 0.6360303585806104 + }, + "point_color_scale": [ + 0.9494635511715521, + 0.9583989916155363, + 0.9726956963259112 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8140ef75f655a0d96be062dec1639ef36716ced --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2392631846497904, + "K": [ + [ + 342.00720568441056, + 0.0, + 349.0734382687513 + ], + [ + 0.0, + 336.4393317549292, + 237.98274541192558 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.41069843417834395, + -5.047658285500346, + 0.9254644072776481 + ], + "camera_target": [ + -1.299355296683032, + -5.199852470754233, + 0.9008550510439116 + ], + "camera_roll_rad": -0.017879486755993643, + "camera_pose_world_cv": [ + [ + -0.16965889930725098, + 0.02084141969680786, + -0.9852824807167053, + -0.41069844365119934 + ], + [ + 0.9848546385765076, + 0.039841294288635254, + -0.16874241828918457, + -5.047658443450928 + ], + [ + 0.03573805093765259, + -0.9989886283874512, + -0.027285218238830566, + 0.925464391708374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32370774890805115, + 0.33740183502437465, + 0.32321324257974854 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.1427432818530328, + 1.1639650873889769, + 1.1979199762464876 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 5862.006679702352, + "intensity": 1.1724538096033545 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7771259190536008, + 0.7609966297515152, + 0.7333464195193683 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5197.214928959066, + "intensity": 0.7609966297515152 + }, + "point_color_scale": [ + 1.1177485047851423, + 1.093450549978765, + 1.0517969131678326 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d73c5c70fe02e421a75a324e2c95cf2f7709d93 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.125090655312473, + "K": [ + [ + 389.4299374123457, + 0.0, + 329.3194175655381 + ], + [ + 0.0, + 380.6496624478218, + 222.4214665834627 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5473172060555536, + -5.639938668394142, + 1.1224311040924484 + ], + "camera_target": [ + -1.3161483293528784, + -5.295377503070782, + 0.9975401467405627 + ], + "camera_roll_rad": 0.012809740888695006, + "camera_pose_world_cv": [ + [ + 0.8260350227355957, + -0.18180018663406372, + 0.533493161201477, + -1.5473171472549438 + ], + [ + -0.5630848407745361, + -0.2249969244003296, + 0.7951805591583252, + -5.639938831329346 + ], + [ + -0.024529606103897095, + -0.9572488069534302, + -0.2882242202758789, + 1.1224311590194702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2903890128070651, + 0.3078918307330193, + 0.29343301834395996 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.2409282994720703, + 1.1675292311966554, + 1.04170225701023 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4601.899900916831, + "intensity": 1.1675292311966554 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.8085877457553344, + 0.7903615225887003, + 0.7591165685887563 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 5170.562635927182, + "intensity": 0.7903615225887003 + }, + "point_color_scale": [ + 1.0333763414481536, + 1.041564190569884, + 1.0546647491646526 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0237f876389cf5169fe9eda338d7b9b27cc06eff --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8595772459989984, + "K": [ + [ + 537.6452399759515, + 0.0, + 320.358438745542 + ], + [ + 0.0, + 523.5999458282233, + 236.76623922925177 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5547447762719295, + -4.832243281594848, + 1.0351756615392085 + ], + "camera_target": [ + -1.2679924299386889, + -5.236156463415645, + 0.9781384079279525 + ], + "camera_roll_rad": -0.036450042235485425, + "camera_pose_world_cv": [ + [ + -0.808418869972229, + -0.1254332959651947, + 0.575087308883667, + -1.5547447204589844 + ], + [ + -0.5841431617736816, + 0.050862669944763184, + -0.8100553750991821, + -4.8322434425354 + ], + [ + 0.07235744595527649, + -0.9907974004745483, + -0.11438935995101929, + 1.0351756811141968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2978531119188755, + 0.29698713005206584, + 0.27559442833953274 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 1.195498102476751, + 1.1238720438958376, + 1.0010845148999858 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4589.5499057421175, + "intensity": 1.1238720438958376 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.7171779896202375, + 0.7412862114193276, + 0.7798593662978719 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6142.090150796547, + "intensity": 0.7509295001389636 + }, + "point_color_scale": [ + 0.8827924518003607, + 0.8867603119486805, + 0.8931088881859922 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000301/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000301/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2344d907a6fa782f9c0a216e0e8490d2b5e7630 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000301/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 301, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9837432481467215, + "K": [ + [ + 438.0852444935043, + 0.0, + 319.47773377251855 + ], + [ + 0.0, + 447.93279704182606, + 243.74860269761507 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7731200153402553, + -5.616481230701001, + 0.9982426121965167 + ], + "camera_target": [ + -1.2332786645810163, + -5.231022642747654, + 0.9928186119468482 + ], + "camera_roll_rad": -0.03594399222482848, + "camera_pose_world_cv": [ + [ + 0.5800728797912598, + 0.035100579261779785, + 0.813808023929596, + -1.7731200456619263 + ], + [ + -0.8113919496536255, + -0.063193678855896, + 0.581076443195343, + -5.616481304168701 + ], + [ + 0.07182365655899048, + -0.9973838925361633, + -0.008176565170288086, + 0.9982426166534424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9801814556121826, + -0.19810155034065247, + 9.489624375191852e-08, + -1.2720481157302856 + ], + [ + 0.19810155034065247, + -0.9801814556121826, + 5.040855555193957e-08, + -5.245678901672363 + ], + [ + 8.302952636540795e-08, + 6.820862807899175e-08, + 1.0, + 0.7816192507743835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3329929549254194, + 0.3094572147875993, + 0.3132568273161277 + ], + "directional_primary": { + "direction": [ + -0.4338817843785469, + 0.06591501837100919, + -0.898555399259076 + ], + "color": [ + 0.9696496929878359, + 0.9072837508029578, + 0.8003707070574523 + ], + "azimuth_rad": 2.99082616735984, + "elevation_rad": 1.116466631824873, + "color_temp_k": 4518.011696534794, + "intensity": 0.9072837508029578 + }, + "directional_fill": { + "direction": [ + -0.27036125755635204, + 0.03514731683216834, + -0.9621171729742937 + ], + "color": [ + 0.6096557591880835, + 0.6330861013479572, + 0.6705746488037553 + ], + "azimuth_rad": 3.0123163643078916, + "elevation_rad": 1.2946642681543648, + "color_temp_k": 6229.396582261449, + "intensity": 0.6424582382119067 + }, + "point_color_scale": [ + 0.9099763484642546, + 0.934910784809873, + 0.9748058829628627 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..366849c723e8714838285d3baa2766f49ddb9d69 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8059208081966117, + "K": [ + [ + 541.5230323556391, + 0.0, + 334.42861954266704 + ], + [ + 0.0, + 563.0007311503089, + 221.84917625111441 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.956613470691481, + -10.184261426941761, + 1.1790270479605167 + ], + "camera_target": [ + -5.796230557969948, + -9.669983276452918, + 1.1571985388126853 + ], + "camera_roll_rad": 0.04239607801014682, + "camera_pose_world_cv": [ + [ + 0.5220457315444946, + -0.02540290355682373, + -0.8525391817092896, + -4.956613540649414 + ], + [ + 0.8487045168876648, + -0.08375507593154907, + 0.5221933126449585, + -10.184261322021484 + ], + [ + -0.08466976881027222, + -0.9961626529693604, + -0.02216440439224243, + 1.1790270805358887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3677304962631943, + 0.36239207891976977, + 0.3590765577187429 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0882420257497263, + 1.111030924660068, + 1.147493162916615 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5906.891406281118, + "intensity": 1.1201464842242048 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6070259775909562, + 0.6166433169386512, + 0.6320310598949631 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5809.991633428287, + "intensity": 0.6204902526777292 + }, + "point_color_scale": [ + 0.8980653491562006, + 0.8869980386849657, + 0.8680255064485629 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88123c15b7f80296a8b58613e19f1efc83ff9f9a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9058594373685633, + "K": [ + [ + 486.8670577718552, + 0.0, + 341.5784831789029 + ], + [ + 0.0, + 493.1437175159019, + 217.27921098949813 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.66578672677272, + -9.904775888430668, + 1.2267057862305744 + ], + "camera_target": [ + -5.776861971801976, + -9.645348402776241, + 1.1333578529045518 + ], + "camera_roll_rad": 0.006084310044545439, + "camera_pose_world_cv": [ + [ + 0.27896422147750854, + -0.09968394041061401, + 0.9551137685775757, + -6.6657867431640625 + ], + [ + -0.9602252840995789, + -0.016416072845458984, + 0.27874401211738586, + -9.904775619506836 + ], + [ + -0.012106925249099731, + -0.9948838949203491, + -0.10029840469360352, + 1.22670578956604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31630104088931454, + 0.3375689303817822, + 0.32582554771431066 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0606467578565755, + 1.1006079830395632, + 1.1645459433323435 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6215.770993361376, + "intensity": 1.1165924731127583 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.5637408299076906, + 0.5789923898413192, + 0.603394885735125 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6021.337960752235, + "intensity": 0.5850930138147706 + }, + "point_color_scale": [ + 1.0990741899743905, + 1.1256208431895092, + 1.1680954883336994 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c492b5f6f6380c08be7ebd3f867a069bfc32a6d1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2724746402705907, + "K": [ + [ + 309.35706440026274, + 0.0, + 289.214454936831 + ], + [ + 0.0, + 324.889971399929, + 221.28924822237656 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.243537749692888, + -9.12499560541349, + 1.2159764031805558 + ], + "camera_target": [ + -5.804794793619441, + -9.641711686791915, + 1.1531564991369028 + ], + "camera_roll_rad": 0.04851534218958736, + "camera_pose_world_cv": [ + [ + -0.6682770252227783, + 0.12570899724960327, + -0.7332144379615784, + -5.243537902832031 + ], + [ + 0.73762047290802, + -0.01594984531402588, + -0.6750272512435913, + -9.124995231628418 + ], + [ + -0.09655171632766724, + -0.9919390678405762, + -0.08206647634506226, + 1.215976357460022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3713111448390673, + 0.36168480183694074, + 0.38527727300335673 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9300320454478591, + 0.9628582275693329, + 1.0153801189636908 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6172.675454283794, + "intensity": 0.9759887004179224 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6946063552832662, + 0.6886133369933781, + 0.6783395913535701 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5375.671087969033, + "intensity": 0.6886133369933781 + }, + "point_color_scale": [ + 1.0048293023335566, + 1.0296015918725803, + 1.069237255135018 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..242d7f89f53f64aa10cdeb5e1db7d24d9ddc4d4f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8169649537420756, + "K": [ + [ + 545.4337763977852, + 0.0, + 339.8324586798485 + ], + [ + 0.0, + 554.4925181055194, + 234.66984504518413 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.777454630405841, + -8.917493917301059, + 1.1237269407548596 + ], + "camera_target": [ + -5.786119651650364, + -9.65993740694988, + 1.1606632274510655 + ], + "camera_roll_rad": 0.024187145428933132, + "camera_pose_world_cv": [ + [ + -0.9987901449203491, + 0.04777295142412186, + -0.011655217036604881, + -5.777454853057861 + ], + [ + 0.009253617376089096, + -0.050187528133392334, + -0.9986969232559204, + -8.91749382019043 + ], + [ + -0.04829564690589905, + -0.9975966215133667, + 0.04968464374542236, + 1.1237269639968872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31760728315780895, + 0.2852630738018611, + 0.30567471845937577 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.1388281611128108, + 1.1571397704029884, + 1.1864383452672727 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5814.506979657779, + "intensity": 1.1644644141190594 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8253166400489644, + 0.8106852820805037, + 0.785602954134571 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5242.169490220642, + "intensity": 0.8106852820805037 + }, + "point_color_scale": [ + 1.1889879232947296, + 1.176124365995337, + 1.1540725534820928 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..339278ae374248c355b397ca840b4380fa5c4bc5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0426097788223732, + "K": [ + [ + 431.0131721352322, + 0.0, + 311.34956657022207 + ], + [ + 0.0, + 417.9031126964795, + 244.0751951967901 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.242824335009255, + -8.88120801593236, + 1.3228936610801363 + ], + "camera_target": [ + -5.787716607024442, + -9.636264908324133, + 1.0713834061952947 + ], + "camera_roll_rad": 0.03332623553235525, + "camera_pose_world_cv": [ + [ + -0.8639841079711914, + -0.08426420390605927, + 0.49641871452331543, + -6.242824554443359 + ], + [ + -0.49942952394485474, + 0.26882004737854004, + -0.8235934972763062, + -8.881208419799805 + ], + [ + -0.06404775381088257, + -0.9594975709915161, + -0.2743399143218994, + 1.3228936195373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36132058215774715, + 0.34672010860695957, + 0.3500994390415055 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.8840767238876007, + 0.9237648154665851, + 0.9872657619929602 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6344.750955227217, + "intensity": 0.9396400520981789 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7306394814234176, + 0.7411883839985007, + 0.7580666281186339 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5783.037030808127, + "intensity": 0.745407945028534 + }, + "point_color_scale": [ + 1.0519973702395953, + 1.0465337053588588, + 1.0371674227061676 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..409384340b8fafece432ec74752160c292653696 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.289096860588604, + "K": [ + [ + 311.48134394584577, + 0.0, + 344.2464035118846 + ], + [ + 0.0, + 319.30275905829734, + 235.28265537977956 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.170366712916354, + -9.011900171491817, + 1.228933945374397 + ], + "camera_target": [ + -5.825179572777369, + -9.607324547024545, + 1.0576704093936367 + ], + "camera_roll_rad": -0.007463838280830283, + "camera_pose_world_cv": [ + [ + -0.6747829914093018, + 0.1305033266544342, + -0.7263864278793335, + -5.1703667640686035 + ], + [ + 0.7378709316253662, + 0.13884305953979492, + -0.6605069041252136, + -9.011899948120117 + ], + [ + 0.014655262231826782, + -0.9816780686378479, + -0.1899833083152771, + 1.2289339303970337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2747094705096587, + 0.26572300934499365, + 0.27458079354192566 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.152799397379921, + 1.181335567585437, + 1.2269934399142621 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5978.493722107376, + "intensity": 1.1927500356676433 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8493592228578427, + 0.8264684721097636, + 0.7872271851130568 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5104.327647081586, + "intensity": 0.8264684721097636 + }, + "point_color_scale": [ + 1.0431202066976684, + 1.0522887116894246, + 1.0669583196762347 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78a1e61f59095a9e373e41445adf96dda5ea664f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.245266588038844, + "K": [ + [ + 325.8587814968957, + 0.0, + 312.010963973437 + ], + [ + 0.0, + 334.31217241349924, + 250.28481054338616 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.301784440287413, + -10.06080885092867, + 1.2299783437554104 + ], + "camera_target": [ + -5.799991366857829, + -9.629380788464337, + 1.0427370582888764 + ], + "camera_roll_rad": 0.04559498061230542, + "camera_pose_world_cv": [ + [ + 0.6304316520690918, + -0.26495400071144104, + 0.7296268343925476, + -6.301784515380859 + ], + [ + -0.7712833881378174, + -0.10770618915557861, + 0.6273128986358643, + -10.060809135437012 + ], + [ + -0.0876237154006958, + -0.9582269191741943, + -0.2722560167312622, + 1.229978322982788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3142880263857097, + 0.3070303704908218, + 0.33410939842615145 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.2126970336028182, + 1.1871428925297838, + 1.1433357935474393 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5192.4892862658935, + "intensity": 1.1871428925297838 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7976079937552825, + 0.8125569535088901, + 0.8364752891146625 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5865.260659002538, + "intensity": 0.8185365374103333 + }, + "point_color_scale": [ + 1.0439814737771214, + 1.057280406596795, + 1.0785586991082727 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c16dc9dfa4cbf7a93d8f42d0c1fcd73162746f0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.096016448577108, + "K": [ + [ + 411.6315218100262, + 0.0, + 332.5707528148631 + ], + [ + 0.0, + 393.2053641521385, + 219.57520468101853 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.173055474801413, + -9.910763248324393, + 1.3074297701473248 + ], + "camera_target": [ + -5.8263785674729816, + -9.624819987049545, + 1.1111086739564264 + ], + "camera_roll_rad": -0.015140545824006583, + "camera_pose_world_cv": [ + [ + 0.39340806007385254, + 0.25517091155052185, + -0.8832428455352783, + -5.173055648803711 + ], + [ + 0.9189003705978394, + -0.07863259315490723, + 0.38657331466674805, + -9.910762786865234 + ], + [ + 0.02919057011604309, + -0.9636932611465454, + -0.265411376953125, + 1.3074297904968262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3773016410274362, + 0.35357155479726887, + 0.37071737218551365 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.1178161840827483, + 1.1190405037604962, + 1.120999415244893 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5521.872025304107, + "intensity": 1.1195302316315954 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6595942185886465, + 0.685488081252803, + 0.7269182615154534 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6244.241587064476, + "intensity": 0.6958456263184656 + }, + "point_color_scale": [ + 0.8170663691261496, + 0.8487104739246795, + 0.8993410416023273 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41a38d63ef685c96aa130514480e6503860b6e9c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8723380978147571, + "K": [ + [ + 493.44701208593966, + 0.0, + 295.94823476530746 + ], + [ + 0.0, + 514.9011219881977, + 246.0447945522236 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.367893580781201, + -9.943738025130571, + 1.200617624845378 + ], + "camera_target": [ + -5.792503261696825, + -9.685267656803333, + 1.0863178873868877 + ], + "camera_roll_rad": 0.039776429741608735, + "camera_pose_world_cv": [ + [ + 0.5335322618484497, + 0.14948773384094238, + -0.832464337348938, + -5.367893695831299 + ], + [ + 0.8422263264656067, + -0.1840314269065857, + 0.5067418813705444, + -9.943737983703613 + ], + [ + -0.07744798064231873, + -0.9714864492416382, + -0.2240891456604004, + 1.2006176710128784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35686575038365326, + 0.37567258157095124, + 0.3464036671219259 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.796962861227697, + 0.8354103461440423, + 0.896926322010195 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6403.807396349095, + "intensity": 0.8507893401105805 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.5608004064251568, + 0.5529517076711657, + 0.5394967955214668 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5297.225930657878, + "intensity": 0.5529517076711657 + }, + "point_color_scale": [ + 0.8911572129579077, + 0.9226968627090011, + 0.9731603023107501 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed7d9bc0107bd029a688f2afd588701265b7a9ab --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9764629347832247, + "K": [ + [ + 460.56908658857094, + 0.0, + 288.4821540578711 + ], + [ + 0.0, + 451.87647364615924, + 239.3072364477797 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.341197912932547, + -9.875607436471714, + 1.20708176921524 + ], + "camera_target": [ + -5.754450770333272, + -9.645519487882869, + 1.1416273014781104 + ], + "camera_roll_rad": -0.01075820811721008, + "camera_pose_world_cv": [ + [ + 0.48376643657684326, + 0.13020449876785278, + -0.8654576539993286, + -5.341197967529297 + ], + [ + 0.8749377131462097, + -0.04786944389343262, + 0.48186394572257996, + -9.87560749053955 + ], + [ + 0.021311700344085693, + -0.9903310537338257, + -0.13707828521728516, + 1.2070817947387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23182911346769647, + 0.24300748844122544, + 0.23311891828584622 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.1983266818905511, + 1.1471686894379522, + 1.0594692738049256 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4862.928512312675, + "intensity": 1.1471686894379522 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7495698833167165, + 0.7804852821012924, + 0.8299499201566143 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6279.853505004621, + "intensity": 0.7928514416151229 + }, + "point_color_scale": [ + 1.0346373208299786, + 1.0400605961342095, + 1.0487378366209787 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed353f2a4549a38ea74ad132cbe0ca301aa8325d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2931762730925132, + "K": [ + [ + 331.83967910572073, + 0.0, + 345.8969048691163 + ], + [ + 0.0, + 317.95041117079523, + 221.9471374137272 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.931047914238726, + -9.213274974646524, + 1.3057808034394496 + ], + "camera_target": [ + -5.753168913482001, + -9.604023538043528, + 1.099023143385265 + ], + "camera_roll_rad": 0.0388308813481936, + "camera_pose_world_cv": [ + [ + -0.41245853900909424, + 0.23275473713874817, + -0.880740225315094, + -4.9310479164123535 + ], + [ + 0.9078294038772583, + 0.024725675582885742, + -0.4186103045940399, + -9.213274955749512 + ], + [ + -0.07565665245056152, + -0.9722211360931396, + -0.22149986028671265, + 1.3057807683944702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34194964814444134, + 0.31949930157593, + 0.32819943524242223 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.2704339566615812, + 1.1974450468720215, + 1.0723212015184909 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4629.2304277318035, + "intensity": 1.1974450468720215 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6108224236028547, + 0.6221046222737509, + 0.6401561401471846 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5860.09842174946, + "intensity": 0.6266175017421093 + }, + "point_color_scale": [ + 1.0237396770624159, + 1.0313147475561015, + 1.0434348603459986 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb71ea2705f393366a44185625e031592ef2a4d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3041920900111714, + "K": [ + [ + 302.88229603942034, + 0.0, + 321.3925849956775 + ], + [ + 0.0, + 314.3348254420433, + 228.73739815476844 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.829858058905162, + -10.04878213023948, + 1.2880273280639556 + ], + "camera_target": [ + -5.768297798963036, + -9.665289312870637, + 1.087977006091784 + ], + "camera_roll_rad": -0.04664805031877835, + "camera_pose_world_cv": [ + [ + 0.9898267388343811, + 0.019725102931261063, + 0.14090383052825928, + -5.82985782623291 + ], + [ + -0.11568795144557953, + -0.46490275859832764, + 0.8777709603309631, + -10.048782348632812 + ], + [ + 0.08282070606946945, + -0.8851420283317566, + -0.45789122581481934, + 1.288027286529541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37472798625854314, + 0.38437234825797245, + 0.3733293510586991 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.1694228310760393, + 1.1427539989403357, + 1.097036000993415 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5166.609509502815, + "intensity": 1.1427539989403357 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6539246552306008, + 0.6663507390703536, + 0.686232473213958 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5870.19788282593, + "intensity": 0.6713211726062547 + }, + "point_color_scale": [ + 1.0785320968155225, + 1.097097385757439, + 1.1268018480645055 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1470da019e4c4d75487eeeb1dd219e3f57285dde --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8437971190674832, + "K": [ + [ + 520.5647183965184, + 0.0, + 298.92999061525404 + ], + [ + 0.0, + 534.6978048955199, + 229.58655633733537 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.930937908233779, + -9.820183353319418, + 1.173499898621194 + ], + "camera_target": [ + -5.814130661071563, + -9.662420112631615, + 1.0748914612890634 + ], + "camera_roll_rad": -0.021665243295958828, + "camera_pose_world_cv": [ + [ + 0.17102140188217163, + 0.11506614089012146, + -0.9785251617431641, + -4.930937767028809 + ], + [ + 0.9843260049819946, + 0.023448467254638672, + 0.17479249835014343, + -9.820183753967285 + ], + [ + 0.04305759072303772, + -0.9930809736251831, + -0.1092524528503418, + 1.1734999418258667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22873475036881755, + 0.23396015524366595, + 0.23651668186144023 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0599488594302195, + 1.0159132039733094, + 0.9404235089043209 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4880.773091853525, + "intensity": 1.0159132039733094 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7204599832109247, + 0.6988521745836207, + 0.661810216936814 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5058.300035949703, + "intensity": 0.6988521745836207 + }, + "point_color_scale": [ + 1.1309729278372151, + 1.1245761822042781, + 1.1136103325478148 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2cc25ae722e42a981e9dfcf0cecd62d0174d01aa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7978675669240555, + "K": [ + [ + 551.2995653148304, + 0.0, + 309.4737610273341 + ], + [ + 0.0, + 569.3450701701199, + 229.48354516725013 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.112493230279464, + -9.91388720886502, + 1.2623484626151997 + ], + "camera_target": [ + -5.811760515537277, + -9.66330039204644, + 1.0478008601426012 + ], + "camera_roll_rad": -0.041677460223156645, + "camera_pose_world_cv": [ + [ + 0.31442856788635254, + 0.288402795791626, + -0.9044106006622314, + -5.11249303817749 + ], + [ + 0.9459050893783569, + -0.0149078369140625, + 0.3241007626056671, + -9.913887023925781 + ], + [ + 0.07998877763748169, + -0.9573931694030762, + -0.2774890661239624, + 1.2623484134674072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3446001360420139, + 0.36002700199563664, + 0.36666667303630807 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9196434221484491, + 0.8620545058725113, + 0.7633306493994751 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4545.653379992151, + "intensity": 0.8620545058725113 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8545842767007247, + 0.8428141236157475, + 0.822636718327215 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5300.495697260332, + "intensity": 0.8428141236157475 + }, + "point_color_scale": [ + 1.0213232340835547, + 1.0199884116580722, + 1.0177001446429594 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f043fe14882a336f42ec5f7d4ad38901f1320812 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9431661778318614, + "K": [ + [ + 455.5263189137431, + 0.0, + 294.3146019697051 + ], + [ + 0.0, + 470.6260016857403, + 255.39978520655947 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.02562309247221, + -8.958361844111115, + 1.2707582359979117 + ], + "camera_target": [ + -5.768240862406583, + -9.675807054002084, + 1.0552960108514928 + ], + "camera_roll_rad": -0.05215357525621004, + "camera_pose_world_cv": [ + [ + -0.9265831708908081, + -0.18935775756835938, + 0.32494303584098816, + -6.025623321533203 + ], + [ + -0.36249953508377075, + 0.2194920778274536, + -0.9057691097259521, + -8.958361625671387 + ], + [ + 0.10019203275442123, + -0.957061767578125, + -0.27201932668685913, + 1.2707582712173462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25713630633187606, + 0.2539693247190524, + 0.2596469083665985 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.916644009635041, + 0.888787131064563, + 0.8410324820866008 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5052.248908382566, + "intensity": 0.888787131064563 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8803421040830252, + 0.8613462661249324, + 0.8287819724824875 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5184.9477099286805, + "intensity": 0.8613462661249324 + }, + "point_color_scale": [ + 0.8048051655000487, + 0.8247611976801585, + 0.8566908491683345 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27c14d5c465769ea3b7d2f9583f4c609dee7a9f3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9009543148734152, + "K": [ + [ + 513.5114803308844, + 0.0, + 312.6050727996825 + ], + [ + 0.0, + 496.2330743267421, + 253.07939168883416 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.968604988259633, + -9.16354257922666, + 1.1999207314261664 + ], + "camera_target": [ + -5.81282701829436, + -9.639710751783497, + 1.1327387267283195 + ], + "camera_roll_rad": -0.04761094533429437, + "camera_pose_world_cv": [ + [ + -0.9421970844268799, + -0.1315028965473175, + 0.30817466974258423, + -5.968605041503906 + ], + [ + -0.32153457403182983, + 0.09618282318115234, + -0.9420002698898315, + -9.163542747497559 + ], + [ + 0.0942346602678299, + -0.9866386651992798, + -0.13290590047836304, + 1.1999207735061646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9955886602401733, + -0.09382517635822296, + 1.3996483971823181e-09, + -5.788896083831787 + ], + [ + 0.09382517635822296, + 0.9955886602401733, + -2.9769438469884335e-08, + -9.645185470581055 + ], + [ + 1.3996483971823181e-09, + 2.9769438469884335e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3501294193354467, + 0.3411786677931601, + 0.36989460542538977 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0885153722027532, + 1.1242577015493045, + 1.1814454285037868 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6127.854444601124, + "intensity": 1.138554633287925 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.5696061454702533, + 0.5697314544501412, + 0.5699319488179616 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5504.398491798152, + "intensity": 0.5697815780420963 + }, + "point_color_scale": [ + 1.0404623257209342, + 1.0533276550284267, + 1.073912181920415 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77a2a2b06341dc446ebc7d645ef54fd358176155 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9769377883623491, + "K": [ + [ + 473.0060276908195, + 0.0, + 350.1047790404733 + ], + [ + 0.0, + 451.61760387849324, + 260.6077331669642 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.428385032857182, + -9.275931931128422, + 1.2926239225737715 + ], + "camera_target": [ + -4.033461081649507, + -9.612273170144142, + 1.1570487482536007 + ], + "camera_roll_rad": -0.04289809216920845, + "camera_pose_world_cv": [ + [ + -0.6295006275177002, + -0.24735993146896362, + 0.736574649810791, + -4.428385257720947 + ], + [ + -0.7725643515586853, + 0.09811007976531982, + -0.6273108124732971, + -9.275932312011719 + ], + [ + 0.08290621638298035, + -0.9639437794685364, + -0.25286173820495605, + 1.2926238775253296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3391242141354838, + 0.31754990747677053, + 0.3236281105228238 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9196565894650356, + 0.9473621961716853, + 0.9916911669023245 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6078.13693905443, + "intensity": 0.958444438854345 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9268231039953254, + 0.941370296154602, + 0.9646458036094444 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5807.165507665601, + "intensity": 0.9471891730183126 + }, + "point_color_scale": [ + 0.9002730147618535, + 0.9095630728306117, + 0.9244271657406248 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d67bc267107416709eac71bbfcae71e181bfd389 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2160119780584957, + "K": [ + [ + 338.7878147454801, + 0.0, + 329.08666377426846 + ], + [ + 0.0, + 344.8499179718501, + 239.57221510895945 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.900454703401372, + -10.015454015076296, + 1.206177486349861 + ], + "camera_target": [ + -4.095226150687309, + -9.656536776492095, + 1.1295281859318875 + ], + "camera_roll_rad": -0.039575250077165315, + "camera_pose_world_cv": [ + [ + 0.4121021032333374, + -0.046675682067871094, + 0.9099413752555847, + -4.900454521179199 + ], + [ + -0.9077263474464417, + -0.10737156867980957, + 0.4055913984775543, + -10.015454292297363 + ], + [ + 0.07877063751220703, + -0.9931228160858154, + -0.08661675453186035, + 1.2061774730682373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2816670181321305, + 0.3030887389015729, + 0.290723265838783 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0512425890917825, + 1.0293807098871355, + 0.9919032026791692 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5196.601503149764, + "intensity": 1.0293807098871355 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9114939946978966, + 0.9375604225321329, + 0.9792667070669112 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6049.932182791634, + "intensity": 0.9479869936658275 + }, + "point_color_scale": [ + 1.0114619438125654, + 0.9700501550885325, + 0.8990585172759051 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8825908f46c9b64919d2a6ce64120a95315fe7b0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7978235099176312, + "K": [ + [ + 562.3059863122478, + 0.0, + 293.1902982688041 + ], + [ + 0.0, + 569.3801114388234, + 222.85483776416697 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8207245848750584, + -9.965657276672156, + 1.3325735192127626 + ], + "camera_target": [ + -4.031377657070371, + -9.672099746824616, + 1.0677610376683404 + ], + "camera_roll_rad": -0.04743686795301272, + "camera_pose_world_cv": [ + [ + 0.776159942150116, + 0.42005863785743713, + -0.47024089097976685, + -3.8207244873046875 + ], + [ + 0.6258894801139832, + -0.4228892922401428, + 0.6553068161010742, + -9.965657234191895 + ], + [ + 0.07640741765499115, + -0.8029417991638184, + -0.5911400318145752, + 1.3325735330581665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26599372370457264, + 0.2539597364104176, + 0.2775688744983161 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.8730076977721796, + 0.9022568229585266, + 0.9490554232566818 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6140.055102170907, + "intensity": 0.9139564730330654 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8309578755608431, + 0.8473993764687173, + 0.873705777921316 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5885.057691408835, + "intensity": 0.8539759768318669 + }, + "point_color_scale": [ + 0.9330934210183864, + 0.9012610106750635, + 0.8466911643722241 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9241d411eb7768aa3d243b47f9b8064ebda63c2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2213356366976802, + "K": [ + [ + 351.9514819610534, + 0.0, + 341.9548569342003 + ], + [ + 0.0, + 342.89958112528836, + 254.67264260908814 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.640813857662685, + -8.886452690239187, + 1.2974525396682106 + ], + "camera_target": [ + -4.113042862825011, + -9.705139979503363, + 1.0435401009021883 + ], + "camera_roll_rad": 0.027580860081774364, + "camera_pose_world_cv": [ + [ + -0.8577620983123779, + 0.17719872295856476, + -0.4825398325920105, + -3.6408138275146484 + ], + [ + 0.5112817287445068, + 0.19685888290405273, + -0.836562991142273, + -8.886452674865723 + ], + [ + -0.05324564874172211, + -0.9642858505249023, + -0.2594565749168396, + 1.2974525690078735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3060883091774599, + 0.3092768366237444, + 0.3237881589900164 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0725487963392402, + 1.0883280914023399, + 1.1135749635032999 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5788.30113663327, + "intensity": 1.09463980942758 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8682886812276301, + 0.880433340053286, + 0.8998647941743352 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5774.365288539991, + "intensity": 0.8852912035835483 + }, + "point_color_scale": [ + 1.1366102151119721, + 1.131357486891758, + 1.1223528099428195 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..493af56dfe819295ceed0b50470d034de7a7e3cb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0553705289975885, + "K": [ + [ + 421.21363758199726, + 0.0, + 321.32832490264605 + ], + [ + 0.0, + 411.7967150119, + 221.48435902171346 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.740801157176076, + -9.910316674066545, + 1.204906472354878 + ], + "camera_target": [ + -4.117281752589004, + -9.678484145642889, + 1.1830680590872338 + ], + "camera_roll_rad": 0.04236666245977627, + "camera_pose_world_cv": [ + [ + 0.3446497917175293, + -0.060138195753097534, + 0.9368031024932861, + -4.7408013343811035 + ], + [ + -0.9349126815795898, + 0.0679326057434082, + 0.34831535816192627, + -9.910316467285156 + ], + [ + -0.08458638191223145, + -0.9958758354187012, + -0.03281092643737793, + 1.2049064636230469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2860571383509505, + 0.25855412589366383, + 0.28999866523513496 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0273409999431056, + 0.9750500501630404, + 0.8854084219686426 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4733.871565709126, + "intensity": 0.9750500501630404 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6239447600233661, + 0.6498786175022487, + 0.6913727894684613 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6285.574331464114, + "intensity": 0.6602521604938019 + }, + "point_color_scale": [ + 1.1127991058899878, + 1.1535719424027162, + 1.218808480823082 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db2eb0b5725292ecbec76c56bfeec6bcac3eef5e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8084773447378725, + "K": [ + [ + 575.4133089147055, + 0.0, + 307.66647199146655 + ], + [ + 0.0, + 561.0116914168901, + 243.64375762918678 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.660408592927153, + -9.925554286596743, + 1.2740171703155356 + ], + "camera_target": [ + -4.060644483703565, + -9.703891367932371, + 1.105647882724936 + ], + "camera_roll_rad": 0.01102995007166474, + "camera_pose_world_cv": [ + [ + 0.3413119316101074, + -0.246436208486557, + 0.9070696830749512, + -4.6604084968566895 + ], + [ + -0.9397079944610596, + -0.06756222248077393, + 0.3352374732494354, + -9.925554275512695 + ], + [ + -0.021330952644348145, + -0.9668011665344238, + -0.2546378970146179, + 1.2740172147750854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30938572266739606, + 0.29420555280791433, + 0.3036609941177324 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9793699732619034, + 0.9744001721713302, + 0.965880513158919 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5427.137576055069, + "intensity": 0.9744001721713302 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9043861952102719, + 0.9212821457990816, + 0.9483156667411771 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5864.120964867857, + "intensity": 0.9280405260346054 + }, + "point_color_scale": [ + 1.1319264827720956, + 1.1384019568856014, + 1.1487627154672109 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f057741e4e4cdb839c695470b5f64c8b25140c3a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2239103728883758, + "K": [ + [ + 340.1383831124361, + 0.0, + 329.4873983454934 + ], + [ + 0.0, + 341.96163370989507, + 228.99472548467142 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.059634722696324, + -9.171740453550425, + 1.2631591851680661 + ], + "camera_target": [ + -4.052825521269469, + -9.650703887564758, + 1.1745978728061068 + ], + "camera_roll_rad": 0.019256376288486865, + "camera_pose_world_cv": [ + [ + -0.9992573261260986, + 0.03591696172952652, + 0.013978324830532074, + -4.059634685516357 + ], + [ + -0.007205391302704811, + 0.18219685554504395, + -0.9832358360290527, + -9.171740531921387 + ], + [ + -0.03786164149641991, + -0.982606053352356, + -0.1818023920059204, + 1.263159155845642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28807509886489824, + 0.30755444481716143, + 0.28581731460646415 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.182662795218092, + 1.1613188687643614, + 1.1247292805579665 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5237.442279416576, + "intensity": 1.1613188687643614 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9488509982809369, + 0.919404909392773, + 0.8689258998702063 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5042.4666451195235, + "intensity": 0.919404909392773 + }, + "point_color_scale": [ + 0.7849190736974496, + 0.8159885435047473, + 0.865699695196424 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0955b50fda2a2ad43c4be5af0f01073c78dac4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1477022765253877, + "K": [ + [ + 388.8591880608833, + 0.0, + 291.75360961997546 + ], + [ + 0.0, + 371.2783025724579, + 257.36336952879475 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.5815214070613095, + -8.902090607613898, + 1.3011222112558953 + ], + "camera_target": [ + -4.043103207356171, + -9.611206968119907, + 1.078856259538413 + ], + "camera_roll_rad": -0.02341877477577003, + "camera_pose_world_cv": [ + [ + -0.7887070178985596, + -0.183594211935997, + 0.5867149829864502, + -4.581521511077881 + ], + [ + -0.6130886673927307, + 0.1643751859664917, + -0.7727245092391968, + -8.902091026306152 + ], + [ + 0.045426368713378906, + -0.9691615104675293, + -0.24220329523086548, + 1.3011221885681152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24951516390910286, + 0.24401004996144268, + 0.26658768196422117 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.8823335540475732, + 0.9268282401851723, + 0.9980197380053312 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6442.059200947377, + "intensity": 0.944626114640212 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8128450424795451, + 0.8059831520612596, + 0.7942199113441984 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5378.375862169314, + "intensity": 0.8059831520612596 + }, + "point_color_scale": [ + 0.9451127199906268, + 0.9381838400337299, + 0.9263057601076208 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..072f2c105ea2ea07d4afd3b439d2e62eef68615d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8358288355858511, + "K": [ + [ + 517.9697344805529, + 0.0, + 292.1722425889327 + ], + [ + 0.0, + 540.4512363112834, + 248.29438147115536 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.340071107937053, + -8.998494727018432, + 1.2753223023355424 + ], + "camera_target": [ + -4.124971775771229, + -9.629501437274403, + 1.1669409308134027 + ], + "camera_roll_rad": 0.01611641953581415, + "camera_pose_world_cv": [ + [ + -0.9476947784423828, + -0.021244317293167114, + 0.31847071647644043, + -4.340071201324463 + ], + [ + -0.3175894618034363, + 0.16220390796661377, + -0.934252142906189, + -8.998495101928711 + ], + [ + -0.03180961310863495, + -0.9865286350250244, + -0.16046655178070068, + 1.2753223180770874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3671866489467494, + 0.37628797265969244, + 0.3995424569292091 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.2487425745396008, + 1.1751632800170326, + 1.0490273465497733 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4605.543206831145, + "intensity": 1.1751632800170326 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7920020377574039, + 0.8242791218669996, + 0.8759224564423529 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6271.081494638834, + "intensity": 0.837189955510838 + }, + "point_color_scale": [ + 1.0834146970500194, + 1.0835925695528332, + 1.0838771655573352 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44166318346cf93153a4c87a00b066fceb3db825 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1196715673169175, + "K": [ + [ + 374.547064015076, + 0.0, + 292.3711472609062 + ], + [ + 0.0, + 382.94564681332804, + 241.8050394014238 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.729556255182394, + -9.762921942061666, + 1.1057285256715137 + ], + "camera_target": [ + -4.122451676490294, + -9.625334850220447, + 1.1618830702451182 + ], + "camera_roll_rad": 0.036073568907301096, + "camera_pose_world_cv": [ + [ + 0.22676551342010498, + 0.07146108150482178, + 0.97132408618927, + -4.729556083679199 + ], + [ + -0.9712996482849121, + 0.09010767936706543, + 0.22013041377067566, + -9.762922286987305 + ], + [ + -0.07179304957389832, + -0.9933648109436035, + 0.0898432731628418, + 1.1057285070419312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2852441128679959, + 0.2823691691200064, + 0.2893360777994309 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9668796140155448, + 0.945320010196037, + 0.9083606893625948 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5174.190393774895, + "intensity": 0.945320010196037 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8299231717263157, + 0.8547313812259995, + 0.8944245164254937 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6073.829310200774, + "intensity": 0.8646546650258731 + }, + "point_color_scale": [ + 1.0222498051631195, + 0.9831976827800555, + 0.9162511872662313 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc52a1f82438f3b8b1a549105467ccea618d1667 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.05287078531056, + "K": [ + [ + 420.67473594749, + 0.0, + 318.5465588030214 + ], + [ + 0.0, + 412.9823480924597, + 231.55842764538863 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.694842850830113, + -9.381753756304386, + 1.15935859057984 + ], + "camera_target": [ + -4.071466548466732, + -9.70409268757081, + 1.0821132058163907 + ], + "camera_roll_rad": 0.009093698081951714, + "camera_pose_world_cv": [ + [ + -0.4610055685043335, + -0.08881616592407227, + 0.8829416036605835, + -4.69484281539917 + ], + [ + -0.8872132301330566, + 0.0663994550704956, + -0.45655664801597595, + -9.381753921508789 + ], + [ + -0.018077164888381958, + -0.9938324689865112, + -0.10940927267074585, + 1.1593586206436157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3546205974857218, + 0.36337530244416466, + 0.35497197283626986 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.04495143518274, + 0.9966969528516633, + 0.9139749831412459 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4808.365751882251, + "intensity": 0.9966969528516633 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6437151496330998, + 0.6268259278412914, + 0.5978729761981912 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5115.085167493384, + "intensity": 0.6268259278412914 + }, + "point_color_scale": [ + 0.7875817248024394, + 0.8073137573524818, + 0.8388850094325497 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfacffd8a4444bb0858bce7f21e24f2c2b9984a1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1892228011879382, + "K": [ + [ + 363.5931590603078, + 0.0, + 348.90762745706223 + ], + [ + 0.0, + 354.8956642692819, + 221.54480739243942 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.461611777725957, + -8.911621497004555, + 1.3268445279332195 + ], + "camera_target": [ + -4.103411137780577, + -9.668190847808392, + 1.094766609050313 + ], + "camera_roll_rad": 0.04265076645329981, + "camera_pose_world_cv": [ + [ + -0.7472518682479858, + 0.21177949011325836, + -0.6298922300338745, + -3.461611747741699 + ], + [ + 0.6593425869941711, + 0.11794817447662354, + -0.7425332069396973, + -8.91162109375 + ], + [ + -0.08295866847038269, + -0.9701740741729736, + -0.22777217626571655, + 1.326844573020935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25227517427980983, + 0.24923927429428314, + 0.25550334075818143 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9291787479485516, + 0.9194781461189508, + 0.9028485429824926 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5349.28404582307, + "intensity": 0.9194781461189508 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9182754543816501, + 0.9380664966528556, + 0.9697321642867842 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5918.422827463092, + "intensity": 0.9459829135613378 + }, + "point_color_scale": [ + 1.0172557485451175, + 1.0403471330816625, + 1.0772933483401343 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d6a2c55d69cdab7cce909af0690daa7535dd234 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9539043429499562, + "K": [ + [ + 458.0369014216114, + 0.0, + 331.53441329186506 + ], + [ + 0.0, + 464.44744718174513, + 245.09901505756065 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.192095200637315, + -8.96393484825689, + 1.3129884550957343 + ], + "camera_target": [ + -4.102261755049, + -9.667862368790127, + 1.0731214049093756 + ], + "camera_roll_rad": -0.0434921715705793, + "camera_pose_world_cv": [ + [ + -0.9846830368041992, + -0.1265590935945511, + 0.11992572993040085, + -4.1920952796936035 + ], + [ + -0.15370769798755646, + 0.3054412603378296, + -0.9397231936454773, + -8.963934898376465 + ], + [ + 0.08230025321245193, + -0.9437629580497742, + -0.3202158808708191, + 1.3129884004592896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3216870542253738, + 0.3357958980894493, + 0.33756135740838855 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.8504039588325517, + 0.8809860428600919, + 0.9299173773041564 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6184.761256913034, + "intensity": 0.893218876471108 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9030968667501986, + 0.9070131092998156, + 0.9132790973792025 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5586.205821094318, + "intensity": 0.9085796063196623 + }, + "point_color_scale": [ + 0.9163106711316591, + 0.9122298195561912, + 0.9052340739982463 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..498a3d96a8f1d0da2a232da5f1d5a6c202bc88df --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.866365832259656, + "K": [ + [ + 510.4256309134449, + 0.0, + 307.4843883452786 + ], + [ + 0.0, + 518.9424172036836, + 254.69721653867143 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.9117129530168135, + -10.108473197642997, + 1.1541157388401957 + ], + "camera_target": [ + -4.1180897273959784, + -9.707615186661037, + 1.1503130680687321 + ], + "camera_roll_rad": -0.0047418222212188485, + "camera_pose_world_cv": [ + [ + 0.4508664608001709, + 0.00045815110206604004, + 0.8925913572311401, + -4.911713123321533 + ], + [ + -0.8925410509109497, + -0.010393142700195312, + 0.45084649324417114, + -10.10847282409668 + ], + [ + 0.009483426809310913, + -0.9999459385871887, + -0.00427699089050293, + 1.1541157960891724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3425935508811291, + 0.3727045261442118, + 0.3534891298492556 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.8350310016615498, + 0.8694955598981764, + 0.9246388530767794 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6280.375515490806, + "intensity": 0.8832813831928271 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9310982224854436, + 0.9220655906173125, + 0.9065810788433736 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5360.055944577903, + "intensity": 0.9220655906173125 + }, + "point_color_scale": [ + 1.044656356025741, + 1.0413506858560848, + 1.0356838227081029 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21d96c015c6ee5cdc5a3cda7f0ccbbdaefb929c1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9391534200339658, + "K": [ + [ + 486.5609675636382, + 0.0, + 308.3318105207071 + ], + [ + 0.0, + 472.96837876847565, + 223.30521868413922 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8915050888181058, + -9.048637658150149, + 1.1952376414626769 + ], + "camera_target": [ + -4.073929789067668, + -9.647629060831456, + 1.0884934819419763 + ], + "camera_roll_rad": -0.004586681867329648, + "camera_pose_world_cv": [ + [ + -0.9570281505584717, + 0.04018302261829376, + -0.28719818592071533, + -3.891505002975464 + ], + [ + 0.28985464572906494, + 0.16342699527740479, + -0.94301438331604, + -9.048637390136719 + ], + [ + 0.009042754769325256, + -0.9857368469238281, + -0.16805124282836914, + 1.195237636566162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26223264266395885, + 0.2852364214746041, + 0.2597837735809723 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.8849748309474889, + 0.9182147883326592, + 0.9713987201489319 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6213.6784331383515, + "intensity": 0.9315107712867274 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7349803817968639, + 0.7208266045457057, + 0.696562986400863 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5219.49312553312, + "intensity": 0.7208266045457057 + }, + "point_color_scale": [ + 1.010051049211252, + 1.0116425993499405, + 1.0141890795718418 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eae5480a10266ffc073c078c9ac331faaac66bab --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0479669297774121, + "K": [ + [ + 397.0116364839828, + 0.0, + 336.4721557075804 + ], + [ + 0.0, + 415.3231379819524, + 227.68647541794826 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9169326253613743, + -10.24992687052153, + 1.2444933866833359 + ], + "camera_target": [ + -4.053361973294976, + -9.638918545066403, + 1.1475172745872158 + ], + "camera_roll_rad": 0.030162015379319673, + "camera_pose_world_cv": [ + [ + 0.9762026071548462, + -0.025541245937347412, + -0.21535122394561768, + -3.9169325828552246 + ], + [ + 0.20851640403270721, + -0.16226208209991455, + 0.9644646048545837, + -10.249926567077637 + ], + [ + -0.059576958417892456, + -0.9864171147346497, + -0.15307486057281494, + 1.2444933652877808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9939082860946655, + -0.110209621489048, + 1.644757885443937e-09, + -4.0786895751953125 + ], + [ + 0.110209621489048, + -0.9939082860946655, + 2.975689739059817e-08, + -9.659180641174316 + ], + [ + -1.644757885443937e-09, + 2.975689739059817e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21313910765053476, + 0.23330459982785104, + 0.23326755132323143 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9292757413899692, + 0.9228016605424202, + 0.9117032362323364 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5399.776004741544, + "intensity": 0.9228016605424202 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.5789845973497919, + 0.5791860270372329, + 0.5795083145371386 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5506.95464533323, + "intensity": 0.5792665989122093 + }, + "point_color_scale": [ + 1.0958695387242725, + 1.1013386865358312, + 1.1100893230343252 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_001/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21d91fa1d5488fb303c439e00a4587f069a42ec2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9790495596994466, + "K": [ + [ + 428.42056286208407, + 0.0, + 295.55651187931653 + ], + [ + 0.0, + 450.4691526889278, + 223.93766410010036 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5069306665988456, + -8.834416690720058, + 1.134169784856582 + ], + "camera_target": [ + -3.8958154951024997, + -8.513551324235193, + 1.1488776283362256 + ], + "camera_roll_rad": 0.012210164452559055, + "camera_pose_world_cv": [ + [ + 0.6356847286224365, + -0.03802570700645447, + -0.7710117101669312, + -3.5069305896759033 + ], + [ + 0.7715628147125244, + -0.00028192996978759766, + 0.6361530423164368, + -8.834416389465332 + ], + [ + -0.024407535791397095, + -0.9992766976356506, + 0.029160022735595703, + 1.1341698169708252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33170211680875106, + 0.32296308502295074, + 0.3298011915459273 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9077322427374707, + 0.8549870124924048, + 0.764566617786578 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4618.696216193204, + "intensity": 0.8549870124924048 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.5978104739552798, + 0.6014331846908743, + 0.6072295218678256 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5620.17970744746, + "intensity": 0.6028822689851121 + }, + "point_color_scale": [ + 0.9483971742373816, + 0.958757601883764, + 0.975334286117976 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_002/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a74589e7e2c7f6e17ca57c024225715e6b99917d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9736248341396472, + "K": [ + [ + 449.21691891788805, + 0.0, + 335.49684523099427 + ], + [ + 0.0, + 453.4285236227104, + 240.31457609041453 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.589660807579519, + -7.676605053409761, + 1.334048621812797 + ], + "camera_target": [ + -3.896381757734024, + -8.548656946482097, + 1.0928373445060744 + ], + "camera_roll_rad": -0.022705694189415603, + "camera_pose_world_cv": [ + [ + -0.9461809396743774, + 0.04086156189441681, + -0.32104870676994324, + -3.589660882949829 + ], + [ + 0.32064390182495117, + 0.252993106842041, + -0.9127880930900574, + -7.676605224609375 + ], + [ + 0.04392510652542114, + -0.9666048884391785, + -0.25247901678085327, + 1.3340486288070679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34163163701235244, + 0.3439872933999454, + 0.3329726217616109 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.036624102856049, + 1.021018664955434, + 0.9942664856972371 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5281.654503680035, + "intensity": 1.021018664955434 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7938889616200454, + 0.7655458996603013, + 0.716957793443597 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 4971.095220653822, + "intensity": 0.7655458996603013 + }, + "point_color_scale": [ + 0.8342624612191287, + 0.8607176606608966, + 0.903045979767725 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_003/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd8f190d48ec8eabb57c50d920201c57e9948015 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2064251331699638, + "K": [ + [ + 359.9664419062096, + 0.0, + 302.70255353188446 + ], + [ + 0.0, + 348.39998792231927, + 232.2484406504657 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.548902395806195, + -8.463973086856257, + 1.1328606193671682 + ], + "camera_target": [ + -3.8838547282777243, + -8.530241743080987, + 1.1566106632873305 + ], + "camera_roll_rad": 0.0287549273655711, + "camera_pose_world_cv": [ + [ + -0.09695935249328613, + 0.04097911715507507, + 0.9944444894790649, + -4.54890251159668 + ], + [ + -0.9936294555664062, + 0.053679466247558594, + -0.09909188747406006, + -8.463973045349121 + ], + [ + -0.0574418306350708, + -0.9977171421051025, + 0.03551340103149414, + 1.1328606605529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3469771496514023, + 0.3864685428658505, + 0.3537674849498592 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0335906862724538, + 1.015982693340202, + 0.9857975625991992 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5252.4143296693, + "intensity": 1.015982693340202 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6321182213750439, + 0.6325930206637826, + 0.6333526995257648 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5515.006703197599, + "intensity": 0.6327829403792782 + }, + "point_color_scale": [ + 0.9669511838120614, + 0.9387465895591249, + 0.890395856554091 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_004/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5812ee55013748361f254251886225199738fe79 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1807974266681114, + "K": [ + [ + 352.16321388815896, + 0.0, + 340.19526432109524 + ], + [ + 0.0, + 358.1377241287108, + 245.86070417823856 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.630914595510251, + -7.827619915346498, + 1.2324635464189875 + ], + "camera_target": [ + -3.9300133588881487, + -8.559422130533916, + 1.0999202220371935 + ], + "camera_roll_rad": 0.041664688897837865, + "camera_pose_world_cv": [ + [ + -0.9172499179840088, + 0.13938619196414948, + -0.3731273412704468, + -3.6309146881103516 + ], + [ + 0.389761745929718, + 0.12103688716888428, + -0.9129270911216736, + -7.827620029449463 + ], + [ + -0.08208726346492767, + -0.9828130602836609, + -0.16534847021102905, + 1.2324635982513428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23345494792658056, + 0.24945872129639265, + 0.2536278279022126 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0452848844087141, + 1.0685104534088425, + 1.105671363809048 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5930.980781685676, + "intensity": 1.0778006810088938 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6416237171231157, + 0.6538916325736439, + 0.6735202972944889 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5872.432842128232, + "intensity": 0.6587987987538552 + }, + "point_color_scale": [ + 0.8502571703899913, + 0.8857984865230226, + 0.9426645923358731 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_005/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b23751a52f8d80b0096246aee6a9052397ce03c1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8479864284908255, + "K": [ + [ + 534.2739916993959, + 0.0, + 330.19899185197784 + ], + [ + 0.0, + 531.7137365095102, + 260.7757619205692 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8764721420938, + -8.99268827882999, + 1.3295152357124174 + ], + "camera_target": [ + -3.9407818285242278, + -8.567864812826503, + 1.1563289238143708 + ], + "camera_roll_rad": 0.003377530786757295, + "camera_pose_world_cv": [ + [ + 0.9890908002853394, + 0.04927509278059006, + -0.13882139325141907, + -3.876472234725952 + ], + [ + 0.1471739113330841, + -0.3706386685371399, + 0.9170424938201904, + -8.992688179016113 + ], + [ + -0.006265230476856232, + -0.9274691343307495, + -0.3738473057746887, + 1.3295152187347412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29778546908949327, + 0.2740755379665938, + 0.28442412484384116 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9497506804324236, + 0.9738032259483492, + 1.0122872987738305 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5989.159091996956, + "intensity": 0.9834242441547195 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8105310006423719, + 0.8259521478010274, + 0.8506259832548763 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5870.6469238989375, + "intensity": 0.8321206066644897 + }, + "point_color_scale": [ + 0.8584791050601106, + 0.8411576241793036, + 0.8114636569550633 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_006/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64e35de06b3a3547e88dc0e0249fdd3c8b5fc5ad --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0962877854970248, + "K": [ + [ + 406.39731048827775, + 0.0, + 347.96733803943573 + ], + [ + 0.0, + 393.08543136725433, + 232.41100833240847 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.654434441511155, + -8.84076431422206, + 1.1760307643020464 + ], + "camera_target": [ + -3.9700737465897453, + -8.550276610258654, + 1.1029376155025896 + ], + "camera_roll_rad": 0.005593921273807652, + "camera_pose_world_cv": [ + [ + 0.3896915912628174, + -0.09443113207817078, + 0.9160913228988647, + -4.6544342041015625 + ], + [ + -0.9208781719207764, + -0.027928829193115234, + 0.3888489902019501, + -8.840764045715332 + ], + [ + -0.01113399863243103, + -0.9951395988464355, + -0.09784305095672607, + 1.1760307550430298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3382604610324057, + 0.32293093101365217, + 0.32496906158773253 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.2211306447689458, + 1.1496246142271298, + 1.027042847584017 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 4611.436281561625, + "intensity": 1.1496246142271298 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.8840923428001836, + 0.9173714901655506, + 0.9706181259501381 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6215.155257664885, + "intensity": 0.9306831491116975 + }, + "point_color_scale": [ + 1.0490306645897092, + 1.0486089248311847, + 1.047885942388 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_007/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24ab72c07fecd7bfac0699cad630e9d5e0f5e98f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9412194532705564, + "K": [ + [ + 465.93358917997324, + 0.0, + 335.1247767662376 + ], + [ + 0.0, + 471.7600605606322, + 239.03344179724112 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.007159095695362, + -7.64007780498933, + 0.9059046183661316 + ], + "camera_target": [ + -3.9706798894490607, + -8.538217701399203, + 1.0848020970668864 + ], + "camera_roll_rad": -0.03627625226006964, + "camera_pose_world_cv": [ + [ + -0.9971219301223755, + -0.06452839821577072, + 0.03980225697159767, + -4.007159233093262 + ], + [ + -0.026338376104831696, + -0.1974620819091797, + -0.9799566864967346, + -7.640077590942383 + ], + [ + 0.07109446823596954, + -0.9781845211982727, + 0.19519436359405518, + 0.9059045910835266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30578932199340164, + 0.33038011111390403, + 0.2967935270028 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9650168832159566, + 0.9771022431966603, + 0.9964388191657864 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5746.153623358461, + "intensity": 0.9819363871889418 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.965956514824858, + 0.9423276640173848, + 0.9018210626331451 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5141.785947261436, + "intensity": 0.9423276640173848 + }, + "point_color_scale": [ + 1.1683900469893473, + 1.189032668395606, + 1.2220608626456202 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_008/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9847b5d1ca4291c9ece21aac2252a43e3b1da9fc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8232325075235348, + "K": [ + [ + 571.0621590686222, + 0.0, + 311.8298431096691 + ], + [ + 0.0, + 549.7600058084372, + 253.82019415447473 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.180824562056267, + -7.607210660706246, + 0.9428410896166325 + ], + "camera_target": [ + -3.9705070290522175, + -8.516934043129925, + 1.0504125553969303 + ], + "camera_roll_rad": 0.03874739691052961, + "camera_pose_world_cv": [ + [ + -0.9693816900253296, + 0.10113006830215454, + 0.22376713156700134, + -4.1808247566223145 + ], + [ + -0.2332039773464203, + -0.09373670816421509, + -0.9678994417190552, + -7.607210636138916 + ], + [ + -0.07690855860710144, + -0.9904474020004272, + 0.11445057392120361, + 0.942841112613678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2616079783949999, + 0.2637989508980932, + 0.25094109611119586 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9131637641561184, + 0.9513609676167843, + 1.01247649315385 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6290.308893227191, + "intensity": 0.9666398490010508 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9060544336899172, + 0.882571227625811, + 0.8423143029444862 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5119.889747316115, + "intensity": 0.882571227625811 + }, + "point_color_scale": [ + 0.8972552343279785, + 0.9334669816006743, + 0.9914057772369876 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_009/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cb2d4153519ceee13f1e2104299b5563962a48f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0051333585802547, + "K": [ + [ + 423.070363242748, + 0.0, + 319.05725939332706 + ], + [ + 0.0, + 436.64954471619103, + 235.45194593719657 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.8590163145945673, + -9.105596587526923, + 1.2748983564230914 + ], + "camera_target": [ + -3.9613024929355416, + -8.58767451667264, + 1.038648321992615 + ], + "camera_roll_rad": -0.006755838561879397, + "camera_pose_world_cv": [ + [ + 0.9798918962478638, + 0.09238950908184052, + -0.17685025930404663, + -3.8590164184570312 + ], + [ + 0.1991475373506546, + -0.3980759382247925, + 0.8954752087593079, + -9.105596542358398 + ], + [ + 0.012332670390605927, + -0.9126881957054138, + -0.4084705114364624, + 1.2748984098434448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22504525672155537, + 0.2208240390341312, + 0.23938466436718966 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.053153138036305, + 1.0645343287432687, + 1.0827442338744109 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5712.91424893578, + "intensity": 1.0690868050260542 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6197515211450938, + 0.6241176493112487, + 0.6311034543770964 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5639.523201989845, + "intensity": 0.6258641005777106 + }, + "point_color_scale": [ + 1.071311041796267, + 1.0474508242242826, + 1.0065475941008808 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_010/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b1386af144e37311c213f7f0de4679431332663 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2691502898491205, + "K": [ + [ + 313.93579692734414, + 0.0, + 320.6879368540024 + ], + [ + 0.0, + 326.0224777476505, + 230.27574093737834 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.615461914860619, + -8.74153797370138, + 1.2573338546128248 + ], + "camera_target": [ + -3.929754499011537, + -8.594238011559824, + 1.0715054608806622 + ], + "camera_roll_rad": -0.03419638461422783, + "camera_pose_world_cv": [ + [ + 0.2266448736190796, + -0.235469788312912, + 0.9450852870941162, + -4.615461826324463 + ], + [ + -0.9717346429824829, + -0.12048065662384033, + 0.20301783084869385, + -8.741538047790527 + ], + [ + 0.06605997681617737, + -0.9643850326538086, + -0.2561204433441162, + 1.2573338747024536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34645236346356845, + 0.337362185150788, + 0.3361764015902853 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9882277916868663, + 0.9566278973246212, + 0.9024566498464868 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5028.10589824917, + "intensity": 0.9566278973246212 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.796332288794127, + 0.811793486796647, + 0.8365314036006789 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5878.03458394292, + "intensity": 0.8179779659976549 + }, + "point_color_scale": [ + 1.1478012280138852, + 1.1188887517554047, + 1.069324506740867 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_011/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da2254076f164aab6df8098a0abb425f89b16758 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2518937706893094, + "K": [ + [ + 321.8839706666868, + 0.0, + 324.9979368912744 + ], + [ + 0.0, + 331.9845526953143, + 253.66077000253074 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.518158310092108, + -7.655750634037468, + 0.9601593238620747 + ], + "camera_target": [ + -3.87969806210546, + -8.54137897816889, + 1.055580757223107 + ], + "camera_roll_rad": -0.016009630795034584, + "camera_pose_world_cv": [ + [ + -0.9241504669189453, + -0.06713522970676422, + -0.3760834336280823, + -3.518158197402954 + ], + [ + 0.38069814443588257, + -0.07975071668624878, + -0.9212539196014404, + -7.655750751495361 + ], + [ + 0.03185565769672394, + -0.9945515394210815, + 0.09925985336303711, + 0.9601593017578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21479894523175477, + 0.2146189350447448, + 0.2305844175710139 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9678425085793321, + 1.0085483349086426, + 1.0736776570355397 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 6294.391262908189, + "intensity": 1.024830665440367 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6715328826089189, + 0.6451045773703807, + 0.5997989112471728 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 4914.750366161741, + "intensity": 0.6451045773703807 + }, + "point_color_scale": [ + 0.9579691010201423, + 0.923002427392902, + 0.8630595583176329 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_012/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd04cbdf06c30b097a83349d327459e4b5c1ab0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1255565699853003, + "K": [ + [ + 369.5287423415316, + 0.0, + 321.40008512411845 + ], + [ + 0.0, + 380.45318295012623, + 226.24811523750293 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.703659590033572, + -8.952603541799858, + 1.2766708071744648 + ], + "camera_target": [ + -3.8930832302681604, + -8.548161879350726, + 1.0777042409727744 + ], + "camera_roll_rad": -0.021506828026584598, + "camera_pose_world_cv": [ + [ + 0.897335410118103, + 0.21138706803321838, + -0.3874334394931793, + -3.7036595344543457 + ], + [ + 0.4395979344844818, + -0.3499543070793152, + 0.8272155523300171, + -8.952603340148926 + ], + [ + 0.03927868604660034, + -0.912604808807373, + -0.4069517254829407, + 1.2766708135604858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21066727775301913, + 0.2211637776174913, + 0.2186378709857722 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9797072931793911, + 0.9970461919085364, + 1.0247884298751688 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5845.40266702983, + "intensity": 1.0039817514001945 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9042362921010352, + 0.929750665935149, + 0.9705736640697314 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6042.88418939912, + "intensity": 0.9399564154687946 + }, + "point_color_scale": [ + 1.061194551205388, + 1.071409360312313, + 1.0877530548833934 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_013/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..660240b4c29ed3f6d9cfc91e40d267ace1d532c6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0326471341626806, + "K": [ + [ + 435.3041547620003, + 0.0, + 313.79651670795477 + ], + [ + 0.0, + 422.76565164938614, + 234.7397505495468 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.644706287190999, + -7.971472591867542, + 0.994920944937581 + ], + "camera_target": [ + -3.893185309174442, + -8.553869034834873, + 1.0705816218057387 + ], + "camera_roll_rad": 0.0010589756331726638, + "camera_pose_world_cv": [ + [ + -0.6124165058135986, + 0.06400001049041748, + 0.7879404425621033, + -4.6447062492370605 + ], + [ + -0.7905325293540955, + -0.046917736530303955, + -0.6106202006340027, + -7.97147274017334 + ], + [ + -0.0021113157272338867, + -0.9968463778495789, + 0.07932734489440918, + 0.9949209690093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3423098196744549, + 0.35088411140225306, + 0.3598611853829642 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.0444990849880365, + 1.029782342753735, + 1.0045536417806467 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5295.84115395343, + "intensity": 1.029782342753735 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7301076981596388, + 0.7211028673009519, + 0.7056660144003458 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5321.605977910089, + "intensity": 0.7211028673009519 + }, + "point_color_scale": [ + 1.1623206517910272, + 1.1083886703920776, + 1.0159338451367352 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_014/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecce94a8861b77e5f1d887ab8a1253d92fa79ebb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1907147100920545, + "K": [ + [ + 365.11965871417806, + 0.0, + 296.31512107484815 + ], + [ + 0.0, + 354.32579012570983, + 226.69747970726237 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.690829237649119, + -8.416314767050261, + 1.2860217598965131 + ], + "camera_target": [ + -3.9046670907173096, + -8.538964311136164, + 1.177303599702192 + ], + "camera_roll_rad": 0.029813493495815677, + "camera_pose_world_cv": [ + [ + -0.1618427038192749, + -0.12433752417564392, + 0.978952169418335, + -4.690829277038574 + ], + [ + -0.985048770904541, + 0.07971060276031494, + -0.1527264416217804, + -8.416315078735352 + ], + [ + -0.059043049812316895, + -0.9890332221984863, + -0.13537895679473877, + 1.2860217094421387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21952189848360645, + 0.21339606454238394, + 0.2175085611365935 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 1.1269436122645204, + 1.1043652020489743, + 1.0656593559651808 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5207.932922219472, + "intensity": 1.1043652020489743 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.7371269338815017, + 0.7566872361065156, + 0.7879837196665377 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 6011.707302867519, + "intensity": 0.7645113569965211 + }, + "point_color_scale": [ + 0.8200727451735974, + 0.8297429228919989, + 0.8452152072414415 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_015/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7dd20459f2c8f40fab3fba0c05421bc43058263 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7975976042090314, + "K": [ + [ + 596.9162091806066, + 0.0, + 331.65545556805074 + ], + [ + 0.0, + 569.5598458092604, + 217.90319845533335 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.321176314750935, + -8.778106820642954, + 1.1994472004283394 + ], + "camera_target": [ + -3.907880594465499, + -8.584485496947913, + 1.05662570756615 + ], + "camera_roll_rad": 0.02604472967706109, + "camera_pose_world_cv": [ + [ + 0.4095786213874817, + -0.29216259717941284, + 0.8642258644104004, + -4.321176528930664 + ], + [ + -0.9109205603599548, + -0.07937651872634888, + 0.40487414598464966, + -8.778106689453125 + ], + [ + -0.04968985915184021, + -0.9530689120292664, + -0.2986478805541992, + 1.1994471549987793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29417464567985213, + 0.2863243182493005, + 0.297906990002386 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.8574033527402551, + 0.8522459631387698, + 0.8434047238219379 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5413.54961185667, + "intensity": 0.8522459631387698 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.9240752657261145, + 0.8896427890884371, + 0.83061568628099 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 4947.089855132301, + "intensity": 0.8896427890884371 + }, + "point_color_scale": [ + 1.0839197852557028, + 1.1061760096682909, + 1.1417859687284317 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000323/scene_b04_016/scene_meta.json b/so100/ProcTHOR/test/bg_000323/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44083339607098f399ee03ff3b823ff24167e898 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000323/scene_b04_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 323, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9066437068293183, + "K": [ + [ + 488.4915669559517, + 0.0, + 305.97551838060986 + ], + [ + 0.0, + 492.6526527874326, + 222.40788248236208 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4706574502456964, + -8.938784227168616, + 1.1316002071829618 + ], + "camera_target": [ + -3.892009412134488, + -8.528035843318602, + 1.1451653169239218 + ], + "camera_roll_rad": -0.05084234167151708, + "camera_pose_world_cv": [ + [ + 0.6961088180541992, + 0.05443999171257019, + -0.7158693075180054, + -3.4706573486328125 + ], + [ + 0.7107276916503906, + 0.08869147300720215, + 0.6978539228439331, + -8.9387845993042 + ], + [ + 0.10148259997367859, + -0.9945703744888306, + 0.02304685115814209, + 1.131600260734558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9981224536895752, + 0.06124849617481232, + 3.070143250738511e-08, + -3.92842698097229 + ], + [ + -0.06124849617481232, + -0.9981224536895752, + -2.8875225766000767e-08, + -8.557650566101074 + ], + [ + 2.8875225766000767e-08, + -3.070143250738511e-08, + 1.0, + 0.937206506729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35262070975613413, + 0.35816494110061947, + 0.37911389536604245 + ], + "directional_primary": { + "direction": [ + 0.23526975774885422, + -0.5012634148115449, + -0.8326963000159571 + ], + "color": [ + 0.9135018965132344, + 0.9100427882959999, + 0.9041128884950265 + ], + "azimuth_rad": -1.1319650666609369, + "elevation_rad": 0.9839593473202786, + "color_temp_k": 5445.699441487463, + "intensity": 0.9100427882959999 + }, + "directional_fill": { + "direction": [ + -0.3851289685400347, + 0.033910696871184934, + -0.9222395243259743 + ], + "color": [ + 0.6392982811928515, + 0.6336531172598666, + 0.6239756933747498 + ], + "azimuth_rad": 3.0537689107443757, + "elevation_rad": 1.1738336299283691, + "color_temp_k": 5372.729736750325, + "intensity": 0.6336531172598666 + }, + "point_color_scale": [ + 0.9048397611304035, + 0.9052608273062697, + 0.9059345331876553 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..490b1bf97ffeef01abb7968017a648dd3f6b4691 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9889325731830424, + "K": [ + [ + 432.35550983964106, + 0.0, + 336.9601561547405 + ], + [ + 0.0, + 445.1543479941577, + 229.65880387843535 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.64754646761243, + -3.7329234588738642, + 1.1687527421774349 + ], + "camera_target": [ + -6.1390337312049335, + -3.33398054448377, + 1.2104170904152778 + ], + "camera_roll_rad": 0.009872029128790816, + "camera_pose_world_cv": [ + [ + 0.6290912628173828, + -0.06342428922653198, + -0.7747397422790527, + -5.647546291351318 + ], + [ + 0.7770818471908569, + 0.026053786277770996, + 0.6288602352142334, + -3.7329235076904297 + ], + [ + -0.019700199365615845, + -0.9976465702056885, + 0.06567609310150146, + 1.1687527894973755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35424536390551364, + 0.3414106074945913, + 0.3707241907785599 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9284146891379262, + 0.9701462395245879, + 1.0369167201432468 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6345.762202761767, + "intensity": 0.9868388596792527 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8022307506356092, + 0.8352510024145507, + 0.8880834052608577 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6278.358123739361, + "intensity": 0.8484591031261275 + }, + "point_color_scale": [ + 1.1537133102448685, + 1.1077518764803236, + 1.0289608471696752 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42770801818155d3dc5792034f2c0439ccb9da5f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.230190788163331, + "K": [ + [ + 325.4413289431689, + 0.0, + 292.2892288916901 + ], + [ + 0.0, + 339.68811195963093, + 257.2833738513514 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.697968048385014, + -2.4391140285487323, + 1.1488065104846832 + ], + "camera_target": [ + -6.183635287620049, + -3.2812297045448076, + 1.2116469081155703 + ], + "camera_roll_rad": 0.01862294430302394, + "camera_pose_world_cv": [ + [ + -0.866860032081604, + 5.207955837249756e-05, + -0.498551607131958, + -5.697968006134033 + ], + [ + 0.49716484546661377, + -0.07444506883621216, + -0.8644564747810364, + -2.4391140937805176 + ], + [ + -0.03715972602367401, + -0.9972251057624817, + 0.06450760364532471, + 1.1488064527511597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3101838674409576, + 0.30029205460500547, + 0.31806463013427433 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9325064989397626, + 0.9516620535683562, + 0.9823109409741061 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5899.35515277587, + "intensity": 0.9593242754197937 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6677566208948371, + 0.6551610150870133, + 0.633568547987887 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5225.35419281296, + "intensity": 0.6551610150870133 + }, + "point_color_scale": [ + 1.1164030105675133, + 1.1057971141454699, + 1.0876155774219667 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b561352479d6d63187aa109403e9bf7cefa603 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.308958254141575, + "K": [ + [ + 323.62208118151585, + 0.0, + 310.6467791751017 + ], + [ + 0.0, + 312.78661624607975, + 221.11599882391664 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.871909955946547, + -4.156068537451105, + 1.1393402058099629 + ], + "camera_target": [ + -6.182913455378692, + -3.2773716684028606, + 1.158222545313408 + ], + "camera_roll_rad": 0.018315186920051033, + "camera_pose_world_cv": [ + [ + 0.9418155550956726, + -0.04127673804759979, + -0.3335862159729004, + -5.871910095214844 + ], + [ + 0.33413004875183105, + 0.006860971450805664, + 0.9425021409988403, + -4.156068325042725 + ], + [ + -0.03661470115184784, + -0.99912428855896, + 0.020253539085388184, + 1.1393401622772217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27190356005186295, + 0.2533056780944694, + 0.28261314629038464 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1788787826537794, + 1.1512577749668211, + 1.1039074760748928 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5157.256756323947, + "intensity": 1.1512577749668211 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7253012705018314, + 0.7449983131953432, + 0.7765135815049623 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6023.247204663427, + "intensity": 0.7528771302727479 + }, + "point_color_scale": [ + 0.8164175761280333, + 0.8442666586551496, + 0.8888251906985357 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb88bed9616931c2dd7f58ded6c892a2aca9c281 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9544089675922712, + "K": [ + [ + 449.4760726159255, + 0.0, + 300.4265132690198 + ], + [ + 0.0, + 464.1602547309741, + 228.21152248312242 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.542463921421135, + -2.7165500253848043, + 1.2527470420288167 + ], + "camera_target": [ + -6.133223374997758, + -3.2462141578176835, + 1.1943474722892042 + ], + "camera_roll_rad": -0.024460514998620935, + "camera_pose_world_cv": [ + [ + -0.669431209564209, + 0.02194419503211975, + -0.7425500154495239, + -5.542463779449463 + ], + [ + 0.7412716150283813, + 0.08535337448120117, + -0.6657561659812927, + -2.71655011177063 + ], + [ + 0.048769623041152954, + -0.9961090683937073, + -0.07340478897094727, + 1.2527470588684082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3426981807669773, + 0.3598418109269775, + 0.35967656374812357 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.094665083143024, + 1.1234659906150777, + 1.1695474425703634 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6007.511079416994, + "intensity": 1.134986353603899 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6310791258934021, + 0.6411258061802357, + 0.6572004946391697 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5811.455204991779, + "intensity": 0.6451444782949692 + }, + "point_color_scale": [ + 1.106883994078068, + 1.141131073588255, + 1.195926400804554 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bed2f10896c3558436bf50f2c729ab0ab3702b0d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8873296479293238, + "K": [ + [ + 480.64983525016385, + 0.0, + 350.22383060247853 + ], + [ + 0.0, + 504.9810490741857, + 219.71030016599198 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.316045615599783, + -2.6965433646240746, + 1.1385634375487097 + ], + "camera_target": [ + -6.132976273440652, + -3.2558976468522047, + 1.1873275534486192 + ], + "camera_roll_rad": 0.04816868325475043, + "camera_pose_world_cv": [ + [ + -0.9435155391693115, + 0.11698181927204132, + 0.3099895119667053, + -6.316045761108398 + ], + [ + -0.3171578645706177, + -0.04819220304489136, + -0.9471474289894104, + -2.6965434551239014 + ], + [ + -0.09585998207330704, + -0.9919640421867371, + 0.08257162570953369, + 1.1385633945465088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33683054784224953, + 0.35560015360348346, + 0.3338679461833378 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0358274017737785, + 0.9748166089747619, + 0.870226678462162 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 4605.900795854996, + "intensity": 0.9748166089747619 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.732069640072085, + 0.7523892046599644, + 0.7849005080005718 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6034.361855766752, + "intensity": 0.7605170304951162 + }, + "point_color_scale": [ + 1.067866553059883, + 1.0767284468465226, + 1.0909074769051466 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e89aaab864c830a55ed087d1432219b8505e1cc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.148550845548365, + "K": [ + [ + 385.9358094524923, + 0.0, + 301.3733099724454 + ], + [ + 0.0, + 370.93300677462537, + 226.58310415649808 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.712970508329285, + -2.6486856691745952, + 1.311816568132919 + ], + "camera_target": [ + -6.164194903508903, + -3.2714976563009337, + 1.1133736496908717 + ], + "camera_roll_rad": 0.030943808582088367, + "camera_pose_world_cv": [ + [ + -0.7991886138916016, + 0.1963857114315033, + -0.5680935382843018, + -5.712970733642578 + ], + [ + 0.5980895757675171, + 0.16564857959747314, + -0.7841233611106873, + -2.6486856937408447 + ], + [ + -0.059886783361434937, + -0.9664332270622253, + -0.24984067678451538, + 1.3118165731430054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24407870929572148, + 0.25740422377692407, + 0.25004549487223415 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9897668309322111, + 0.9721392446711651, + 0.9419205253665147 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5240.960297351983, + "intensity": 0.9721392446711651 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6931132258490549, + 0.7190629439034986, + 0.7605824927906084 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6211.4942240068995, + "intensity": 0.729442831125276 + }, + "point_color_scale": [ + 1.0744550432526916, + 1.1015467019833822, + 1.1448933559524874 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4a45388a7943fd6f7d393c687a038d40416185 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0736608692177327, + "K": [ + [ + 408.33782649923626, + 0.0, + 325.67414132669694 + ], + [ + 0.0, + 403.27368269340366, + 241.0022183901727 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.580098451725318, + -3.7240552160080114, + 1.2863769193583847 + ], + "camera_target": [ + -6.107954535811017, + -3.2779732636608467, + 1.165344318802252 + ], + "camera_roll_rad": 0.024913977789388767, + "camera_pose_world_cv": [ + [ + 0.6512268781661987, + 0.09944474697113037, + -0.752339243888855, + -5.580098628997803 + ], + [ + 0.7572956085205078, + -0.14924979209899902, + 0.6357892751693726, + -3.724055290222168 + ], + [ + -0.049060702323913574, + -0.9837862253189087, + -0.17250454425811768, + 1.286376953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2777021663149803, + 0.3009375054450113, + 0.2960290480360584 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9057641040901948, + 0.9499867377948006, + 1.02074295172217 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6413.996900682271, + "intensity": 0.9676757912766429 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8632636383713359, + 0.8637353223966153, + 0.8644900168370624 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5510.919572264682, + "intensity": 0.8639239960067271 + }, + "point_color_scale": [ + 0.8747035902370282, + 0.8615777296043635, + 0.8390762542340814 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d141cdee99b0e24306195b49b89c57a810dd2f91 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9451665416362797, + "K": [ + [ + 480.7028096886685, + 0.0, + 336.65572268222724 + ], + [ + 0.0, + 469.46519631627194, + 227.85469890239247 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.753038227300754, + -3.6801092678062273, + 1.0815050861001814 + ], + "camera_target": [ + -6.143609291394224, + -3.264296281467079, + 1.1390860017841837 + ], + "camera_roll_rad": 0.030783371898924827, + "camera_pose_world_cv": [ + [ + 0.7232727408409119, + -0.11347046494483948, + -0.6811761856079102, + -5.75303840637207 + ], + [ + 0.6878437995910645, + 0.030934572219848633, + 0.7251992225646973, + -3.6801092624664307 + ], + [ + -0.06121683120727539, + -0.9930596351623535, + 0.10042405128479004, + 1.0815050601959229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3269620572621348, + 0.3278890194877318, + 0.33664894639721293 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1757450641717728, + 1.1744636523262546, + 1.1722669463053663 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5484.413409924484, + "intensity": 1.1744636523262546 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6376051903059098, + 0.6624882069493448, + 0.7023010335788412 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6240.0798386277875, + "intensity": 0.6724414136067189 + }, + "point_color_scale": [ + 0.8521200615640849, + 0.875409917752473, + 0.9126736876538939 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d91db78e3d2c57c0568ef8d3a40f27502f4f70b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0064801904806773, + "K": [ + [ + 417.9094259777546, + 0.0, + 299.0934488471515 + ], + [ + 0.0, + 435.9537964293628, + 233.9247687642444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.629893362511721, + -3.672858001718249, + 1.2848273494609108 + ], + "camera_target": [ + -6.178393630623494, + -3.239690308503113, + 1.18786674089906 + ], + "camera_roll_rad": -0.03931512457581471, + "camera_pose_world_cv": [ + [ + 0.6093828678131104, + 0.15618932247161865, + -0.7773400545120239, + -5.6298933029174805 + ], + [ + 0.789049506187439, + -0.023257136344909668, + 0.6138893961906433, + -3.6728579998016357 + ], + [ + 0.07780417799949646, + -0.9874534010887146, + -0.13741350173950195, + 1.2848273515701294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22322303409451374, + 0.22367117030654154, + 0.23640895382347865 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0620595941132944, + 1.1167253031193454, + 1.204190437529027 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6460.233847563278, + "intensity": 1.1385915867217657 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.5987911929043356, + 0.6026381558561991, + 0.6087932965791806 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5627.345573475907, + "intensity": 0.6041769410369444 + }, + "point_color_scale": [ + 1.1407727544509698, + 1.14142954676663, + 1.1424804144716862 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1dca50b81af358be36e6dc48dd49469c72b12b38 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.986928521249344, + "K": [ + [ + 443.6453538920142, + 0.0, + 314.7110011985285 + ], + [ + 0.0, + 446.22417235836355, + 261.3300382479971 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.74345242417731, + -3.02937844751361, + 1.2848476911088818 + ], + "camera_target": [ + -6.114724814849447, + -3.236997863295702, + 1.137885508248301 + ], + "camera_roll_rad": 0.029786512692372938, + "camera_pose_world_cv": [ + [ + -0.47024452686309814, + 0.3135620355606079, + -0.8249539732933044, + -5.743452548980713 + ], + [ + 0.8807402849197388, + 0.1071326732635498, + -0.4613233804702759, + -3.0293784141540527 + ], + [ + -0.05627405643463135, + -0.9435049295425415, + -0.32654517889022827, + 1.2848477363586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37365354422276836, + 0.3813227109641961, + 0.35296336348205265 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0746411170349537, + 1.0727853915321934, + 1.069604147813176 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5475.288287355141, + "intensity": 1.0727853915321934 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8553162511641225, + 0.834427858344908, + 0.7986191849405403 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5142.382970895827, + "intensity": 0.834427858344908 + }, + "point_color_scale": [ + 0.8481989175956235, + 0.8709404504604804, + 0.9073269030442513 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d3fc80f67ae4991cd5e960624cb82096c2acf10 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.301353604148469, + "K": [ + [ + 327.57668572147713, + 0.0, + 336.6641470976006 + ], + [ + 0.0, + 315.26145956603636, + 253.62917071156042 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.169793923276705, + -3.7362319984735324, + 1.325352402236736 + ], + "camera_target": [ + -6.16547704451076, + -3.2644238946241484, + 1.1980745702256628 + ], + "camera_roll_rad": 0.041642082080534465, + "camera_pose_world_cv": [ + [ + 0.9962939620018005, + -0.08555902540683746, + 0.008833296597003937, + -6.169794082641602 + ], + [ + -0.03078233078122139, + -0.2587704658508301, + 0.9654483795166016, + -3.736232042312622 + ], + [ + -0.08031701296567917, + -0.9621422290802002, + -0.26044517755508423, + 1.325352430343628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2796077833036887, + 0.25240264933774054, + 0.257109598730017 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0376679689845036, + 1.0165574947351173, + 0.9803681103075974 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5203.3338447411215, + "intensity": 1.0165574947351173 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.9441634690584294, + 0.9421423005369116, + 0.9386774402143094 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5469.352999005321, + "intensity": 0.9421423005369116 + }, + "point_color_scale": [ + 0.8889007301189902, + 0.8707289347355388, + 0.8395772855067648 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9183863f3e2fc7bdd4332d451fd45cc9bcc9c414 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9720591275752863, + "K": [ + [ + 471.81906960472855, + 0.0, + 324.7209979125446 + ], + [ + 0.0, + 454.2883161636802, + 252.88499188659296 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.939858381703795, + -3.908770300579372, + 1.1905981830682837 + ], + "camera_target": [ + -6.157600589257767, + -3.236838033316385, + 1.1615455785958373 + ], + "camera_roll_rad": 0.00516315722536391, + "camera_pose_world_cv": [ + [ + 0.9513785243034363, + 0.0028450489044189453, + -0.30801111459732056, + -5.939858436584473 + ], + [ + 0.3078514337539673, + -0.04227644205093384, + 0.9504947066307068, + -3.9087703227996826 + ], + [ + -0.010317429900169373, + -0.9991019368171692, + -0.04109674692153931, + 1.1905981302261353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3212761651244186, + 0.3083648741940923, + 0.30569160609602636 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.104449806567074, + 1.145212218106319, + 1.210432076569111 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6201.882195900335, + "intensity": 1.161517182722017 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.5448814098596927, + 0.5622026813616636, + 0.5899167157648173 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6108.691697361158, + "intensity": 0.569131189962452 + }, + "point_color_scale": [ + 0.9926601112608096, + 0.9809647907750423, + 0.9609156699422986 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..095edf870704fdbaeaf28071e256d7ef6a928cb8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2124711412601215, + "K": [ + [ + 350.95956715927724, + 0.0, + 351.55771820816807 + ], + [ + 0.0, + 346.15539384219005, + 225.94246123428317 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.936823320328526, + -3.7314577444898633, + 1.1416855055523465 + ], + "camera_target": [ + -6.177845216324456, + -3.3260209366276148, + 1.2099221598484518 + ], + "camera_roll_rad": -0.002699212576066104, + "camera_pose_world_cv": [ + [ + 0.8599638342857361, + -0.06852366030216217, + -0.505733847618103, + -5.93682336807251 + ], + [ + 0.5103270411491394, + 0.12583208084106445, + 0.8507247567176819, + -3.7314577102661133 + ], + [ + 0.005342751741409302, + -0.989682137966156, + 0.1431804895401001, + 1.1416854858398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3658090638179578, + 0.37626616294317367, + 0.35650081982730575 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9055150514645673, + 0.8939792037996531, + 0.8742034649455144 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5315.658101347263, + "intensity": 0.8939792037996531 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7286667942814066, + 0.7372029788037288, + 0.7508608740394443 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5730.515348840602, + "intensity": 0.7406174526126577 + }, + "point_color_scale": [ + 1.222434154140055, + 1.1892544413905397, + 1.1323749338199427 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d202870ef1fc77c7278e1fa77593d4a71809edee --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8543385789168967, + "K": [ + [ + 518.8380188914657, + 0.0, + 329.11057292381395 + ], + [ + 0.0, + 527.2415222564629, + 256.01330709936576 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.040889145922599, + -3.843237146748895, + 1.231122103542097 + ], + "camera_target": [ + -6.142570681605529, + -3.3127752449617462, + 1.1984928221248912 + ], + "camera_roll_rad": 0.04024013577710171, + "camera_pose_world_cv": [ + [ + 0.9798535108566284, + -0.06764054298400879, + -0.18791435658931732, + -6.040889263153076 + ], + [ + 0.18288645148277283, + -0.07416599988937378, + 0.9803326725959778, + -3.8432371616363525 + ], + [ + -0.08024708926677704, + -0.9949494004249573, + -0.06030130386352539, + 1.2311221361160278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34495150284238085, + 0.329784911445026, + 0.3414363519479033 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.195160279395929, + 1.175786566925855, + 1.1425744884057276 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5264.610917673025, + "intensity": 1.175786566925855 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8687117041903862, + 0.8471401870747297, + 0.8101604434478898 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5136.22959348937, + "intensity": 0.8471401870747297 + }, + "point_color_scale": [ + 0.8438440423699257, + 0.8309011124862189, + 0.8087132326855788 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..794af6414761465c18144a76b68940d4bd66f543 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.873892648759684, + "K": [ + [ + 530.7736730449435, + 0.0, + 297.8579412702241 + ], + [ + 0.0, + 513.8576751423527, + 233.65699324412486 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.323869995295856, + -3.741413952623871, + 0.9800119600451747 + ], + "camera_target": [ + -6.185936582332622, + -3.2534186733240436, + 1.13010194692387 + ], + "camera_roll_rad": 0.0485044135848105, + "camera_pose_world_cv": [ + [ + 0.4776808023452759, + -0.17746654152870178, + -0.8604223728179932, + -5.3238701820373535 + ], + [ + 0.8732985258102417, + -0.010838925838470459, + 0.48706480860710144, + -3.7414140701293945 + ], + [ + -0.09576377272605896, + -0.9840670824050903, + 0.1498037576675415, + 0.9800119400024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2501115482986791, + 0.26454577345541774, + 0.2475353164620765 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8814093458646513, + 0.8997896416384176, + 0.9291981148764438 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5905.235357587805, + "intensity": 0.9071417599479241 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8787507792521985, + 0.8983041857322238, + 0.9295896361002647 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5931.5827208754245, + "intensity": 0.906125548324234 + }, + "point_color_scale": [ + 1.1402692284182538, + 1.1526599860238123, + 1.172485198192706 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..675b0a124fe960ccde04ec3bd43956c25ac7b937 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2299225709033672, + "K": [ + [ + 349.4606061351854, + 0.0, + 323.49985035790445 + ], + [ + 0.0, + 339.7847935844732, + 244.42352645887522 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.344265441022725, + -2.755078851831801, + 1.0413851938369336 + ], + "camera_target": [ + -6.154399134889942, + -3.3347218134497654, + 1.09570535620555 + ], + "camera_roll_rad": 0.014592148165902902, + "camera_pose_world_cv": [ + [ + -0.5829315185546875, + -0.027283817529678345, + -0.8120632767677307, + -5.344265460968018 + ], + [ + 0.8119988441467285, + -0.0554012656211853, + -0.5810238122940063, + -2.7550787925720215 + ], + [ + -0.029136836528778076, + -0.998091459274292, + 0.05444967746734619, + 1.0413851737976074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9108935594558716, + -0.41264134645462036, + -3.54214257924923e-08, + -6.137404441833496 + ], + [ + 0.41264134645462036, + 0.9108935594558716, + 2.2840298541382253e-08, + -3.2864723205566406 + ], + [ + 2.2840298541382253e-08, + -3.54214257924923e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28529468267018315, + 0.29610144787327103, + 0.28807202475896193 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9329339341923175, + 0.9554199736120278, + 0.9913976366835643 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5966.314888440602, + "intensity": 0.9644143893799119 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8011829409279695, + 0.8252289380896602, + 0.8637025335483655 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6076.057348386943, + "intensity": 0.8348473369543365 + }, + "point_color_scale": [ + 0.865539121712742, + 0.8804287964010553, + 0.9042522759023562 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af0505f0dd5b139b246a1204a4001e841967b3ab --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7854515390970431, + "K": [ + [ + 555.7387917089378, + 0.0, + 344.62332407031005 + ], + [ + 0.0, + 579.3675211383207, + 260.23348607692867 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.414172989171241, + -3.2900886028530194, + 1.0215902797971648 + ], + "camera_target": [ + -5.862039255962026, + -3.258552581861524, + 1.1594864034594035 + ], + "camera_roll_rad": -0.0001533621359027862, + "camera_pose_world_cv": [ + [ + 0.07033002376556396, + -0.29285290837287903, + -0.9535675048828125, + -5.414173126220703 + ], + [ + 0.9975237846374512, + 0.020928502082824707, + 0.06714463233947754, + -3.290088653564453 + ], + [ + 0.0002932250499725342, + -0.9559284448623657, + 0.29359960556030273, + 1.021590232849121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28517648278589147, + 0.29283627508505683, + 0.3043233557254622 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1088077849825315, + 1.1648574689904325, + 1.2545369634030743 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6444.171711143098, + "intensity": 1.187277342593593 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8064705713279506, + 0.8180963671552162, + 0.8366976404788411 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5782.6093628173385, + "intensity": 0.8227466854861224 + }, + "point_color_scale": [ + 1.109461594380152, + 1.1134218737170656, + 1.1197583206561272 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b52fc2832e828f78c50b083228a6948bfd4b52f3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.801531798045416, + "K": [ + [ + 546.077434853193, + 0.0, + 301.83011082660926 + ], + [ + 0.0, + 566.4434403140347, + 244.8920389560354 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.994740403286724, + -4.015625983455998, + 1.2387715537374517 + ], + "camera_target": [ + -5.844526943850637, + -3.279769827538843, + 1.1704075485496164 + ], + "camera_roll_rad": 0.026977280270461798, + "camera_pose_world_cv": [ + [ + 0.9773903489112854, + -0.07094358652830124, + 0.19918623566627502, + -5.9947404861450195 + ], + [ + -0.20450860261917114, + -0.07790476083755493, + 0.975759744644165, + -4.015625953674316 + ], + [ + -0.05370635539293289, + -0.9944334030151367, + -0.09065192937850952, + 1.2387715578079224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3759006346522125, + 0.34304639391947667, + 0.3559548330258532 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8808177791196956, + 0.8846179278752084, + 0.890698165884029 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5585.768781152462, + "intensity": 0.8861379873774136 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.672722727915602, + 0.6752057751053081, + 0.6791786506088381 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5573.441315701671, + "intensity": 0.6761989939811907 + }, + "point_color_scale": [ + 1.1109927515782367, + 1.0924190205620308, + 1.0605783388199639 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd7170e51ce0398dc41bb0fb6599d416fd4ca4b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9505078543068504, + "K": [ + [ + 479.5269117897586, + 0.0, + 289.79319767823813 + ], + [ + 0.0, + 466.3877824480976, + 225.15585554922683 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.090935724092226, + -3.64767492176946, + 1.0976094588571874 + ], + "camera_target": [ + -5.885284435490502, + -3.291393985221091, + 1.1562521403027397 + ], + "camera_roll_rad": 0.025682397661009465, + "camera_pose_world_cv": [ + [ + 0.8685556054115295, + 0.02599172294139862, + 0.49490970373153687, + -6.090935707092285 + ], + [ + -0.4929783344268799, + 0.14773178100585938, + 0.8574075698852539, + -3.647675037384033 + ], + [ + -0.05082833766937256, + -0.9886859655380249, + 0.1411266326904297, + 1.0976094007492065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3487384591939656, + 0.33599790527294054, + 0.33038792692372276 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.899373106086871, + 0.9239232100270611, + 0.9632033763313655 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6025.842706719224, + "intensity": 0.9337432516031372 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.66502322789319, + 0.6615146632511927, + 0.6554999810077686 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5424.230928182009, + "intensity": 0.6615146632511927 + }, + "point_color_scale": [ + 1.1288368027365416, + 1.14896962886669, + 1.1811821506749278 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf8133d731bbe9bc66a3ebd0183c2b05d6cddca0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8905371581349921, + "K": [ + [ + 518.9777188052826, + 0.0, + 313.4372685047938 + ], + [ + 0.0, + 502.8991423821063, + 239.30129221863606 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.822663295703844, + -2.460469063259952, + 1.263084242567733 + ], + "camera_target": [ + -5.8835548431232505, + -3.2258189170432066, + 1.1151430958175088 + ], + "camera_roll_rad": -0.024740360720928802, + "camera_pose_world_cv": [ + [ + -0.9963724613189697, + -0.03431691601872444, + -0.07787740975618362, + -5.822663307189941 + ], + [ + 0.06988401710987091, + 0.192305326461792, + -0.9788438081741333, + -2.4604690074920654 + ], + [ + 0.04856712371110916, + -0.9807350635528564, + -0.1892092227935791, + 1.2630842924118042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25171744068536334, + 0.2665717239377026, + 0.25832231180470433 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9585080291040508, + 0.9474968005860177, + 0.928620408840818 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5333.980162839558, + "intensity": 0.9474968005860177 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8664308051600161, + 0.8759463960675921, + 0.8911713415197134 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5716.324238355179, + "intensity": 0.8797526324306224 + }, + "point_color_scale": [ + 1.1044428535232405, + 1.141075508294632, + 1.1996877559288588 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b28153c888ec94b9ac654e25d6c6ddaeff7236f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0894684252726947, + "K": [ + [ + 392.8274927162531, + 0.0, + 345.5901928330856 + ], + [ + 0.0, + 396.11590129974235, + 237.09091678177666 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.209184182230082, + -2.7631688250136404, + 1.3001566348579816 + ], + "camera_target": [ + -5.8816334050068, + -3.27919612261765, + 1.166059099922669 + ], + "camera_roll_rad": -0.05024507493517209, + "camera_pose_world_cv": [ + [ + -0.6181554794311523, + 0.06226596236228943, + -0.7835860252380371, + -5.209184169769287 + ], + [ + 0.7797855138778687, + 0.17423760890960693, + -0.6013119220733643, + -2.7631688117980957 + ], + [ + 0.09908881783485413, + -0.9827331304550171, + -0.15625983476638794, + 1.300156593322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26844907530977735, + 0.26781945445649574, + 0.2682046918980141 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8313496014647166, + 0.8731098248541606, + 0.939926182277271 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6438.628239512813, + "intensity": 0.8898139142099382 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8966521443148675, + 0.9136959173772327, + 0.9409659542770169 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5870.310145834103, + "intensity": 0.9205134266021787 + }, + "point_color_scale": [ + 0.8711648793504607, + 0.8652139972266518, + 0.8550124850144082 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4619fe5eda63dcad2c29cfbe685caeb79a10a953 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.03709193901905, + "K": [ + [ + 408.2157979666441, + 0.0, + 299.9226637443461 + ], + [ + 0.0, + 420.58575638146425, + 232.6666960871364 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.467023078149495, + -4.128658703392465, + 1.0527352696330117 + ], + "camera_target": [ + -5.887535635557761, + -3.281795773550226, + 1.123857506838217 + ], + "camera_roll_rad": 0.007801030406262531, + "camera_pose_world_cv": [ + [ + 0.8950290679931641, + -0.04732884466648102, + -0.4434894919395447, + -5.467022895812988 + ], + [ + 0.4457363486289978, + 0.060235023498535156, + 0.8931354284286499, + -4.128658771514893 + ], + [ + -0.015557453036308289, + -0.9970616102218628, + 0.07500827312469482, + 1.0527353286743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2625418199201411, + 0.2506274050519928, + 0.25266390846969805 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8457143251907594, + 0.8560762595095511, + 0.872655354419618 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5740.913298290304, + "intensity": 0.8602210332370678 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7099918101682101, + 0.7010924340310534, + 0.6858363606530704 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5318.663076870555, + "intensity": 0.7010924340310534 + }, + "point_color_scale": [ + 0.9044478565451646, + 0.91806732123162, + 0.9398584647299487 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97edfd725b3a571e452994beecafeac5de94f7ef --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8437284185736417, + "K": [ + [ + 523.9811396836443, + 0.0, + 315.4066176356963 + ], + [ + 0.0, + 534.7469726986216, + 241.79994544058164 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.505187745618978, + -2.851081166296872, + 1.0859407320022345 + ], + "camera_target": [ + -5.861887228339247, + -3.2376710517736895, + 1.1122200046671062 + ], + "camera_roll_rad": 0.010665339535331816, + "camera_pose_world_cv": [ + [ + -0.7355024814605713, + -0.018153280019760132, + -0.677278995513916, + -5.505187511444092 + ], + [ + 0.6771873235702515, + -0.05112743377685547, + -0.7340323328971863, + -2.851081132888794 + ], + [ + -0.021302491426467896, + -0.9985272288322449, + 0.04989767074584961, + 1.0859407186508179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21567303686994874, + 0.22263621039510692, + 0.21370136959909028 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1681009570424834, + 1.1738906356396892, + 1.1831541213952181 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5598.446634368414, + "intensity": 1.1762065070785714 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.5751226055212002, + 0.5766904155763998, + 0.5791989116647193 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5554.313612445935, + "intensity": 0.5773175395984796 + }, + "point_color_scale": [ + 0.921601410732154, + 0.9021754373036867, + 0.8688737685691712 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c58a57de199bc234af395bbb66b619c243218cda --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.015067949492132, + "K": [ + [ + 410.05182943510414, + 0.0, + 345.20738111980495 + ], + [ + 0.0, + 431.5572124176133, + 221.92523843317102 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.394225817226702, + -3.728662231787312, + 1.122659653741361 + ], + "camera_target": [ + -5.850683968878356, + -3.2644934387461393, + 1.199021113049015 + ], + "camera_roll_rad": 0.03510545831706238, + "camera_pose_world_cv": [ + [ + 0.7055165767669678, + -0.13150283694267273, + -0.6963859796524048, + -5.394225597381592 + ], + [ + 0.7052600383758545, + 0.03367114067077637, + 0.7081488370895386, + -3.7286622524261475 + ], + [ + -0.06967556476593018, + -0.99074387550354, + 0.11649930477142334, + 1.122659683227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34316159746590347, + 0.37453642117314667, + 0.35168413808452964 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.953643307538139, + 0.9423805426544066, + 0.9230729457108653 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5329.265743599736, + "intensity": 0.9423805426544066 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.644674079006236, + 0.6543938425325372, + 0.6699454641746193 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5795.307094771281, + "intensity": 0.6582817479430577 + }, + "point_color_scale": [ + 0.9565913698695858, + 0.9934548490723041, + 1.0524364157966535 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c26b504183d6f13d5788cce99ac32098652e259d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1115166730603963, + "K": [ + [ + 379.9286611074247, + 0.0, + 291.3094314510288 + ], + [ + 0.0, + 386.4384228707852, + 242.1840708973924 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.7795705004807, + -2.8640943153884697, + 1.193038115094168 + ], + "camera_target": [ + -5.7933639567693165, + -3.3095046098711, + 1.1220248034207008 + ], + "camera_roll_rad": 0.0037971498932739475, + "camera_pose_world_cv": [ + [ + -0.9994550943374634, + 0.012461613863706589, + -0.030567552894353867, + -5.779570579528809 + ], + [ + 0.03214689716696739, + 0.15705657005310059, + -0.9870662689208984, + -2.8640942573547363 + ], + [ + -0.0074996063485741615, + -0.9875110387802124, + -0.15737146139144897, + 1.1930381059646606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3259951667154315, + 0.31497153260956023, + 0.316467200609657 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1423377705624722, + 1.1343763701693599, + 1.1207282552097386 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5399.738486871693, + "intensity": 1.1343763701693599 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8781545689654129, + 0.9111077952692656, + 0.9638329573554297 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6213.050209300231, + "intensity": 0.9242890857908066 + }, + "point_color_scale": [ + 1.0333064835368015, + 1.0021571919136851, + 0.9487584062740567 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff64c3b96e92a7050edcf38d5e9e77d318fc9ec0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9963052445330282, + "K": [ + [ + 454.73584756151826, + 0.0, + 312.92778161358643 + ], + [ + 0.0, + 441.2525667451478, + 218.42638144460003 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.185639834804575, + -2.8641168456808144, + 1.2679304220703582 + ], + "camera_target": [ + -5.868470829019213, + -3.2849053774337618, + 1.128471615592278 + ], + "camera_roll_rad": -0.038916212938538135, + "camera_pose_world_cv": [ + [ + -0.7841689586639404, + -0.21562594175338745, + 0.5818804502487183, + -6.18563985824585 + ], + [ + -0.615978479385376, + 0.15689349174499512, + -0.7719812989234924, + -2.864116907119751 + ], + [ + 0.07516598701477051, + -0.9637894034385681, + -0.2558518052101135, + 1.2679303884506226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3617320909318394, + 0.37099396426323017, + 0.3653289092505821 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8124506543622758, + 0.8510739208779474, + 0.9128711473030221 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6391.453691964079, + "intensity": 0.8665232274842161 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6625582314592491, + 0.6693241184546835, + 0.6801495376473787 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5701.35655345167, + "intensity": 0.6720304732528574 + }, + "point_color_scale": [ + 0.9965056378675644, + 0.9879740020290254, + 0.9733483405915299 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f96bddd23f7548174d0c055c3a457966b57e811 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1485226764854004, + "K": [ + [ + 365.6051456866229, + 0.0, + 307.11106451093826 + ], + [ + 0.0, + 370.94446193209814, + 232.55209754904467 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.108358801212335, + -3.080051613727583, + 0.8820649395890443 + ], + "camera_target": [ + -5.856434252152039, + -3.2488921995836146, + 1.197095924583878 + ], + "camera_roll_rad": 0.04296095668889238, + "camera_pose_world_cv": [ + [ + -0.2511579990386963, + -0.35039371252059937, + -0.9022992849349976, + -5.108358860015869 + ], + [ + 0.9646857380867004, + -0.16705858707427979, + -0.20364895462989807, + -3.0800516605377197 + ], + [ + -0.07937952876091003, + -0.9215832948684692, + 0.3799779415130615, + 0.882064938545227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34774698312000685, + 0.35086393916197667, + 0.36498257023540476 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0354794694292266, + 1.0860490498687312, + 1.1669603785719385 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6414.230085799964, + "intensity": 1.106276882044533 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7945318487972711, + 0.7832845977984793, + 0.7640035960862646 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5294.870198239499, + "intensity": 0.7832845977984793 + }, + "point_color_scale": [ + 1.1647234217225189, + 1.1716362897361785, + 1.182696878558034 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f975f27f08cade7cd4f4fa3b3a3f0d9cec6c07b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2884711919530778, + "K": [ + [ + 330.8859133562506, + 0.0, + 301.1846744277888 + ], + [ + 0.0, + 319.5108208509513, + 263.60298161743384 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.583321889217031, + -2.6046887608469724, + 1.2055311899816057 + ], + "camera_target": [ + -5.851526282138041, + -3.2790294487623997, + 1.0987562307561987 + ], + "camera_roll_rad": 0.0438488444053412, + "camera_pose_world_cv": [ + [ + -0.9209202527999878, + 0.1349734514951706, + -0.3656339645385742, + -5.583322048187256 + ], + [ + 0.37999653816223145, + 0.10236859321594238, + -0.9193058609962463, + -2.6046886444091797 + ], + [ + -0.08665244281291962, + -0.9855470061302185, + -0.14556270837783813, + 1.2055312395095825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29599949896779915, + 0.28073748644881, + 0.2803569984525404 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0320201748064253, + 0.9823319234224772, + 0.897152063907138 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 4777.400901159001, + "intensity": 0.9823319234224772 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8745580198899858, + 0.8824593717512745, + 0.8951015347293363 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5678.436635170535, + "intensity": 0.88561991249579 + }, + "point_color_scale": [ + 1.0670396547841998, + 1.0590342756161375, + 1.0453107684708878 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6711ceaf66fc18f0ea32e360d72dc968c4d5215c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2227973293801793, + "K": [ + [ + 356.6540115307316, + 0.0, + 304.26537648803173 + ], + [ + 0.0, + 342.3666801841327, + 263.65432350468706 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.73370110090074, + -4.067314837568293, + 1.0585017125908849 + ], + "camera_target": [ + -5.799243961802376, + -3.2534738086952006, + 1.1277762713467756 + ], + "camera_roll_rad": 0.041738773560805895, + "camera_pose_world_cv": [ + [ + 0.9927358627319336, + -0.08987455070018768, + -0.07998788356781006, + -5.733701229095459 + ], + [ + 0.08702215552330017, + 0.07728242874145508, + 0.9932042360305786, + -4.067314624786377 + ], + [ + -0.08308212459087372, + -0.9929502010345459, + 0.08454203605651855, + 1.0585017204284668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36851232794903993, + 0.39233791611487573, + 0.3958710612667006 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0453088943973181, + 1.053564455309815, + 1.0667733527698098 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5656.227101700981, + "intensity": 1.0568666796748136 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.776968700669986, + 0.7576573121558636, + 0.7245520747030826 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5135.881586111555, + "intensity": 0.7576573121558636 + }, + "point_color_scale": [ + 0.806357928166552, + 0.8171238629411792, + 0.8343493585805826 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a427320dcdadaad1f74d574e35eba6dfd315fafd --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9331311680185148, + "K": [ + [ + 492.9196593290976, + 0.0, + 322.4408459931427 + ], + [ + 0.0, + 476.51873658862087, + 259.4462442475073 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.333151402150336, + -3.1822404419213366, + 1.1668380311143425 + ], + "camera_target": [ + -5.869860768360297, + -3.2696381866331743, + 1.086662957351828 + ], + "camera_roll_rad": 0.02488499244692595, + "camera_pose_world_cv": [ + [ + -0.19334232807159424, + -0.15531712770462036, + 0.9687596559524536, + -6.333151340484619 + ], + [ + -0.9799047112464905, + 0.07992672920227051, + -0.1827523410320282, + -3.1822404861450195 + ], + [ + -0.049045294523239136, + -0.9846259355545044, + -0.16764920949935913, + 1.1668380498886108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22564054091420455, + 0.23494455598394284, + 0.23722656526253277 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.969959744076989, + 0.982019597661876, + 1.0013153633976952 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5744.412677534202, + "intensity": 0.9868435390958308 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.9002455184572682, + 0.862250608389633, + 0.7971164768451156 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 4870.502700425614, + "intensity": 0.862250608389633 + }, + "point_color_scale": [ + 0.8932728759669746, + 0.9129566664574853, + 0.9444507312423025 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..854847b09f5b9f94236cd369a56cf6ea957ebbc1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8521422522629145, + "K": [ + [ + 524.5595752088684, + 0.0, + 344.11434679834974 + ], + [ + 0.0, + 528.7807597170023, + 229.78569780178523 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.577452648551468, + -3.693476958835884, + 1.3418675127940878 + ], + "camera_target": [ + -5.81270310549341, + -3.271342088095871, + 1.201763815703993 + ], + "camera_roll_rad": -0.05086190833525088, + "camera_pose_world_cv": [ + [ + 0.8552340269088745, + 0.22355131804943085, + -0.46754634380340576, + -5.577452659606934 + ], + [ + 0.5089815258979797, + -0.1925370693206787, + 0.83896803855896, + -3.693476915359497 + ], + [ + 0.09753237664699554, + -0.9554864168167114, + -0.2784477472305298, + 1.3418675661087036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3548461029356288, + 0.375455595278114, + 0.38601973820372526 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0074523980563581, + 1.0257447577640555, + 1.0550125332963713 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5854.138763996994, + "intensity": 1.0330617016471344 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7713935619796647, + 0.7654128352947731, + 0.755160160977816 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5388.375333282195, + "intensity": 0.7654128352947731 + }, + "point_color_scale": [ + 0.9249647828785881, + 0.8903031044402757, + 0.830883084260312 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cb93aef2ac0470d7e54e7d08ddda16efeec5ce3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9151832944599431, + "K": [ + [ + 474.3578770708951, + 0.0, + 342.8522711178081 + ], + [ + 0.0, + 487.35634352605285, + 260.98514112173615 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.256044765705011, + -2.8573659305249426, + 1.2527636148015475 + ], + "camera_target": [ + -5.829978370308226, + -3.306038074483217, + 1.0805682893471893 + ], + "camera_roll_rad": -0.04859037539282334, + "camera_pose_world_cv": [ + [ + -0.6305664777755737, + 0.12061357498168945, + -0.766706109046936, + -5.256044864654541 + ], + [ + 0.770369827747345, + 0.2174474000930786, + -0.599372148513794, + -2.857365846633911 + ], + [ + 0.09442585706710815, + -0.9685912132263184, + -0.23003214597702026, + 1.2527636289596558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.47345036268234253, + -0.8808205127716064, + -3.072437237960912e-08, + -5.839463233947754 + ], + [ + 0.8808205127716064, + 0.47345036268234253, + -3.572756668290822e-08, + -3.2707059383392334 + ], + [ + 4.601604075560317e-08, + -1.0147428675111314e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3156774098634873, + 0.3208159378913645, + 0.3134474497159851 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1656993096035784, + 1.177881211631604, + 1.197372254876445 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5705.992155796619, + "intensity": 1.1827539724428142 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.9193431867001188, + 0.9372223231240283, + 0.9658289414022836 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5878.645258048617, + "intensity": 0.9443739776935921 + }, + "point_color_scale": [ + 0.898029118320315, + 0.9285516742071264, + 0.9773877636260249 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_001/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8911c6c0f15b9065dd9456412d317ceccd0ab614 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9819333492185642, + "K": [ + [ + 451.50307193887244, + 0.0, + 335.45867877414315 + ], + [ + 0.0, + 448.90818464021504, + 218.8504761038151 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.905834526340693, + -3.2791487143717517, + 1.2850789901542372 + ], + "camera_target": [ + -5.79177405167902, + -2.8519410150647886, + 1.1327971837393882 + ], + "camera_roll_rad": 0.004307293436577153, + "camera_pose_world_cv": [ + [ + 0.9653975367546082, + -0.09231631457805634, + 0.24389606714248657, + -5.905834674835205 + ], + [ + -0.26065540313720703, + -0.31237083673477173, + 0.9135005474090576, + -3.279148817062378 + ], + [ + -0.008144982159137726, + -0.945464015007019, + -0.32562482357025146, + 1.285079002380371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3011012616857313, + 0.2770302956802113, + 0.30159070093905005 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.133130930378742, + 1.0890890725152105, + 1.0135887447491565 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 4922.297575167652, + "intensity": 1.0890890725152105 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8095733854433196, + 0.8393472074769144, + 0.886985322730666 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6199.526259571104, + "intensity": 0.8512567362903523 + }, + "point_color_scale": [ + 0.9029228615218597, + 0.926046407901164, + 0.9630440821080509 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_002/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29e7d97937986a08dae8f8961ff9857a6f7ffc46 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.236031820587127, + "K": [ + [ + 339.1140908165595, + 0.0, + 341.06520596604116 + ], + [ + 0.0, + 337.59171210985494, + 258.7794551444375 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.19573629192943, + -3.591979053920767, + 1.1740800619524023 + ], + "camera_target": [ + -5.869414858653534, + -2.838793897170478, + 1.1415515902127211 + ], + "camera_roll_rad": -0.032005908960477836, + "camera_pose_world_cv": [ + [ + 0.74245285987854, + 0.06908386945724487, + -0.666326642036438, + -5.195736408233643 + ], + [ + 0.6668403744697571, + 0.018714547157287598, + 0.744965672492981, + -3.5919790267944336 + ], + [ + 0.06393501162528992, + -0.9974353313446045, + -0.0321732759475708, + 1.1740800142288208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2672006606489312, + 0.274766004815285, + 0.284249780880765 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8674137919185122, + 0.8953172468580471, + 0.9399627747613031 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6115.645069877297, + "intensity": 0.9064786288338611 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8501710609723393, + 0.8828662060886118, + 0.9351784382746477 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6229.8477466750455, + "intensity": 0.8959442641351207 + }, + "point_color_scale": [ + 1.1470661814921894, + 1.1739689395457382, + 1.2170133524314166 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_003/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe19e5fb7c1374782289f8cac813d2821afb204c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0180479871668897, + "K": [ + [ + 448.2509613347673, + 0.0, + 315.3004983049366 + ], + [ + 0.0, + 430.04738730835646, + 223.91717305515098 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.0713170007359185, + -2.7951377684887015, + 1.3088022065741838 + ], + "camera_target": [ + -5.7778572727699675, + -2.891730107682096, + 1.1004860728358892 + ], + "camera_roll_rad": -0.013088247386320535, + "camera_pose_world_cv": [ + [ + -0.1426767110824585, + 0.2741786539554596, + -0.9510359764099121, + -5.071317195892334 + ], + [ + 0.9894504547119141, + 0.06390035152435303, + -0.13001766800880432, + -2.795137882232666 + ], + [ + 0.0251234769821167, + -0.9595534801483154, + -0.2804032564163208, + 1.3088022470474243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34484846507496897, + 0.31626420293339935, + 0.34087844381977017 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9529423095494106, + 0.9035885169816515, + 0.8189820154369217 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 4719.7176410623515, + "intensity": 0.9035885169816515 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.8275228142556114, + 0.7949054184015499, + 0.7389898826517305 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 4913.813534128184, + "intensity": 0.7949054184015499 + }, + "point_color_scale": [ + 0.9512521950056028, + 0.965386307762001, + 0.988000888172238 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_004/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87430a1c6171529127b618a5e14b8d5c4101a7d6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2188023046142058, + "K": [ + [ + 330.80966983481255, + 0.0, + 351.00730434158294 + ], + [ + 0.0, + 343.8258191798355, + 254.19073548063187 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.121840037203894, + -2.75199675324394, + 0.9174946703334139 + ], + "camera_target": [ + -5.8233932853410675, + -2.866018922272274, + 1.2071667509560446 + ], + "camera_roll_rad": -0.029587271603786405, + "camera_pose_world_cv": [ + [ + -0.13811159133911133, + -0.38136011362075806, + -0.914051353931427, + -5.121840000152588 + ], + [ + 0.9889014363288879, + -0.0020656585693359375, + -0.14855927228927612, + -2.7519967555999756 + ], + [ + 0.05476635694503784, + -0.9244243502616882, + 0.3774130344390869, + 0.9174946546554565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27089420563846606, + 0.26175281892361363, + 0.2711437401653316 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.193955458089096, + 1.1931911424681902, + 1.1918808871180664 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5490.849081764234, + "intensity": 1.1931911424681902 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7366768648142603, + 0.7264335196128594, + 0.7088734992676009 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5298.558988639263, + "intensity": 0.7264335196128594 + }, + "point_color_scale": [ + 1.059082022991533, + 1.0593120285434399, + 1.0596800374264908 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_005/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5445cdcb5cfe590a677fabf267ddae70712a425 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.075742997418893, + "K": [ + [ + 387.94998185465334, + 0.0, + 303.23601726222904 + ], + [ + 0.0, + 402.32004556914035, + 217.74918050108258 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.217222640190594, + -3.332090441588953, + 1.1327564311985925 + ], + "camera_target": [ + -5.784307496068798, + -2.8290033806776758, + 1.130171015067381 + ], + "camera_roll_rad": 0.02660900850295493, + "camera_pose_world_cv": [ + [ + 0.7567828893661499, + -0.04285690188407898, + 0.6522599458694458, + -6.217222690582275 + ], + [ + -0.6514984369277954, + 0.03174757957458496, + 0.7579855918884277, + -3.332090377807617 + ], + [ + -0.053192466497421265, + -0.9985768795013428, + -0.0038951635360717773, + 1.1327564716339111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23857220731576956, + 0.2211603046438391, + 0.21443158031393464 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1521061246207642, + 1.1681449923624398, + 1.1938071807491213 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5773.10414751481, + "intensity": 1.1745605394591103 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.5960343513313158, + 0.6058804159204233, + 0.6216341192629956 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5822.917690137431, + "intensity": 0.6098188417560664 + }, + "point_color_scale": [ + 1.0275180790989127, + 1.068803946235939, + 1.1348613336551816 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_006/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7bcb2cfade43f57f44275a8a6ea3ef9e9fafe02 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7966838385994319, + "K": [ + [ + 572.3731246998807, + 0.0, + 324.83605150443896 + ], + [ + 0.0, + 570.2878373103434, + 226.22288329947526 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.134521689674957, + -3.5771407808225284, + 1.1680250235213838 + ], + "camera_target": [ + -5.820814943708369, + -2.902154789663482, + 1.1496213894661018 + ], + "camera_roll_rad": -0.03267004308211822, + "camera_pose_world_cv": [ + [ + 0.6988227963447571, + 0.05938372015953064, + -0.7128255367279053, + -5.134521484375 + ], + [ + 0.7123095989227295, + 0.033176422119140625, + 0.7010809183120728, + -3.5771408081054688 + ], + [ + 0.06528171896934509, + -0.9976838827133179, + -0.019115149974822998, + 1.168025016784668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27237865408832274, + 0.25562915643027273, + 0.2468593128375967 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0720947278974489, + 1.016525891931405, + 0.9212650302753301 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 4719.06513144262, + "intensity": 1.016525891931405 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7338931744384759, + 0.7409880781418181, + 0.7523399240671659 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5690.767822727389, + "intensity": 0.7438260396231551 + }, + "point_color_scale": [ + 1.0613627598852076, + 1.0406200470201914, + 1.0050611106801637 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_007/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b94121f3520e111a18f8561aa80af69aec63af8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7954407064263311, + "K": [ + [ + 546.5220631199412, + 0.0, + 299.5146753085573 + ], + [ + 0.0, + 571.2807749593698, + 245.00629083546798 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.217358972826992, + -2.46204683164969, + 0.8943363842078074 + ], + "camera_target": [ + -5.793197047522386, + -2.8495753751799673, + 1.140459504125898 + ], + "camera_roll_rad": -0.0511508551437894, + "camera_pose_world_cv": [ + [ + -0.7006688117980957, + 0.2203090339899063, + 0.6786215901374817, + -6.2173590660095215 + ], + [ + -0.7072844505310059, + -0.33960986137390137, + -0.6200112700462341, + -2.4620468616485596 + ], + [ + 0.0938725471496582, + -0.9144009947776794, + 0.39377522468566895, + 0.8943364024162292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2803513760793864, + 0.29590282342451457, + 0.2705488186478323 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.1756332908555496, + 1.1220248042802123, + 1.0301245415796343 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 4817.452234938686, + "intensity": 1.1220248042802123 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6119080786765009, + 0.629672600400007, + 0.6580958351576169 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6057.949876124392, + "intensity": 0.6367784090894095 + }, + "point_color_scale": [ + 1.0362654963250797, + 1.027892398693542, + 1.0135385170394773 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_008/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb74e65dd90635bd89ae067230f025e90351f4a0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2967004796229409, + "K": [ + [ + 310.6443412116412, + 0.0, + 318.40720408095973 + ], + [ + 0.0, + 316.7879881007193, + 230.08979507202352 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.188971757335248, + -2.6733316466696264, + 1.221052467714863 + ], + "camera_target": [ + -5.865040886614442, + -2.876722030914902, + 1.1450497237677355 + ], + "camera_roll_rad": 0.0353726902622874, + "camera_pose_world_cv": [ + [ + -0.5420904159545898, + -0.12705570459365845, + 0.8306594491004944, + -6.188971519470215 + ], + [ + -0.8374553918838501, + 0.16324090957641602, + -0.5215564370155334, + -2.6733317375183105 + ], + [ + -0.06933087110519409, + -0.9783708453178406, + -0.1948946714401245, + 1.2210524082183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2517823123620317, + 0.23070417431579812, + 0.23118445307991348 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.107558299917842, + 1.1668609612554153, + 1.2617452193955332 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6496.196146976127, + "intensity": 1.190582025790445 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6164195986887339, + 0.6315315588090121, + 0.6557106950014575 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5974.043941234025, + "intensity": 0.6375763428571235 + }, + "point_color_scale": [ + 1.1417463781953616, + 1.1780929178826853, + 1.2362473813824038 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_009/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3cf43f6925619621fdf4410bd4f60bff541e6eec --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.290949750162708, + "K": [ + [ + 307.6593548658887, + 0.0, + 330.27881462978314 + ], + [ + 0.0, + 318.6876079107179, + 217.26217585978156 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.674955650918941, + -3.427159260612711, + 1.293396268285243 + ], + "camera_target": [ + -5.78370597102302, + -2.8962031759506277, + 1.1160910246466147 + ], + "camera_roll_rad": 0.051923868217998326, + "camera_pose_world_cv": [ + [ + 0.9808517098426819, + -0.03949984908103943, + -0.1907084584236145, + -5.67495584487915 + ], + [ + 0.16799752414226532, + -0.32376426458358765, + 0.9311034083366394, + -3.427159309387207 + ], + [ + -0.09852302074432373, + -0.9453129172325134, + -0.3109288215637207, + 1.293396234512329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30949789948222767, + 0.28415057758866186, + 0.3097911759688102 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0538241690031456, + 1.0211870689222113, + 0.9652377544977528 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5043.429112001414, + "intensity": 1.0211870689222113 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7855749994787776, + 0.7636871651028034, + 0.7261651633154194 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5090.560948885256, + "intensity": 0.7636871651028034 + }, + "point_color_scale": [ + 1.1540398124947229, + 1.1343099755310535, + 1.1004873978790488 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_010/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57c9263a6eff6e8082723bd649067c0e6e930d80 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9940314129381962, + "K": [ + [ + 440.37616363488354, + 0.0, + 325.58567091795214 + ], + [ + 0.0, + 442.4502716631227, + 245.69804545397054 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.673073204005705, + -3.616429872193097, + 1.1694349538144275 + ], + "camera_target": [ + -5.832890707882395, + -2.88857623286247, + 1.2053464304052108 + ], + "camera_roll_rad": 0.00769888815127228, + "camera_pose_world_cv": [ + [ + 0.9764571189880371, + -0.025360949337482452, + -0.2142157256603241, + -5.6730732917785645 + ], + [ + 0.21516281366348267, + 0.04370737075805664, + 0.9755995869636536, + -3.6164298057556152 + ], + [ + -0.015379324555397034, + -0.9987223744392395, + 0.04813504219055176, + 1.169434905052185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32883522982487734, + 0.32910906234274884, + 0.3302937850995549 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9423389189721735, + 0.9420238701606926, + 0.9414837864838683 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5495.222310761508, + "intensity": 0.9420238701606926 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6629827158842297, + 0.6566503565505245, + 0.6457948834070295 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5362.236766806917, + "intensity": 0.6566503565505245 + }, + "point_color_scale": [ + 1.0502250816537089, + 1.093414123836221, + 1.1625165913282405 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_011/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40d3522dabb25a76ec2c8c521c9723557e580484 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1562637858122313, + "K": [ + [ + 382.388553543686, + 0.0, + 327.33740919131577 + ], + [ + 0.0, + 367.8151192850609, + 251.54291295714208 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.9835673950680714, + -3.259121760197989, + 1.053807449534591 + ], + "camera_target": [ + -5.782890399119672, + -2.8621402824759428, + 1.0861349915218987 + ], + "camera_roll_rad": 0.03771338220955034, + "camera_pose_world_cv": [ + [ + 0.4411017894744873, + -0.06584694981575012, + -0.8950382471084595, + -4.983567237854004 + ], + [ + 0.8942921161651611, + -0.05143415927886963, + 0.444518119096756, + -3.2591216564178467 + ], + [ + -0.07530584931373596, + -0.9965033531188965, + 0.03619873523712158, + 1.0538074970245361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28179798469446843, + 0.2834057700500048, + 0.2793790553345297 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.212013198544706, + 1.1512998599226945, + 1.0472198508563892 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 4746.648558661238, + "intensity": 1.1512998599226945 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7353590816185859, + 0.7417212102634846, + 0.7519006160953225 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5670.96382522625, + "intensity": 0.744266061721444 + }, + "point_color_scale": [ + 1.0282877378540103, + 1.0484858561206596, + 1.0808028453472989 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_012/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9be81208cbff576ebed6b5baa279dff6c540c9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0579848413885207, + "K": [ + [ + 409.9806626710779, + 0.0, + 350.30093826556345 + ], + [ + 0.0, + 410.5621698075409, + 250.106477947067 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.627108737328344, + -2.460392599261883, + 1.2541528649152012 + ], + "camera_target": [ + -5.860078037589841, + -2.897575966013109, + 1.121532626744901 + ], + "camera_roll_rad": 0.012414024403437043, + "camera_pose_world_cv": [ + [ + -0.8792250156402588, + 0.1434890776872635, + -0.4542839527130127, + -5.627108573913574 + ], + [ + 0.4758024215698242, + 0.21647870540618896, + -0.8524956703186035, + -2.460392713546753 + ], + [ + -0.023981034755706787, + -0.9656851291656494, + -0.25860607624053955, + 1.2541528940200806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2905017162435716, + 0.2619410955989998, + 0.29298797491195694 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8662264606442133, + 0.8520448623651116, + 0.8277335510295085 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5262.225828616978, + "intensity": 0.8520448623651116 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6417323087278798, + 0.6130998249707994, + 0.5640155671015188 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 4832.8403212910935, + "intensity": 0.6130998249707994 + }, + "point_color_scale": [ + 1.1921263654840133, + 1.1648562833320064, + 1.1181075710714232 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_013/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbf3b34f78a8b9ed2acf12fca3d9b41c6d673e1d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1326907299386708, + "K": [ + [ + 377.87783544481067, + 0.0, + 290.03572692961455 + ], + [ + 0.0, + 377.4626660705981, + 233.82618526149813 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.033038761919251, + -2.999305193101387, + 1.2917994581156618 + ], + "camera_target": [ + -5.805196238840726, + -2.865617569983833, + 1.175847392486706 + ], + "camera_roll_rad": -0.03774562560052367, + "camera_pose_world_cv": [ + [ + 0.1592339277267456, + 0.15668126940727234, + -0.974728524684906, + -5.03303861618042 + ], + [ + 0.9844177961349487, + 0.049414634704589844, + 0.16875991225242615, + -2.999305248260498 + ], + [ + 0.07460731267929077, + -0.9864122867584229, + -0.1463712453842163, + 1.2917994260787964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3669386195875181, + 0.3864752774730456, + 0.3757014053773492 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.0860158500712422, + 1.0775352808949796, + 1.0629971623071008 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5387.5665693918645, + "intensity": 1.0775352808949796 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.9160164229001257, + 0.9229325981660242, + 0.9339984785914618 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5649.425996048716, + "intensity": 0.9256990682723836 + }, + "point_color_scale": [ + 1.1260944900535859, + 1.1068813846498575, + 1.0739446325291806 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_014/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e8b72343c49e36927a09734dcaed0b042188b74 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.262127018356114, + "K": [ + [ + 333.9587795002573, + 0.0, + 337.8468610451304 + ], + [ + 0.0, + 328.43199965511644, + 254.60157547079314 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.107884945878514, + -3.079351059698045, + 0.9345946363272886 + ], + "camera_target": [ + -5.842634546109948, + -2.8964812485242732, + 1.1854266817698738 + ], + "camera_roll_rad": -0.008293739816400789, + "camera_pose_world_cv": [ + [ + 0.24654734134674072, + -0.3011137545108795, + -0.9211651086807251, + -5.107884883880615 + ], + [ + 0.9690029621124268, + 0.09203624725341797, + 0.22926604747772217, + -3.0793509483337402 + ], + [ + 0.01574525237083435, + -0.94913649559021, + 0.3144714832305908, + 0.9345946311950684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22928094980864278, + 0.21709477058051774, + 0.23280021393098457 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.8997052413246408, + 0.9342864062931421, + 0.989616270242744 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6229.468972288718, + "intensity": 0.9481188722805426 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6579072926171646, + 0.6711190838571642, + 0.6922579498411636 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5890.648048786878, + "intensity": 0.676403800353164 + }, + "point_color_scale": [ + 1.0372901398664356, + 1.004712190619655, + 0.948864277625174 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_015/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31b41fa2aabe97532dbce13d5d1349928e4d935e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1062465792636236, + "K": [ + [ + 387.2353713481493, + 0.0, + 328.83231262742106 + ], + [ + 0.0, + 388.7201195422934, + 220.00190106710062 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.821585011650054, + -2.4502328615270157, + 1.21982083992667 + ], + "camera_target": [ + -5.776185673370597, + -2.8296834615451902, + 1.1014592946610788 + ], + "camera_roll_rad": 0.009230335445495376, + "camera_pose_world_cv": [ + [ + -0.9933981895446777, + -0.016812101006507874, + 0.11348017305135727, + -5.821585178375244 + ], + [ + -0.11335547268390656, + 0.2959023714065552, + -0.9484685063362122, + -2.450232744216919 + ], + [ + -0.01763329654932022, + -0.9550703167915344, + -0.29585450887680054, + 1.2198208570480347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31789547817782193, + 0.3206545123014016, + 0.33200516584190043 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 1.107603868976261, + 1.1641769809490554, + 1.2546939601055265 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 6453.367293596846, + "intensity": 1.1868062257381733 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.6440403748931982, + 0.6698456385751621, + 0.7111340604663042 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 6258.791163144154, + "intensity": 0.6801677440479477 + }, + "point_color_scale": [ + 1.0209435250732, + 0.9751868187149038, + 0.8967467506721104 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000334/scene_b03_016/scene_meta.json b/so100/ProcTHOR/test/bg_000334/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b74d08bdd3ae64557afe4204a8a279fcc11d0601 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000334/scene_b03_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 334, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.951031121114836, + "K": [ + [ + 457.2800180383748, + 0.0, + 331.1943865630307 + ], + [ + 0.0, + 466.08801841345166, + 242.6281415685047 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.681497086958955, + -3.711891120336178, + 1.184341789747046 + ], + "camera_target": [ + -5.8438317514709155, + -2.8780658627059963, + 1.1916013264357395 + ], + "camera_roll_rad": -0.01707778305750335, + "camera_pose_world_cv": [ + [ + 0.9810541272163391, + 0.03188753128051758, + -0.19109144806861877, + -5.681497097015381 + ], + [ + 0.19070051610469818, + 0.014908909797668457, + 0.9815350770950317, + -3.7118911743164062 + ], + [ + 0.03414767235517502, + -0.999380350112915, + 0.008545398712158203, + 1.1843417882919312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.3055988550186157, + -0.9521604180335999, + -6.652031814269321e-09, + -5.8227338790893555 + ], + [ + 0.9521604180335999, + 0.3055988550186157, + 5.969904037783635e-08, + -2.86460542678833 + ], + [ + -5.4810207927857846e-08, + -2.4577763824140675e-08, + 1.0, + 0.9702378511428833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21999518801871404, + 0.2255539175701314, + 0.22198767893366148 + ], + "directional_primary": { + "direction": [ + 0.5617063672939523, + -0.017343896144983363, + -0.8271548489901654 + ], + "color": [ + 0.9168667977527408, + 0.9061383662763902, + 0.8877467694597894 + ], + "azimuth_rad": -0.030867350668808413, + "elevation_rad": 0.9740258787456865, + "color_temp_k": 5330.861033470181, + "intensity": 0.9061383662763902 + }, + "directional_fill": { + "direction": [ + -0.2131292151146256, + -0.3306666646871293, + -0.9193668976688866 + ], + "color": [ + 0.7560224149491422, + 0.7540372819257081, + 0.7506341967426781 + ], + "azimuth_rad": -2.1433264801986454, + "elevation_rad": 1.166468144694242, + "color_temp_k": 5462.39039650733, + "intensity": 0.7540372819257081 + }, + "point_color_scale": [ + 1.1793209082729776, + 1.1430190590580236, + 1.0807873175466742 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8609a33f9fa9b6392c27a005effb80027b96be6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.967705406546837, + "K": [ + [ + 465.70578204054425, + 0.0, + 331.9810309206549 + ], + [ + 0.0, + 456.6925726021408, + 218.29599844601069 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2334194712122633, + -1.061904713144676, + 0.9237904448026321 + ], + "camera_target": [ + -0.7503395918594675, + -1.0716523449306918, + 0.8720753862279209 + ], + "camera_roll_rad": 0.04087275430581, + "camera_pose_world_cv": [ + [ + -0.010665178298950195, + 0.10071966052055359, + -0.994857668876648, + -0.2334194779396057 + ], + [ + 0.9966367483139038, + -0.07976973056793213, + -0.01876014471054077, + -1.0619046688079834 + ], + [ + -0.08124902844429016, + -0.9917117953300476, + -0.0995301604270935, + 0.923790454864502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3477293478105103, + 0.3220260352029636, + 0.32080202091794113 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.17252460267172, + 1.120802112294426, + 1.0321349859333506 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4840.746496129438, + "intensity": 1.120802112294426 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7226734496175549, + 0.7479224255141581, + 0.7883207869487232 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6166.18054272556, + "intensity": 0.7580220158727994 + }, + "point_color_scale": [ + 1.1973421933755692, + 1.1734484355921568, + 1.1324877079634499 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..773f932f7676280d9e544fd1b8acade2f7894056 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1624071914346152, + "K": [ + [ + 347.5638108066832, + 0.0, + 334.2651084961109 + ], + [ + 0.0, + 365.3579518020412, + 261.2500587739407 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4625884167389118, + -0.5929108068153002, + 1.11509701904243 + ], + "camera_target": [ + -0.7632086567483979, + -1.0593345799257567, + 0.9608681511589823 + ], + "camera_roll_rad": -0.012269295573065143, + "camera_pose_world_cv": [ + [ + -0.8438479900360107, + 0.12440446019172668, + -0.5219618082046509, + -0.46258842945098877 + ], + [ + 0.5360614061355591, + 0.23830902576446533, + -0.8098439574241638, + -0.5929108262062073 + ], + [ + 0.02364000678062439, + -0.9631887078285217, + -0.26778489351272583, + 1.1150970458984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24868708457274488, + 0.2310976964078811, + 0.24074982862952748 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0402605698564669, + 0.9747263457836595, + 0.8623819616588468 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4539.522010367517, + "intensity": 0.9747263457836595 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8021923767435535, + 0.8339111690321878, + 0.8846612366940028 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6249.322974748771, + "intensity": 0.8465986859476415 + }, + "point_color_scale": [ + 0.9344635204400265, + 0.9657779970061199, + 1.0158811595118693 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..816e4a28e427477820bc7fb329f917aa4196457f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.255548546998756, + "K": [ + [ + 330.4303077801739, + 0.0, + 289.85851927555666 + ], + [ + 0.0, + 330.7100194751979, + 242.37284235678865 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.443632015651901, + -0.5622627752571437, + 0.8608679595236695 + ], + "camera_target": [ + -0.7323865925760902, + -1.08662944009231, + 0.962038906609906 + ], + "camera_roll_rad": -0.021140980811619192, + "camera_pose_world_cv": [ + [ + -0.596752405166626, + 0.06639179587364197, + 0.7996742725372314, + -1.4436320066452026 + ], + [ + -0.8013259172439575, + -0.10146254301071167, + -0.5895610451698303, + -0.562262773513794 + ], + [ + 0.04199504852294922, + -0.9926216006278992, + 0.11374962329864502, + 0.860867977142334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3841033259107567, + 0.381816135741197, + 0.35936041254082357 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.069349665401459, + 1.09129337385467, + 1.1264033073798077 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5898.9508186472085, + "intensity": 1.1000708572359543 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8499161320385864, + 0.8331029937834742, + 0.8042804710604249 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5211.695083139781, + "intensity": 0.8331029937834742 + }, + "point_color_scale": [ + 1.0442607086276063, + 1.0706453076777036, + 1.112860666157859 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee21890f97c5f033f016b9ab2270f4887a04ce2a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2297418587495828, + "K": [ + [ + 333.70278820635986, + 0.0, + 302.2331984392181 + ], + [ + 0.0, + 339.8499538116756, + 243.32818796928746 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.25222030851310034, + -0.28527712192504584, + 0.9928638509556479 + ], + "camera_target": [ + -0.765226053006592, + -1.1159105473679458, + 0.9885793141818198 + ], + "camera_roll_rad": -0.016430585192713724, + "camera_pose_world_cv": [ + [ + -0.8504292964935303, + -0.025648847222328186, + -0.5254635810852051, + -0.2522203028202057 + ], + [ + 0.5250623226165771, + 0.02099621295928955, + -0.8508047461509705, + -0.2852771282196045 + ], + [ + 0.032854899764060974, + -0.9994505047798157, + -0.004388570785522461, + 0.9928638339042664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29540429803050655, + 0.30813861332165593, + 0.2902357273094704 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1074374881951394, + 1.063912413786303, + 0.9892980005140121 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4915.565821761355, + "intensity": 1.063912413786303 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7364450185820577, + 0.759491239615948, + 0.7963651932701727 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6099.607893423351, + "intensity": 0.7687097280295042 + }, + "point_color_scale": [ + 0.8132794477403282, + 0.8302873297775594, + 0.8574999410371292 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8019ee2186d54b7be5a39b78ec28daf5e39bafd4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.875093109547796, + "K": [ + [ + 511.3126393176955, + 0.0, + 300.69684860369455 + ], + [ + 0.0, + 513.0542744746665, + 253.75445097123765 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.737255463276245, + -0.553411998257498, + 1.0846654709280794 + ], + "camera_target": [ + -0.7333037570011461, + -1.1163915459990723, + 0.9285448032666221 + ], + "camera_roll_rad": -0.013074009063450777, + "camera_pose_world_cv": [ + [ + -0.9995846748352051, + -0.028019391000270844, + 0.006763756275177002, + -0.7372554540634155 + ], + [ + -0.014002922922372818, + 0.2669391632080078, + -0.9636117815971375, + -0.5534120202064514 + ], + [ + 0.025194302201271057, + -0.9633061289787292, + -0.2672203779220581, + 1.0846654176712036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31115068820114766, + 0.3091390197768831, + 0.3173949210923452 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0213863210066605, + 0.9790368012322956, + 0.9064376244762417 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4882.0527084658215, + "intensity": 0.9790368012322956 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8489150606883878, + 0.859243511118681, + 0.8757690318071503 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5739.2576048824285, + "intensity": 0.8633748912907984 + }, + "point_color_scale": [ + 0.9512326189182908, + 0.9143206844954239, + 0.851043082627652 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50f7bde301ce1824e7dea5b1dae25c0c0c76a14f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8093594377513423, + "K": [ + [ + 583.004254670947, + 0.0, + 315.76998370157287 + ], + [ + 0.0, + 560.3281599795628, + 234.53065912065787 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3273232859930029, + -0.9076441745418531, + 0.8919991129383412 + ], + "camera_target": [ + -0.6994733495733979, + -1.1357236298458724, + 0.8553917525536217 + ], + "camera_roll_rad": 0.00016137038419893057, + "camera_pose_world_cv": [ + [ + -0.34145593643188477, + -0.051321208477020264, + 0.9384956359863281, + -1.327323317527771 + ], + [ + -0.9398977756500244, + 0.018986821174621582, + -0.34092777967453003, + -0.9076441526412964 + ], + [ + -0.000322192907333374, + -0.998501718044281, + -0.054719746112823486, + 0.8919991254806519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29643256632580806, + 0.30114949438529415, + 0.30355458320434414 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.94604253831254, + 0.9870738773786317, + 1.0527240198843786 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6317.775677564347, + "intensity": 1.0034864130050685 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5936411800358423, + 0.5981089727982749, + 0.605257441218167 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5648.952221480661, + "intensity": 0.5998960899032479 + }, + "point_color_scale": [ + 1.0535831660248027, + 1.068517949455118, + 1.0924136029436227 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6973acc0431e631de714e1b130da6d31ed8c426 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1118420925267585, + "K": [ + [ + 404.03226636621775, + 0.0, + 288.9580911039881 + ], + [ + 0.0, + 386.29816677153235, + 247.884328164606 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2220470467703441, + -1.4381099856516126, + 0.9605032964517556 + ], + "camera_target": [ + -0.7594903879257513, + -1.0476182746930693, + 0.9291903701091754 + ], + "camera_roll_rad": -0.0004942561821518199, + "camera_pose_world_cv": [ + [ + 0.6451117992401123, + -0.03883558511734009, + 0.7631007432937622, + -1.2220470905303955 + ], + [ + -0.7640876173973083, + -0.03407853841781616, + 0.6442118883132935, + -1.4381099939346313 + ], + [ + 0.0009870827198028564, + -0.998664379119873, + -0.05165821313858032, + 0.9605032801628113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28474494034310854, + 0.2816616319560439, + 0.25908431440767277 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0730661933535388, + 1.0148356574065094, + 0.9150118814973163 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4680.2960477668175, + "intensity": 1.0148356574065094 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8257577859703836, + 0.7962598723200401, + 0.7456920203480227 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4970.777341566064, + "intensity": 0.7962598723200401 + }, + "point_color_scale": [ + 0.8161056419160059, + 0.82745703322175, + 0.8456192593109407 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41628ca3530ce4665304c0d53157e4ee762dee11 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9369376234189459, + "K": [ + [ + 477.7334691938897, + 0.0, + 346.2995853395686 + ], + [ + 0.0, + 474.2697655949531, + 257.6045528387534 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0992740478276763, + -0.2949984020637001, + 0.9537013621940873 + ], + "camera_target": [ + -0.7608392244184381, + -1.1379821330977522, + 0.9434126478113553 + ], + "camera_roll_rad": -0.04803636579513272, + "camera_pose_world_cv": [ + [ + -0.9233207702636719, + -0.09321898221969604, + 0.3725445866584778, + -1.0992740392684937 + ], + [ + -0.3718585968017578, + -0.025276780128479004, + -0.9279452562332153, + -0.2949984073638916 + ], + [ + 0.09591887891292572, + -0.9953248500823975, + -0.011325538158416748, + 0.953701376914978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22497526485649222, + 0.23780066552618748, + 0.23922385931581716 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9333466170019977, + 0.9811651254640686, + 1.0576747390033825 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6456.090485192346, + "intensity": 1.000292528848897 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8171684804541234, + 0.8440422782106153, + 0.8870403546210022 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6128.779963517707, + "intensity": 0.854791797313212 + }, + "point_color_scale": [ + 1.2438856780382133, + 1.1859870558681336, + 1.0867322750051396 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9ad30a5a00ab484b382be91576010c308c851e0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9115922614150049, + "K": [ + [ + 478.6737160589387, + 0.0, + 322.1252229216723 + ], + [ + 0.0, + 489.5722838065703, + 230.13478667499683 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5204127997855021, + -0.720312327216484, + 0.6846574493492488 + ], + "camera_target": [ + -0.7818968106679824, + -1.1179694874579031, + 0.8948173889175557 + ], + "camera_roll_rad": -0.03131904002797116, + "camera_pose_world_cv": [ + [ + -0.4865607023239136, + 0.18389728665351868, + 0.8540729284286499, + -1.520412802696228 + ], + [ + -0.8715342283248901, + -0.17011511325836182, + -0.45987939834594727, + -0.7203123569488525 + ], + [ + 0.06072014570236206, + -0.9681129455566406, + 0.24304413795471191, + 0.6846574544906616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23575253486710454, + 0.2517952948867897, + 0.236081271326173 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9966421620761844, + 0.9456366799038283, + 0.8581987104655034 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4729.461207666482, + "intensity": 0.9456366799038283 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7296179169335419, + 0.7419877832893379, + 0.7617795694586114 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5831.216351334106, + "intensity": 0.7469357298316562 + }, + "point_color_scale": [ + 1.2078982174872228, + 1.187332542796409, + 1.1520771004692998 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae644ebbba1433d42791c7dd38cf0d64a211a670 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7961981078751392, + "K": [ + [ + 586.1221632465104, + 0.0, + 331.0453290388324 + ], + [ + 0.0, + 570.675459820457, + 233.73739011476303 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6215354893756551, + -0.38869689696220744, + 0.7565728834763266 + ], + "camera_target": [ + -0.7593944152406397, + -1.0718196799619655, + 0.8590228808269278 + ], + "camera_roll_rad": -0.01376195390363185, + "camera_pose_world_cv": [ + [ + -0.9790756702423096, + -0.055737726390361786, + -0.19571562111377716, + -0.6215354800224304 + ], + [ + 0.2016679048538208, + -0.13707375526428223, + -0.9698149561882019, + -0.38869690895080566 + ], + [ + 0.027227789163589478, + -0.9889915585517883, + 0.1454463005065918, + 0.7565729022026062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3262499604438312, + 0.3090353856758544, + 0.3070128578163428 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1296199594795835, + 1.1644831600598045, + 1.220264280988158 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6091.689735043827, + "intensity": 1.1784284402918928 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6822934645055055, + 0.7076926833047771, + 0.7483314333836119 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6207.644630889761, + "intensity": 0.7178523708244858 + }, + "point_color_scale": [ + 1.1883046132632107, + 1.13871634881314, + 1.0537078954701617 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f898370928a494c429865e10ba3d1f91d2054595 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2788932836648033, + "K": [ + [ + 330.2231159510004, + 0.0, + 304.3464245355518 + ], + [ + 0.0, + 322.71768454862394, + 245.11990841119226 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.11087664826056287, + -0.6116753479852288, + 1.0235931676877512 + ], + "camera_target": [ + -0.6941433738798043, + -1.1137724392786394, + 0.9002215428394151 + ], + "camera_roll_rad": -0.019193167365279443, + "camera_pose_world_cv": [ + [ + -0.6565265655517578, + 0.0948326587677002, + -0.748318076133728, + -0.1108766496181488 + ], + [ + 0.7533506751060486, + 0.13227319717407227, + -0.6441791653633118, + -0.6116753220558167 + ], + [ + 0.03789311647415161, + -0.9866665005683899, + -0.15828293561935425, + 1.0235931873321533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3984212073204528, + 0.3672797370886267, + 0.3671735755105898 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.144331888252634, + 1.1006016614542686, + 1.0256355583713563 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4932.385441917768, + "intensity": 1.1006016614542686 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5882603940307234, + 0.580856613678863, + 0.5681644187899594 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5317.909810700134, + "intensity": 0.580856613678863 + }, + "point_color_scale": [ + 1.1053583482680498, + 1.1001120909491193, + 1.0911185069738103 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33d05aa85b6e688c6de22429b307379c14d17108 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.18670708239617, + "K": [ + [ + 372.8463652718147, + 0.0, + 305.7776127045442 + ], + [ + 0.0, + 355.85946274949737, + 232.31867464668386 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8207883552034947, + -0.43009566590870907, + 1.089690031683566 + ], + "camera_target": [ + -0.7399521767853487, + -1.046890367847365, + 0.9630545613945325 + ], + "camera_roll_rad": -0.016404426771306845, + "camera_pose_world_cv": [ + [ + -0.9901372194290161, + -0.05843281373381615, + 0.12733569741249084, + -0.8207883834838867 + ], + [ + -0.13636551797389984, + 0.19341957569122314, + -0.9715932607650757, + -0.4300956726074219 + ], + [ + 0.0321437269449234, + -0.9793746471405029, + -0.1994798183441162, + 1.089690089225769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29823830211921526, + 0.32543877601178933, + 0.31274385334949545 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8824825458965998, + 0.9167533082160261, + 0.9715865279271083 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6236.640003957476, + "intensity": 0.9304616131437966 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7051239197803217, + 0.6785549715744676, + 0.633008203221575 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4940.640156154072, + "intensity": 0.6785549715744676 + }, + "point_color_scale": [ + 0.9622765217539236, + 0.9931041706698316, + 1.0424284089352844 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a623ed6572e11e160757537451df99e8f3d3ca6c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0626212470932013, + "K": [ + [ + 391.99029219782506, + 0.0, + 299.5281716340919 + ], + [ + 0.0, + 408.3862625580272, + 262.7235513767783 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2701377260757744, + -1.391743428213676, + 0.9459765092988077 + ], + "camera_target": [ + -0.7265732125621206, + -1.0461823386567386, + 0.8503172308003768 + ], + "camera_roll_rad": -0.03845532778690332, + "camera_pose_world_cv": [ + [ + 0.5917293429374695, + 0.17738816142082214, + -0.7863776683807373, + -0.2701377272605896 + ], + [ + 0.802566647529602, + -0.03792691230773926, + 0.5953556895256042, + -1.3917434215545654 + ], + [ + 0.07578414678573608, + -0.9834099411964417, + -0.1648082137107849, + 0.9459764957427979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29552241099888155, + 0.2971970766743212, + 0.3152505780507526 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8470455058643126, + 0.8748029391020834, + 0.9192148322825169 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6126.645174150863, + "intensity": 0.8859059123971917 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8199936922227046, + 0.781720222443067, + 0.7161085599636886 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4800.56324718574, + "intensity": 0.781720222443067 + }, + "point_color_scale": [ + 1.156466784392016, + 1.1227688315427664, + 1.0650009123726245 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..341560fe658157425f3e4a72a8caeccbe1b6eac7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0001551485974067, + "K": [ + [ + 442.89124754525005, + 0.0, + 294.890192401014 + ], + [ + 0.0, + 439.2360643845082, + 263.6218226527496 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5340003753789948, + -0.6962968065326021, + 0.9041193948785328 + ], + "camera_target": [ + -0.730451811002595, + -1.1398072469052871, + 0.9054937136092533 + ], + "camera_roll_rad": -0.024071111837157478, + "camera_pose_world_cv": [ + [ + -0.4827253818511963, + -0.021944940090179443, + 0.8754969835281372, + -1.5340003967285156 + ], + [ + -0.8744487166404724, + -0.04285484552383423, + -0.48322150111198425, + -0.6962968111038208 + ], + [ + 0.04812362790107727, + -0.99884033203125, + 0.001497507095336914, + 0.9041193723678589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2546291630394015, + 0.23530313887524487, + 0.24695326185991945 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0963195335162983, + 1.0850308166903935, + 1.0656787307031284 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5351.370688512688, + "intensity": 1.0850308166903935 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7378459316831532, + 0.7310117328753977, + 0.7192959634906742 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5366.443441125993, + "intensity": 0.7310117328753977 + }, + "point_color_scale": [ + 1.132704809671754, + 1.1069242625224862, + 1.0627290388380275 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2306d7f34d0181cceccd2a6b28466f0bf4bcf10 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8999947317327943, + "K": [ + [ + 500.7173990246392, + 0.0, + 301.6671749466211 + ], + [ + 0.0, + 496.8411082142286, + 257.6110184324103 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4074468084162726, + -1.6588932406359427, + 0.8694311234167033 + ], + "camera_target": [ + -0.7818973610245508, + -1.0486433162275952, + 0.878662093012907 + ], + "camera_roll_rad": 0.020668234219885243, + "camera_pose_world_cv": [ + [ + 0.6980149745941162, + -0.0213029682636261, + 0.7157662510871887, + -1.4074468612670898 + ], + [ + -0.7148898839950562, + 0.036949753761291504, + 0.6982600092887878, + -1.6588932275772095 + ], + [ + -0.041322410106658936, + -0.9990900158882141, + 0.01056218147277832, + 0.8694311380386353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2854853239833905, + 0.30645429581455386, + 0.2995624415077109 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9724836147632963, + 1.0051452789316873, + 1.0574039416011132 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6141.550681009167, + "intensity": 1.0182099445990438 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8891011042599942, + 0.8693984328280372, + 0.835622424658968 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5176.251159291063, + "intensity": 0.8693984328280372 + }, + "point_color_scale": [ + 0.8567179881850248, + 0.892335013627637, + 0.9493222543358167 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d71b9412a45eb6f25940f5f06fbc39cdd89aaec --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9238276291005356, + "K": [ + [ + 462.18180397694255, + 0.0, + 344.1478545788909 + ], + [ + 0.0, + 482.08779504758184, + 217.4277953374681 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.12613813545704533, + -1.117075773944477, + 0.9078526463258387 + ], + "camera_target": [ + -0.6881929787693767, + -1.1168547952383094, + 0.9786290686634775 + ], + "camera_roll_rad": 0.025756817493836667, + "camera_pose_world_cv": [ + [ + -0.0060405731201171875, + -0.12479224801063538, + -0.9921646118164062, + -0.1261381357908249 + ], + [ + 0.998676061630249, + -0.05144155025482178, + 0.00039017200469970703, + -1.117075800895691 + ], + [ + -0.05108734965324402, + -0.9908485412597656, + 0.12493789196014404, + 0.9078526496887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9251958131790161, + -0.3794900178909302, + 4.0766988007590044e-08, + -0.7324663996696472 + ], + [ + 0.3794900178909302, + 0.9251958131790161, + -5.271569847309365e-08, + -1.0913487672805786 + ], + [ + -1.7712366684463632e-08, + 6.42430109110137e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24963880900448152, + 0.24630482155984862, + 0.24438448693132359 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0694861182742197, + 1.0592676411342494, + 1.0417502517514432 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5362.189460729295, + "intensity": 1.0592676411342494 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6341787518375633, + 0.6130900138534787, + 0.5769378915950477 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5008.607743268634, + "intensity": 0.6130900138534787 + }, + "point_color_scale": [ + 0.951190134930037, + 0.9746662268017262, + 1.012227973796429 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c21265168460a63f5043b9a09e4ccc22a8968b0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.022232739090302, + "K": [ + [ + 407.23542935065126, + 0.0, + 296.6022373177024 + ], + [ + 0.0, + 427.94075567076084, + 236.01536699398133 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.31516978457341155, + -0.5156024947816495, + 1.1335239449144676 + ], + "camera_target": [ + -0.29124869249014784, + -0.9834546162711162, + 0.9870375738925169 + ], + "camera_roll_rad": -0.013902335795308154, + "camera_pose_world_cv": [ + [ + -0.9978859424591064, + -0.04299842193722725, + 0.04873588681221008, + -0.3151697814464569 + ], + [ + -0.05932952091097832, + 0.29652082920074463, + -0.9531818628311157, + -0.5156024694442749 + ], + [ + 0.026534104719758034, + -0.954058051109314, + -0.29844486713409424, + 1.133523941040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31440205010673894, + 0.2933384609808289, + 0.31130721626892927 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9641368885731011, + 0.9194353721833874, + 0.8428042012295928 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4805.450811876911, + "intensity": 0.9194353721833874 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7710564518528393, + 0.7378900919155365, + 0.6810334748801601 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4857.891985334172, + "intensity": 0.7378900919155365 + }, + "point_color_scale": [ + 1.0942875943262715, + 1.0527341676576925, + 0.9814997219401281 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd12b85f847a6a532fa1a71f3b6451fb77ccd5ed --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8975852305434905, + "K": [ + [ + 503.0389481953026, + 0.0, + 295.69609007821083 + ], + [ + 0.0, + 498.3732118662238, + 241.9568636817563 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2414102560464122, + -0.7725621093070691, + 1.0744740913376725 + ], + "camera_target": [ + -0.30613921873810723, + -0.9695000936010334, + 0.8621481169123182 + ], + "camera_roll_rad": -0.05075548379997847, + "camera_pose_world_cv": [ + [ + -0.18348407745361328, + -0.23199716210365295, + 0.9552545547485352, + -1.241410255432129 + ], + [ + -0.9780325889587402, + -0.054707884788513184, + -0.20114582777023315, + -0.7725620865821838 + ], + [ + 0.09892526268959045, + -0.9711769223213196, + -0.21686255931854248, + 1.0744740962982178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3167012961311512, + 0.33111444076330016, + 0.3147182688995064 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1723012443740357, + 1.1337134624262517, + 1.0675629790871939 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5013.762475179797, + "intensity": 1.1337134624262517 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8849002525926694, + 0.902980441263073, + 0.9319087431357188 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5897.274006631625, + "intensity": 0.9102125167312345 + }, + "point_color_scale": [ + 1.1512110150173558, + 1.1229596545424188, + 1.0745287508710983 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f59aa116d59236627f7b8a0a61334d4681178b1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.980832760941717, + "K": [ + [ + 451.96133958721936, + 0.0, + 315.00746267486676 + ], + [ + 0.0, + 449.50292780056157, + 232.46150776523717 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.19431185112780613, + -0.4520646263091243, + 1.0515689150505136 + ], + "camera_target": [ + -0.3473089582487802, + -0.9417809101507881, + 0.8772098843593668 + ], + "camera_roll_rad": 0.004215344396237199, + "camera_pose_world_cv": [ + [ + -0.9536588191986084, + 0.1039966344833374, + -0.28234630823135376, + -0.19431185722351074 + ], + [ + 0.30078399181365967, + 0.3046034574508667, + -0.903739869594574, + -0.4520646333694458 + ], + [ + -0.007982239127159119, + -0.9467847943305969, + -0.3217683434486389, + 1.051568865776062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.358684562764717, + 0.3858284844452807, + 0.3867691666384053 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0714866622610624, + 1.0516391622835797, + 1.0176148766078947 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5230.3868816102695, + "intensity": 1.0516391622835797 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6997661488705813, + 0.7091412879093436, + 0.7241415103713633 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5763.017334237991, + "intensity": 0.7128913435248485 + }, + "point_color_scale": [ + 1.0311265013196533, + 1.019764192754724, + 1.0002859495005596 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..425a5dceaf8292d23aa9a680b1522810e9963f79 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8758801026191753, + "K": [ + [ + 494.76744476610526, + 0.0, + 330.4597100149431 + ], + [ + 0.0, + 512.5287023711033, + 222.2220273149413 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.24443175153454622, + -0.2988258113776132, + 1.001861291157326 + ], + "camera_target": [ + -0.31836871926287397, + -0.9302688553931708, + 0.9052758656945117 + ], + "camera_roll_rad": 0.030281330897030667, + "camera_pose_world_cv": [ + [ + -0.9903362989425659, + 0.07755069434642792, + -0.1149781122803688, + -0.2444317489862442 + ], + [ + 0.1251133680343628, + 0.14186668395996094, + -0.9819473028182983, + -0.29882580041885376 + ], + [ + -0.059839121997356415, + -0.9868433475494385, + -0.1501983404159546, + 1.001861333847046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34091464000889954, + 0.3255073661339505, + 0.31173745836006034 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9775770958368998, + 1.0069819743965993, + 1.0540297800921188 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6077.277131463972, + "intensity": 1.0187439258204791 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6265502192103184, + 0.645601210637919, + 0.67608279692208 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6083.293363763649, + "intensity": 0.6532216072089592 + }, + "point_color_scale": [ + 0.7721249295523831, + 0.7927344771032957, + 0.8257097531847559 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51f2a3e276782e8f26c2bdbcf91f210001eb7fc6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3003790936033897, + "K": [ + [ + 304.58754255502663, + 0.0, + 328.7178194632886 + ], + [ + 0.0, + 315.58038914774244, + 230.15388673918255 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2197715190274996, + -0.5012070962963198, + 0.9747234043184018 + ], + "camera_target": [ + -0.3088707679552819, + -0.9126545451329041, + 0.8542355072827233 + ], + "camera_roll_rad": -0.013410320450209033, + "camera_pose_world_cv": [ + [ + -0.9785571098327637, + 0.03200491517782211, + -0.20347543060779572, + -0.21977151930332184 + ], + [ + 0.20435714721679688, + 0.2745034694671631, + -0.939620316028595, + -0.5012071132659912 + ], + [ + 0.025782212615013123, + -0.9610535502433777, + -0.2751573920249939, + 0.9747233986854553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28136528130774385, + 0.28000787935927585, + 0.3008611330813808 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0087023588291633, + 1.006164047302582, + 1.0018126561141567 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5463.960555603145, + "intensity": 1.006164047302582 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5639327302071847, + 0.5631230916982197, + 0.5617351399685656 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5479.460504134355, + "intensity": 0.5631230916982197 + }, + "point_color_scale": [ + 1.1067806992922968, + 1.1203275384088371, + 1.1420024809953018 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..124618981d4aea16914c2f0ffa0dc35a00622247 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0832583094443338, + "K": [ + [ + 381.34224572154653, + 0.0, + 294.59394117397034 + ], + [ + 0.0, + 398.90545280317633, + 245.062016685318 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.040027707232353216, + -0.552495601801797, + 0.9877966064747042 + ], + "camera_target": [ + -0.3572444835455375, + -0.9760701412359442, + 0.8823509251069741 + ], + "camera_roll_rad": 0.012761607586674412, + "camera_pose_world_cv": [ + [ + -0.7971707582473755, + 0.13752946257591248, + -0.5878815650939941, + -0.04002770781517029 + ], + [ + 0.6032352447509766, + 0.1410670280456543, + -0.7849889397621155, + -0.5524955987930298 + ], + [ + -0.025028496980667114, + -0.9804009795188904, + -0.1954168677330017, + 0.9877966046333313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2890920494116664, + 0.2805617937828285, + 0.2974485756339497 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8924495604759031, + 0.8782881323938136, + 0.8540113985388034 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5269.658602915395, + "intensity": 0.8782881323938136 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6581545031035347, + 0.6476358489207683, + 0.6296038703217403 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5267.976883034439, + "intensity": 0.6476358489207683 + }, + "point_color_scale": [ + 1.0094401728050788, + 1.0508517032812759, + 1.1171101520431912 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..579753b2ca3d1cb7d46c680126b4838dd430226b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1361864395110297, + "K": [ + [ + 357.4582048158747, + 0.0, + 337.7106104782151 + ], + [ + 0.0, + 376.0095449836523, + 216.62443588392048 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.02084793645346633, + -1.2822934878678347, + 1.0147263046175783 + ], + "camera_target": [ + -0.3330334495029676, + -0.9809768928016102, + 0.9514721232187741 + ], + "camera_roll_rad": -0.004293604733799299, + "camera_pose_world_cv": [ + [ + 0.6935535669326782, + 0.10975953936576843, + -0.7119945883750916, + -0.02084793709218502 + ], + [ + 0.7203549146652222, + -0.09400367736816406, + 0.6872060298919678, + -1.282293438911438 + ], + [ + 0.008497238159179688, + -0.989503026008606, + -0.144262433052063, + 1.0147262811660767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35003751596104804, + 0.36324150936652855, + 0.3501551412535863 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9715155049436968, + 0.9965591568558395, + 1.036628999915268 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5997.60050996098, + "intensity": 1.0065766176206967 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6845096884052778, + 0.6932928963080746, + 0.7073460289525493 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5752.0990244227605, + "intensity": 0.6968061794691933 + }, + "point_color_scale": [ + 1.1549530133096773, + 1.1367095432689633, + 1.1054350231991683 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e89558ceae9498d34ff56afe767ecf68a8368480 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2416789372261239, + "K": [ + [ + 330.3796943785141, + 0.0, + 322.1720011919798 + ], + [ + 0.0, + 335.5812221911743, + 240.61778927993112 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.102339524768995, + -1.4789671920189604, + 0.9710481803872986 + ], + "camera_target": [ + -0.3647800131865051, + -0.9091018201044253, + 0.8482618021056577 + ], + "camera_roll_rad": -0.0190393100250366, + "camera_pose_world_cv": [ + [ + 0.614893913269043, + -0.08000180125236511, + 0.7845413684844971, + -1.102339506149292 + ], + [ + -0.7877061367034912, + -0.1099211573600769, + 0.6061652898788452, + -1.4789671897888184 + ], + [ + 0.037743330001831055, + -0.9907153844833374, + -0.13060778379440308, + 0.9710481762886047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30854270439181025, + 0.3038308034276667, + 0.29431084587754375 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9412646214444369, + 0.9356110893371063, + 0.9259193200102539 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5413.677012477845, + "intensity": 0.9356110893371063 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6339292177873989, + 0.6364413531151852, + 0.6404607696396436 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5578.818739502384, + "intensity": 0.6374462072462999 + }, + "point_color_scale": [ + 0.7815896084154047, + 0.8118073361972248, + 0.860155700648137 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f25e77820c7a28b0b2be6889e52fa02c11f9223d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9968438937258915, + "K": [ + [ + 434.12666269021923, + 0.0, + 320.495217943757 + ], + [ + 0.0, + 440.9695750891966, + 226.8491004291977 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.09507672407198561, + -1.5307941777281582, + 0.9376937219276035 + ], + "camera_target": [ + -0.37511265380382997, + -0.9685747138685251, + 0.9920420772884635 + ], + "camera_roll_rad": 0.0024592637699016873, + "camera_pose_world_cv": [ + [ + 0.8949101567268372, + -0.04283662140369415, + -0.4441855549812317, + -0.09507672488689423 + ], + [ + 0.44621944427490234, + 0.07497000694274902, + 0.8917778730392456, + -1.5307941436767578 + ], + [ + -0.00490020215511322, + -0.9962652921676636, + 0.08620595932006836, + 0.93769371509552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28770419167947947, + 0.27859421157133196, + 0.2664329097014867 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0351209997620083, + 1.041533871345926, + 1.0517944658801937 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5622.8402950525415, + "intensity": 1.0440990199794928 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8599014685548669, + 0.8749375795560169, + 0.898995357157857 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5841.360496196394, + "intensity": 0.880952023956477 + }, + "point_color_scale": [ + 1.0509238870439954, + 1.0243468525326842, + 0.9787862219418649 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b696ec0a2c3c4e6eb98bbc897a010ac63772c2de --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8967461992574531, + "K": [ + [ + 474.3315671884784, + 0.0, + 340.9166737579087 + ], + [ + 0.0, + 498.90851847415354, + 235.50507243582635 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.1285245904542698, + -0.5060909553684092, + 0.7876611730123375 + ], + "camera_target": [ + -0.33344445117896787, + -0.9297497266010493, + 0.9055548802657375 + ], + "camera_roll_rad": 0.01277833440121387, + "camera_pose_world_cv": [ + [ + -0.9026328325271606, + -0.08277098834514618, + -0.4223780035972595, + -0.12852458655834198 + ], + [ + 0.42969727516174316, + -0.22981035709381104, + -0.8732396960258484, + -0.5060909390449524 + ], + [ + -0.024787962436676025, + -0.9697093367576599, + 0.24300098419189453, + 0.7876611948013306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28361523988959575, + 0.29472753680408553, + 0.27368151582281597 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.2050815252614993, + 1.1497484601817747, + 1.0548917771879611 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4812.482351003274, + "intensity": 1.1497484601817747 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7415026974750504, + 0.7497698674384825, + 0.7629973393799738 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5719.557173248198, + "intensity": 0.7530767354238553 + }, + "point_color_scale": [ + 0.8891245634545778, + 0.848926359445002, + 0.7800151525714439 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0ce5a849323bcbf3fe3aa7033bb105ec66b8c83 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0095712309114402, + "K": [ + [ + 452.5745922543308, + 0.0, + 342.31144125016255 + ], + [ + 0.0, + 434.36343946766885, + 246.61616835513354 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3793919790170038, + -0.3755197605003129, + 0.9592612190170978 + ], + "camera_target": [ + -0.33933004319205806, + -0.977915287425354, + 0.9888120057606395 + ], + "camera_roll_rad": -0.0013838810629226844, + "camera_pose_world_cv": [ + [ + -0.9978010654449463, + 0.0004825107753276825, + 0.0662783831357956, + -0.37939196825027466 + ], + [ + -0.06622245907783508, + -0.04896456003189087, + -0.9966027736663818, + -0.3755197525024414 + ], + [ + 0.002764422446489334, + -0.9988003969192505, + 0.04888880252838135, + 0.9592612385749817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.295093023590254, + 0.30070618804937227, + 0.29177251925953074 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9526383294674231, + 0.9546296100812725, + 0.9578156590634314 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5541.683612522543, + "intensity": 0.9554261223268121 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7120712946425385, + 0.731699185399841, + 0.763103810611525 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6030.80607635474, + "intensity": 0.739550341702762 + }, + "point_color_scale": [ + 1.0504484370529923, + 1.0797424929368666, + 1.1266129823510662 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26434bf6a1fa5db9b7f139bb1295ec4d8c1ceaed --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8856567736779037, + "K": [ + [ + 481.6583484754425, + 0.0, + 327.26122234990686 + ], + [ + 0.0, + 506.0724499044708, + 250.1362571938212 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.908243410018395, + -0.5133682128461879, + 0.9976489553551908 + ], + "camera_target": [ + -0.37340646379731623, + -0.9866161799574725, + 0.8814156068277316 + ], + "camera_roll_rad": -0.05038516719908177, + "camera_pose_world_cv": [ + [ + -0.6472058296203613, + -0.18636170029640198, + 0.7391847372055054, + -0.9082434177398682 + ], + [ + -0.7558211088180542, + 0.030573010444641113, + -0.6540640592575073, + -0.5133681893348694 + ], + [ + 0.09929338097572327, + -0.9820053577423096, + -0.16064316034317017, + 0.9976489543914795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.259467992339663, + 0.26738498877351957, + 0.2659340972006774 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0095355438176892, + 1.028747027320141, + 1.0594854009240635 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5870.723608164038, + "intensity": 1.0364316207211215 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7577724961909195, + 0.7506823483254441, + 0.7385278091274865 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5365.072321367899, + "intensity": 0.7506823483254441 + }, + "point_color_scale": [ + 0.9192319990073697, + 0.9303643249259033, + 0.9481760463955571 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..399a41b5cece7c9e99d31a4906648c680c1b206e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7906969147660896, + "K": [ + [ + 560.9183162078806, + 0.0, + 331.81112487754433 + ], + [ + 0.0, + 575.0969831339287, + 230.14343054032307 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.15023476621302767, + -1.491199777808208, + 1.084424361331659 + ], + "camera_target": [ + -0.34775800879410473, + -0.9050263414038149, + 0.8526440429707276 + ], + "camera_roll_rad": -0.02838866319528885, + "camera_pose_world_cv": [ + [ + 0.939758837223053, + 0.16564291715621948, + -0.2990247309207916, + -0.15023475885391235 + ], + [ + 0.33768272399902344, + -0.3138579726219177, + 0.8873915076255798, + -1.4911997318267822 + ], + [ + 0.053138770163059235, + -0.9349095225334167, + -0.3508855104446411, + 1.084424376487732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2099146571285552, + 0.23430318143148238, + 0.21088355332459785 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1240453526612793, + 1.1671788798894922, + 1.236192523454633 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6228.340953956589, + "intensity": 1.1844322907807774 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8556442802717888, + 0.8813106663237356, + 0.9223768840068504 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6075.752395973373, + "intensity": 0.8915772207445143 + }, + "point_color_scale": [ + 1.0531462073709752, + 1.0575037881803457, + 1.0644759174753389 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25cf8a6607d2f292e3c59ccabb61bfd81412b3fc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0538063028634017, + "K": [ + [ + 425.99399748681986, + 0.0, + 338.21042484947867 + ], + [ + 0.0, + 412.53803388770336, + 232.88313655865187 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9836249469623611, + -0.4667075762145747, + 0.718270545963853 + ], + "camera_target": [ + -0.36697164861832704, + -0.9888450511529581, + 0.9300430255891003 + ], + "camera_roll_rad": 0.006070928304836534, + "camera_pose_world_cv": [ + [ + -0.6438007354736328, + 0.20131567120552063, + 0.7382363677024841, + -0.9836249351501465 + ], + [ + -0.7651032209396362, + -0.1545501947402954, + -0.6250850558280945, + -0.46670758724212646 + ], + [ + -0.011744797229766846, + -0.9672570824623108, + 0.2535269260406494, + 0.7182705402374268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35176384949113443, + 0.3410896618637748, + 0.34942220008589137 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9081201728537176, + 0.8880214316026037, + 0.8535664466006945 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5176.668980277042, + "intensity": 0.8880214316026037 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7684367773618296, + 0.7690462658363981, + 0.7700214473957079 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5515.845478975695, + "intensity": 0.7692900612262256 + }, + "point_color_scale": [ + 1.1036006999916363, + 1.059006006085339, + 0.9825579593888296 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99c0d1a6794006356b231d779e01bee336f25114 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0537783644232106, + "K": [ + [ + 403.1890921251081, + 0.0, + 310.4885319177451 + ], + [ + 0.0, + 412.55129260411246, + 262.2360213019885 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0107402480859808, + -1.4819056729806563, + 1.0558996410051564 + ], + "camera_target": [ + -0.3065203566218341, + -0.9463102805612323, + 0.9537615575098509 + ], + "camera_roll_rad": -0.004701040449250862, + "camera_pose_world_cv": [ + [ + 0.6061928272247314, + -0.0855846107006073, + 0.7906994223594666, + -1.0107402801513672 + ], + [ + -0.7952629327774048, + -0.07690370082855225, + 0.6013675928115845, + -1.4819056987762451 + ], + [ + 0.009339988231658936, + -0.9933586120605469, + -0.1146807074546814, + 1.0558996200561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32086200338285537, + 0.3233662440149429, + 0.3467540368227893 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1425858968494778, + 1.1572235538665034, + 1.1806438050937447 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5751.70537583939, + "intensity": 1.1630786166733138 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5783787488626951, + 0.5545576115794735, + 0.5137213762368077 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4886.354178387987, + "intensity": 0.5545576115794735 + }, + "point_color_scale": [ + 0.9076192975869875, + 0.9385451694707715, + 0.9880265644848261 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99f1a016695db40c4ae501a48dc93e2aeb248ef1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.299923027062021, + "K": [ + [ + 327.0411169050415, + 0.0, + 329.7519845211979 + ], + [ + 0.0, + 315.72978717056174, + 239.2769238448415 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.01483158205735463, + -0.3835147125689117, + 0.8589311644655436 + ], + "camera_target": [ + -0.36032866560234034, + -0.9854202054088057, + 0.860029366438945 + ], + "camera_roll_rad": 0.0014341070377769313, + "camera_pose_world_cv": [ + [ + -0.8672773838043213, + 0.001699879765510559, + -0.49782222509384155, + -0.014831582084298134 + ], + [ + 0.49781686067581177, + -0.002800166606903076, + -0.8672776818275452, + -0.3835147023200989 + ], + [ + -0.0028682351112365723, + -0.999994695186615, + 0.0015822649002075195, + 0.8589311838150024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9983242750167847, + -0.05786706507205963, + 5.957966919822866e-08, + -0.32837754487991333 + ], + [ + 0.05786706507205963, + -0.9983242750167847, + -1.7252959061409001e-09, + -0.9491682052612305 + ], + [ + 5.957966919822866e-08, + 1.7252959061409001e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31360861158171555, + 0.31044976172423117, + 0.30841070171511376 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.031149118548319, + 0.9963664194418301, + 0.9367389352592778 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5001.292203525251, + "intensity": 0.9963664194418301 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8348565780226581, + 0.8196940681558642, + 0.7937011940985031 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5235.746186014665, + "intensity": 0.8196940681558642 + }, + "point_color_scale": [ + 0.8716565197001092, + 0.8372821588007356, + 0.7783546829732382 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae7590f03c95ad757279019e3875b723538c4cfa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9901332373965531, + "K": [ + [ + 458.6418342651539, + 0.0, + 309.33206763614174 + ], + [ + 0.0, + 444.51529959671296, + 225.17184355043761 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.30359018417591493, + -0.9100932792283034, + 1.1331430980469042 + ], + "camera_target": [ + -0.1288246146769202, + -1.4348995627463645, + 0.9074449786493326 + ], + "camera_roll_rad": 0.007056144604992369, + "camera_pose_world_cv": [ + [ + -0.950365424156189, + -0.105962835252285, + 0.2925364375114441, + -0.30359017848968506 + ], + [ + -0.31086164712905884, + 0.362862229347229, + -0.8784623742103577, + -0.9100933074951172 + ], + [ + -0.01306605339050293, + -0.9257985949516296, + -0.3777914047241211, + 1.1331430673599243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3308248518561287, + 0.33138907193353445, + 0.3543504182879074 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.098821927171126, + 1.0601837266635699, + 0.9939468115077599 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4979.3597759681115, + "intensity": 1.0601837266635699 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7076229386241945, + 0.6872811322324835, + 0.6524094641324076 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5077.1785073986275, + "intensity": 0.6872811322324835 + }, + "point_color_scale": [ + 0.8974241056156145, + 0.9250196666911255, + 0.9691725644119434 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91d2371bd8bda190b79819a7f5baf24be37e3283 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1051451531070735, + "K": [ + [ + 396.37308297644927, + 0.0, + 307.17745649472744 + ], + [ + 0.0, + 389.1994456947335, + 225.3366999384318 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.08927711174662223, + -0.978142374995439, + 1.044464223349542 + ], + "camera_target": [ + -0.2203254885371454, + -1.3818449757251456, + 0.8908543445752264 + ], + "camera_roll_rad": -0.0031472398604960317, + "camera_pose_world_cv": [ + [ + -0.9517836570739746, + 0.09908381849527359, + -0.2903271019458771, + -0.08927711099386215 + ], + [ + 0.30671223998069763, + 0.32562005519866943, + -0.8943706154823303, + -0.9781423807144165 + ], + [ + 0.005918711423873901, + -0.9402944445610046, + -0.34031039476394653, + 1.0444642305374146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2502022838751527, + 0.26167982914801674, + 0.25666420564603065 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1191267983613327, + 1.0949204590247414, + 1.053423877304871 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5184.173544465869, + "intensity": 1.0949204590247414 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8295495154980532, + 0.8319010900206295, + 0.8356636092567515 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5556.47110288993, + "intensity": 0.83284171982966 + }, + "point_color_scale": [ + 1.045657413216684, + 1.074938841192212, + 1.1217891259530568 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a3ff73c96abde65a7975a064d2e081ac47458e9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0527445034448892, + "K": [ + [ + 414.87197714223885, + 0.0, + 315.57458653828576 + ], + [ + 0.0, + 413.04237912701313, + 246.47226643714995 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0647804714495774, + -1.5201342581491102, + 1.0194191601809313 + ], + "camera_target": [ + -0.17213003205057556, + -1.4239728982770854, + 0.8629576669707353 + ], + "camera_roll_rad": 0.003088795381043348, + "camera_pose_world_cv": [ + [ + 0.1060492992401123, + -0.17135268449783325, + 0.9794856309890747, + -1.0647804737091064 + ], + [ + -0.9943423867225647, + -0.012245595455169678, + 0.10551571846008301, + -1.5201342105865479 + ], + [ + -0.006085842847824097, + -0.9851337671279907, + -0.1716817021369934, + 1.0194191932678223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37199053926029585, + 0.3827037386557644, + 0.3641507695102325 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.049249301913658, + 0.9988856441177778, + 0.9125479450391262 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4779.716522214231, + "intensity": 0.9988856441177778 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.73557699582893, + 0.7232447774765806, + 0.7021038317296958 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5256.41089520842, + "intensity": 0.7232447774765806 + }, + "point_color_scale": [ + 1.1241304085469608, + 1.09173270463975, + 1.03619378365596 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5260696ec4eefb6b55fe5280e469d84782b8f45 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3056413007438188, + "K": [ + [ + 319.91880693173, + 0.0, + 327.4073793854775 + ], + [ + 0.0, + 313.8630526553021, + 263.63840933460267 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.18946524130109313, + -0.9794050662661791, + 1.0451919503181073 + ], + "camera_target": [ + -0.12692704979459718, + -1.4212841963212348, + 0.9343431891087318 + ], + "camera_roll_rad": -0.00921155498833004, + "camera_pose_world_cv": [ + [ + -0.9893426895141602, + -0.052014343440532684, + 0.13599899411201477, + -0.1894652396440506 + ], + [ + -0.14450454711914062, + 0.23605728149414062, + -0.9609346389770508, + -0.9794050455093384 + ], + [ + 0.01787884160876274, + -0.9703460931777954, + -0.24105775356292725, + 1.045192003250122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2386140570994524, + 0.24160141379948252, + 0.24136613101830257 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9258276344085914, + 0.9564499097882094, + 1.0054455503955986 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6132.23521592631, + "intensity": 0.9686988199400568 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6453933938031011, + 0.6492538394945192, + 0.655430552600788 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5618.637291018175, + "intensity": 0.6507980177710864 + }, + "point_color_scale": [ + 1.1722655164071514, + 1.1234692740272767, + 1.0398185728046347 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd5a1eb9986973938729f6c1531c3606e360b0ee --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1651816534441686, + "K": [ + [ + 350.8819950232203, + 0.0, + 342.99046539470567 + ], + [ + 0.0, + 364.25577442280616, + 258.0754368336849 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3874878862955595, + -1.007271270524796, + 1.0565422565976714 + ], + "camera_target": [ + -0.21998307837164638, + -1.3922522979305325, + 0.8485746564105507 + ], + "camera_roll_rad": 0.0019692848012543077, + "camera_pose_world_cv": [ + [ + -0.9176545143127441, + -0.17347970604896545, + 0.35751277208328247, + -0.38748788833618164 + ], + [ + -0.3973639905452728, + 0.4085848331451416, + -0.8216814398765564, + -1.0072712898254395 + ], + [ + -0.0035292506217956543, + -0.8960822224617004, + -0.4438741207122803, + 1.0565422773361206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26490970670493025, + 0.2684210578142, + 0.2664191474133136 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9262653652996486, + 0.9445110054421317, + 0.9737040296701046 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5883.388581736339, + "intensity": 0.951809261499125 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5398656767972142, + 0.5536720459867311, + 0.5757622366899582 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5993.794802238333, + "intensity": 0.5591945936625379 + }, + "point_color_scale": [ + 1.1317895882116953, + 1.0958530739599244, + 1.0342476209568885 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99f1a6d18a873907d147c81cf76bc712669afff0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1585780966347676, + "K": [ + [ + 374.22937162696576, + 0.0, + 290.2653817298838 + ], + [ + 0.0, + 366.88675961563354, + 235.70218117652593 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.272806007387801, + -0.4463655974396217, + 0.7152413770337935 + ], + "camera_target": [ + -0.16713057702931472, + -1.3579075720619518, + 0.9219456919555877 + ], + "camera_roll_rad": -0.01873924701861307, + "camera_pose_world_cv": [ + [ + -0.9935977458953857, + -0.011932145804166794, + 0.11234442889690399, + -0.2728060185909271 + ], + [ + -0.10689930617809296, + -0.2224484086036682, + -0.9690661430358887, + -0.4463655948638916 + ], + [ + 0.03655387461185455, + -0.9748713970184326, + 0.21974873542785645, + 0.7152413725852966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3460144122159815, + 0.3472145929759425, + 0.3468007615730197 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1395459051114454, + 1.1487618497463177, + 1.1635073611621138 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5659.936809553046, + "intensity": 1.1524482276002668 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7831476659086504, + 0.8081606814893769, + 0.8481815064185394 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6111.441174854646, + "intensity": 0.8181658877216675 + }, + "point_color_scale": [ + 1.0258086166918476, + 1.0138858512960045, + 0.9934468249031303 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d193db9dc2bfc7a92d4f6138f5d979cdee4186a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8858794728427034, + "K": [ + [ + 482.9956820477795, + 0.0, + 313.1873541946465 + ], + [ + 0.0, + 505.92693656025364, + 227.16332355267855 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8927612900079739, + -1.703367523791896, + 0.9285860660783507 + ], + "camera_target": [ + -0.15734031934211531, + -1.350940606495129, + 0.8762437194617603 + ], + "camera_roll_rad": -0.04894103187815985, + "camera_pose_world_cv": [ + [ + 0.4357340335845947, + -0.015252679586410522, + 0.8999462723731995, + -0.8927612900733948 + ], + [ + -0.8947763442993164, + -0.1156771183013916, + 0.43127042055130005, + -1.7033674716949463 + ], + [ + 0.09752517938613892, + -0.9931698441505432, + -0.06405210494995117, + 0.9285860657691956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29058421424931136, + 0.29159274476225655, + 0.3196762255927326 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9524146602601352, + 0.955043169528515, + 0.9592487843579228 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5554.9842942729765, + "intensity": 0.9560945732358669 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7255020684374599, + 0.7331438522916391, + 0.745370706458326 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5707.600597142424, + "intensity": 0.7362005658333108 + }, + "point_color_scale": [ + 1.081053729133318, + 1.0862786785691236, + 1.0946385976664121 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68336cfb39f570cae02b3a8f61c1baf35ee1aa39 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9244923568984474, + "K": [ + [ + 500.274333071829, + 0.0, + 344.4129848063495 + ], + [ + 0.0, + 481.6864446360354, + 254.34820743290635 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1358070914439387, + -1.266816636052242, + 1.1280975373396553 + ], + "camera_target": [ + -0.18670702956493618, + -1.4313960082555548, + 0.93458650903658 + ], + "camera_roll_rad": -0.000431197860199406, + "camera_pose_world_cv": [ + [ + -0.17068862915039062, + -0.19420728087425232, + 0.9659963250160217, + -1.1358070373535156 + ], + [ + -0.9853246212005615, + 0.03280138969421387, + -0.16750946640968323, + -1.2668166160583496 + ], + [ + 0.0008455514907836914, + -0.9804120063781738, + -0.19695603847503662, + 1.1280975341796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33547913176859073, + 0.3479341017934554, + 0.3612686975356504 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.995740724475949, + 1.009424766469564, + 1.0313192336593482 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5769.663292783371, + "intensity": 1.01489838326701 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6082179597975076, + 0.5929192751864018, + 0.5666929587102203 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5131.395627620972, + "intensity": 0.5929192751864018 + }, + "point_color_scale": [ + 1.0665180003698826, + 1.086846732512502, + 1.1193727039406924 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de17ef83fc3ef7a5ec32eaf66c1aa2bd1483930c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9495017378590493, + "K": [ + [ + 485.3690854315176, + 0.0, + 303.95788494737695 + ], + [ + 0.0, + 466.96501409315056, + 247.70584853415767 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7763180025265165, + -1.301265512507648, + 1.0365982784062617 + ], + "camera_target": [ + -0.20964176916012112, + -1.3505066224462066, + 0.8833048546396071 + ], + "camera_roll_rad": -0.0008258462270981717, + "camera_pose_world_cv": [ + [ + -0.08614039421081543, + -0.25937971472740173, + 0.9619263410568237, + -0.7763180136680603 + ], + [ + -0.9962818622589111, + 0.020880937576293945, + -0.08358627557754517, + -1.3012654781341553 + ], + [ + 0.0015947818756103516, + -0.9655497670173645, + -0.26021379232406616, + 1.0365983247756958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3701141792368333, + 0.36815818189641436, + 0.3769775407924251 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9167226087084376, + 0.9353534534435456, + 0.9651628050197184 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5895.221262030557, + "intensity": 0.9428057913375888 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6194195941006185, + 0.6326210604134904, + 0.6537434065140855 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5913.902875975542, + "intensity": 0.6379016469386392 + }, + "point_color_scale": [ + 1.0411133854148191, + 1.048126355585631, + 1.0593471078589305 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d84e5da98083d7cffc08c51aee3335b5950d327e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2477193532557191, + "K": [ + [ + 334.5519480192402, + 0.0, + 345.99644660798106 + ], + [ + 0.0, + 333.4482069228038, + 239.8266088812231 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.06316804148423665, + -0.4504792325768453, + 1.0711077324104796 + ], + "camera_target": [ + -0.15516530579046872, + -1.350679785699097, + 0.8753755980758133 + ], + "camera_roll_rad": -0.004247500340722882, + "camera_pose_world_cv": [ + [ + -0.9949655532836914, + 0.013042323291301727, + -0.09936894476413727, + -0.06316804140806198 + ], + [ + 0.09987667948007584, + 0.21117651462554932, + -0.9723320007324219, + -0.4504792392253876 + ], + [ + 0.00830291211605072, + -0.9773610830307007, + -0.21141564846038818, + 1.0711077451705933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34841836189591624, + 0.3497312896211084, + 0.35380887150688023 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.018045931405019, + 1.0622664277419136, + 1.1330192218809452 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6318.9324858832715, + "intensity": 1.0799546262766715 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6975115668223699, + 0.6687861776658296, + 0.6195426533974747 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4886.406723194366, + "intensity": 0.6687861776658296 + }, + "point_color_scale": [ + 0.8843360573401194, + 0.8437284187224725, + 0.7741153239493632 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1086a71270049c85ce66c353738894f5162e4a47 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2374044466856686, + "K": [ + [ + 323.61684956380134, + 0.0, + 309.24409108018773 + ], + [ + 0.0, + 337.1015624274472, + 225.4289132630529 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3370626745472166, + -1.017793362674491, + 0.9903313147516486 + ], + "camera_target": [ + -0.15559421687286176, + -1.3925763387193062, + 0.87143163860477 + ], + "camera_roll_rad": 0.023341310819911656, + "camera_pose_world_cv": [ + [ + -0.9046478271484375, + -0.07752333581447601, + 0.41904985904693604, + -0.33706268668174744 + ], + [ + -0.4237913489341736, + 0.2671884298324585, + -0.8654544949531555, + -1.0177934169769287 + ], + [ + -0.04487226903438568, + -0.9605210423469543, + -0.2745649218559265, + 0.9903312921524048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34991407237240535, + 0.3428131082591693, + 0.37391865535239444 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8532990663797759, + 0.8920161015533771, + 0.9539633578311391 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6353.265251429629, + "intensity": 0.9075029156228176 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.9455033562157945, + 0.9313407925849312, + 0.9070621120748797 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5282.762293679613, + "intensity": 0.9313407925849312 + }, + "point_color_scale": [ + 0.9797319005406193, + 0.9541137859580434, + 0.9101970181021994 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5340f036250a7725ded20d5256078100d1a8daa2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1703588937282894, + "K": [ + [ + 376.0419837404541, + 0.0, + 299.44696616470634 + ], + [ + 0.0, + 362.21143292071565, + 216.59771934736617 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3082875095603982, + -0.40004043502647535, + 1.1300206513910094 + ], + "camera_target": [ + -0.21602768659419513, + -1.382332827349513, + 0.8877752419922194 + ], + "camera_roll_rad": -0.02503351105161981, + "camera_pose_world_cv": [ + [ + -0.9932547807693481, + -0.07209666073322296, + 0.0908140242099762, + -0.30828750133514404 + ], + [ + -0.10527536273002625, + 0.23242723941802979, + -0.966899573802948, + -0.4000404477119446 + ], + [ + 0.04860258102416992, + -0.9699379801750183, + -0.2384493350982666, + 1.1300206184387207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3903883660105668, + 0.350602134151994, + 0.3907615617686592 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0164695629386238, + 0.9723806617343052, + 0.8967996882411876 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4852.2686427632, + "intensity": 0.9723806617343052 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8116908703391305, + 0.8216568173595504, + 0.8376023325922225 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5741.41050436018, + "intensity": 0.8256431961677184 + }, + "point_color_scale": [ + 1.1755834841571182, + 1.176967767127281, + 1.1791826198795412 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b67380efc82795603ed5133eb01366c015a398b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0461144972635998, + "K": [ + [ + 422.30246241267923, + 0.0, + 310.347304994747 + ], + [ + 0.0, + 416.2125478224292, + 240.521858296747 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5976625606185761, + -0.5249626376938283, + 1.0832020243703917 + ], + "camera_target": [ + -0.17923704775888852, + -1.3560728141901608, + 0.9878121138228357 + ], + "camera_roll_rad": 0.046081048994740484, + "camera_pose_world_cv": [ + [ + -0.8936197757720947, + 0.03653784096240997, + 0.4473353922367096, + -0.5976625680923462 + ], + [ + -0.4393884539604187, + 0.13208627700805664, + -0.8885331749916077, + -0.5249626636505127 + ], + [ + -0.09155192971229553, + -0.9905646443367004, + -0.10198050737380981, + 1.0832020044326782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3225645959668686, + 0.3267204041376857, + 0.3298052260005479 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9094511645040303, + 0.9551094605863856, + 1.028162734318154 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6438.146146399449, + "intensity": 0.9733727790193276 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5712886454976859, + 0.5873845009215429, + 0.6131378695997146 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6042.109675002458, + "intensity": 0.5938228430910859 + }, + "point_color_scale": [ + 0.8399486997139713, + 0.8275768621135857, + 0.8063679976557817 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61b8a24162afe3a7e7c3265f5205535f8d36b67c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3034627980091877, + "K": [ + [ + 323.386259996517, + 0.0, + 322.26726832072785 + ], + [ + 0.0, + 314.5725763406385, + 251.97924299624566 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.31325164134732353, + -0.8606663700379981, + 1.1194443139364214 + ], + "camera_target": [ + -0.21566216480452105, + -1.3527039900883122, + 0.8764998348710811 + ], + "camera_roll_rad": -0.04825006201795666, + "camera_pose_world_cv": [ + [ + -0.9681590795516968, + -0.17891570925712585, + 0.175093412399292, + -0.31325164437294006 + ], + [ + -0.23483815789222717, + 0.40682458877563477, + -0.8828052878379822, + -0.8606663942337036 + ], + [ + 0.086715467274189, + -0.8958143591880798, + -0.4358867406845093, + 1.1194443702697754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3285592015688763, + 0.3233976933275099, + 0.33065704361339127 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9786182561192998, + 1.0086091176084713, + 1.0565944959911462 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6087.707250251282, + "intensity": 1.02060546220414 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8507227757415365, + 0.8683660782765669, + 0.8965953623326156 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5903.080441974204, + "intensity": 0.8754233992905791 + }, + "point_color_scale": [ + 0.8830734154124419, + 0.8835791528907043, + 0.8843883328559242 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6dd5709e530361d055215ad3fe6196abda2ccf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0190077164746125, + "K": [ + [ + 431.7869920406799, + 0.0, + 344.062166516302 + ], + [ + 0.0, + 429.5628591621001, + 257.60547972617474 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.1724890450049255, + -0.7972953498435139, + 0.914770055766014 + ], + "camera_target": [ + -0.14450210617169285, + -1.3763692786958066, + 0.9226970263809698 + ], + "camera_roll_rad": 0.04265979893018258, + "camera_pose_world_cv": [ + [ + -0.9951449632644653, + 0.08577432483434677, + 0.04826977849006653, + -0.17248904705047607 + ], + [ + -0.04926236718893051, + -0.009492099285125732, + -0.9987409710884094, + -0.797295331954956 + ], + [ + -0.08520813286304474, + -0.9962695240974426, + 0.01367175579071045, + 0.9147700667381287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26816828332606424, + 0.27286376871215384, + 0.25540245771668363 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.032039373078585, + 1.0849774085639918, + 1.1696782653406432 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6457.15608129026, + "intensity": 1.1061526227581546 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7444437221606278, + 0.7505322008853618, + 0.7602737668449361 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5661.7195424182255, + "intensity": 0.7529675923752553 + }, + "point_color_scale": [ + 0.889635214681157, + 0.925963906402776, + 0.9840898131573665 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b934a426c61f857c0e9ab1e1a89bba56f5a4ba82 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2307710758878752, + "K": [ + [ + 344.51052219262544, + 0.0, + 351.83437949008896 + ], + [ + 0.0, + 339.4790669238149, + 227.5002200208844 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4750362957905371, + -0.513752556702199, + 1.0175617924337028 + ], + "camera_target": [ + -0.19007985707562763, + -1.357480850003171, + 0.9000891255852332 + ], + "camera_roll_rad": -0.02887748143336245, + "camera_pose_world_cv": [ + [ + -0.943429708480835, + -0.09646434336900711, + 0.3172301650047302, + -0.47503629326820374 + ], + [ + -0.3265966773033142, + 0.10522520542144775, + -0.9392881393432617, + -0.5137525796890259 + ], + [ + 0.057227179408073425, + -0.9897586107254028, + -0.13077759742736816, + 1.0175617933273315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.4835736155509949, + 0.8753036856651306, + -1.0267143579767435e-07, + -0.17546941339969635 + ], + [ + -0.8753036856651306, + 0.4835736155509949, + 6.057582169205489e-08, + -1.3885644674301147 + ], + [ + 1.0267143579767435e-07, + 6.057582169205489e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35156924122007727, + 0.3364481647344702, + 0.3414197815110849 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.2025946322449395, + 1.1850218754609056, + 1.154897149545419 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5288.156330420977, + "intensity": 1.1850218754609056 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8734985607210574, + 0.8465851272214663, + 0.8004478126507388 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5045.8488354448145, + "intensity": 0.8465851272214663 + }, + "point_color_scale": [ + 0.9540771187425743, + 0.9916851696532946, + 1.0518580511104472 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_001/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39a4ea56be078cd174cd2d0bf92051eba2d72bee --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9089535931911323, + "K": [ + [ + 467.96973780503987, + 0.0, + 340.69280302183233 + ], + [ + 0.0, + 491.2109155891023, + 254.78168126975504 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1053742001801488, + -0.8642483062225529, + 0.9057025610232725 + ], + "camera_target": [ + -0.9174358674265277, + -1.5044026667518935, + 0.904759506388082 + ], + "camera_roll_rad": -0.028625703806590738, + "camera_pose_world_cv": [ + [ + -0.9579095840454102, + -0.05530044436454773, + 0.2816937565803528, + -1.1053742170333862 + ], + [ + -0.281310111284256, + -0.014764487743377686, + -0.9595034122467041, + -0.8642483353614807 + ], + [ + 0.05722004175186157, + -0.9983606338500977, + -0.0014134049415588379, + 0.905702531337738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27709842159595277, + 0.25405560427901697, + 0.2594765885295752 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8874364075397705, + 0.8868148991889142, + 0.885749456301732 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5489.988112812901, + "intensity": 0.8868148991889142 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8723317879318051, + 0.9054572013415055, + 0.9584578627970264 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6221.130897828607, + "intensity": 0.9187073667053858 + }, + "point_color_scale": [ + 0.8133296387749837, + 0.8454561213441756, + 0.8968584934548828 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_002/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53788ac8c89be8a773ad4f5b9f50d5391c9972e8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2572513624045114, + "K": [ + [ + 324.7030503776479, + 0.0, + 322.4253950848789 + ], + [ + 0.0, + 330.1183851388328, + 220.28816507819528 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6472220139258253, + -1.2976305549236986, + 0.9825854302975408 + ], + "camera_target": [ + -0.9027084800587696, + -1.526490475903313, + 0.9059827474576374 + ], + "camera_roll_rad": 0.02785561806290278, + "camera_pose_world_cv": [ + [ + -0.2985800504684448, + -0.07704925537109375, + 0.9512694478034973, + -1.6472220420837402 + ], + [ + -0.9527745246887207, + 0.08193850517272949, + -0.29241567850112915, + -1.2976305484771729 + ], + [ + -0.05541509389877319, + -0.9936546683311462, + -0.09787565469741821, + 0.9825854301452637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3043507629376706, + 0.29647243022719505, + 0.3211066479098016 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8336484279738196, + 0.8701202698281405, + 0.9284752167950543 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6324.493513312972, + "intensity": 0.884709006569869 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.806373984224841, + 0.8027625472189497, + 0.7965715123517075 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5435.731982756606, + "intensity": 0.8027625472189497 + }, + "point_color_scale": [ + 1.0570326909098962, + 1.0531318794953672, + 1.0464447742133176 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_003/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7b1e7bb99caa525d67e0bdcad51810cbc2cf7bb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.283986280703627, + "K": [ + [ + 317.18946905710965, + 0.0, + 329.1108015025345 + ], + [ + 0.0, + 321.00733843729716, + 256.16529121856297 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8067626401007164, + -1.4518211103592222, + 0.9052846260931181 + ], + "camera_target": [ + -0.9623570234913696, + -1.504978337612852, + 0.9235019468000738 + ], + "camera_roll_rad": -0.05153206586393211, + "camera_pose_world_cv": [ + [ + -0.06470489501953125, + 0.014906257390975952, + 0.9977931976318359, + -1.8067626953125 + ], + [ + -0.9925893545150757, + -0.10402381420135498, + -0.06281334161758423, + -1.4518210887908936 + ], + [ + 0.10285797715187073, + -0.9944631457328796, + 0.021526694297790527, + 0.9052846431732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29454122241976305, + 0.2999968336549361, + 0.3095991941283912 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9880657636708177, + 1.0261431787987783, + 1.0870670430035152 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6231.291732491527, + "intensity": 1.0413741448499625 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6914775111305402, + 0.7155065803878313, + 0.7539530911994975 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6162.762815474191, + "intensity": 0.7251182080907479 + }, + "point_color_scale": [ + 1.0486694761429585, + 1.0590160422743036, + 1.0755705480844555 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_004/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a16e52cc30c52a927a2bb893073b17d9654f2ec4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8826843925094408, + "K": [ + [ + 530.4534324067941, + 0.0, + 332.32358437570343 + ], + [ + 0.0, + 508.0211910548382, + 245.08347936762146 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.584896335583919, + -1.5600165748695098, + 0.7127418699921221 + ], + "camera_target": [ + -0.9615169265716933, + -1.5732902195028287, + 0.9245543610920366 + ], + "camera_roll_rad": 0.04049561181022282, + "camera_pose_world_cv": [ + [ + 0.004798173904418945, + 0.32224681973457336, + 0.946643590927124, + -1.5848963260650635 + ], + [ + -0.9970501661300659, + 0.07405948638916016, + -0.0201568603515625, + -1.5600166320800781 + ], + [ + -0.07660344243049622, + -0.9437543153762817, + 0.3216515779495239, + 0.7127418518066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31427907035336516, + 0.2935455019711264, + 0.3047092552150703 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9246623719099208, + 0.9695653328124296, + 1.041410070256444 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6409.402636215445, + "intensity": 0.9875265171734332 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6846304882015503, + 0.7012295973245015, + 0.7277881719212236 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5968.988004059029, + "intensity": 0.7078692409736821 + }, + "point_color_scale": [ + 1.154653145255088, + 1.1154723737375911, + 1.0483053368504534 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_005/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e27bd79eeac7c34a850e82d33f5660cf3f980be4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9799258439154835, + "K": [ + [ + 457.99241167025116, + 0.0, + 295.9783372654275 + ], + [ + 0.0, + 449.99393571940146, + 263.48701971998037 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.124642066912766, + -1.0558670679551803, + 1.0320746776840246 + ], + "camera_target": [ + -0.939071180234794, + -1.488382532485807, + 0.9214658173227029 + ], + "camera_roll_rad": 0.01173828232884827, + "camera_pose_world_cv": [ + [ + -0.9208500385284424, + -0.06860937178134918, + 0.3838334381580353, + -1.124642014503479 + ], + [ + -0.3892468810081482, + 0.2194458246231079, + -0.8946118950843811, + -1.055867075920105 + ], + [ + -0.022851884365081787, + -0.9732093214988708, + -0.2287825345993042, + 1.0320746898651123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31337139711447054, + 0.3176529156948732, + 0.2924928467046691 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0813711586815373, + 1.1221480325914341, + 1.1873910308472693 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6216.352221952135, + "intensity": 1.1384587821553929 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6059319123253706, + 0.6181049863254342, + 0.637581904725536 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5890.805066690599, + "intensity": 0.6229742159254597 + }, + "point_color_scale": [ + 0.9600603922708543, + 0.9167744586837933, + 0.8425700011059744 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_006/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..401d5b5ab2d0a00e00854b185a491acfe412b8dc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9129648921732989, + "K": [ + [ + 496.1515843850336, + 0.0, + 342.69989486508274 + ], + [ + 0.0, + 488.72335327664047, + 245.22257670476895 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3539478546918668, + -0.8684038842468805, + 0.7070523974674624 + ], + "camera_target": [ + -0.903912499652789, + -1.4921141609678117, + 0.8598049661237783 + ], + "camera_roll_rad": 0.044644440653765785, + "camera_pose_world_cv": [ + [ + -0.7975451946258545, + 0.1858421415090561, + 0.5739203691482544, + -1.3539478778839111 + ], + [ + -0.5968854427337646, + -0.10516691207885742, + -0.7954041957855225, + -0.8684039115905762 + ], + [ + -0.08746209740638733, + -0.9769353866577148, + 0.194801926612854, + 0.7070524096488953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22690602938678442, + 0.24488309786278287, + 0.22500209557549067 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9909148784674631, + 0.9702218111964989, + 0.9347479815891321 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5195.311687166156, + "intensity": 0.9702218111964989 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7504972920449081, + 0.7627018843918386, + 0.7822292321469274 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5818.000291245723, + "intensity": 0.7675837213306108 + }, + "point_color_scale": [ + 1.1323706098632167, + 1.1249983258388028, + 1.1123601246540935 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_007/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7bbf31aa17e3f633ed573e9b9516280e1347fd3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1148996554672748, + "K": [ + [ + 372.6114728227731, + 0.0, + 322.71922641607114 + ], + [ + 0.0, + 384.98393227602014, + 226.1894575712262 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2776364073706459, + -1.2706101649978, + 1.0929525929338215 + ], + "camera_target": [ + -0.9324554594283871, + -1.553305238965182, + 0.9925122699742511 + ], + "camera_roll_rad": -0.013290871932395712, + "camera_pose_world_cv": [ + [ + -0.39961886405944824, + 0.11744660139083862, + -0.9091266393661499, + -0.27763640880584717 + ], + [ + 0.9163035750389099, + 0.07965326309204102, + -0.3924834728240967, + -1.2706102132797241 + ], + [ + 0.02631896734237671, + -0.9898797273635864, + -0.13944756984710693, + 1.0929526090621948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524561047554016, + -0.7578265070915222, + -1.354471912407007e-08, + -0.9189231395721436 + ], + [ + 0.7578265070915222, + 0.6524561047554016, + -6.211692049618023e-09, + -1.5377994775772095 + ], + [ + 1.354471912407007e-08, + -6.211692049618023e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2999714140949207, + 0.2906799907925391, + 0.28897737400070944 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9440133803983842, + 0.9321085582658605, + 0.9117002917529624 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5317.543905053411, + "intensity": 0.9321085582658605 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7984826050231394, + 0.7703015028623844, + 0.7219910420153757 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4977.3641590609805, + "intensity": 0.7703015028623844 + }, + "point_color_scale": [ + 1.065979974210463, + 1.1010543885397412, + 1.1571734514665868 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_008/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb158ad9344ccf75b1a47850131c3e1953d07128 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0517984189710192, + "K": [ + [ + 423.4144508683903, + 0.0, + 347.26655220342576 + ], + [ + 0.0, + 413.49253786418825, + 245.23783051076444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.41631672128346475, + -0.8398756709020092, + 1.026351026799004 + ], + "camera_target": [ + -0.9356327768672168, + -1.5055863523164845, + 0.8980273108273237 + ], + "camera_roll_rad": -0.01022163900387204, + "camera_pose_world_cv": [ + [ + -0.7901914119720459, + 0.07628494501113892, + -0.6080939769744873, + -0.4163167178630829 + ], + [ + 0.6125268936157227, + 0.13102424144744873, + -0.7795149683952332, + -0.8398756980895996 + ], + [ + 0.02020975947380066, + -0.9884398579597473, + -0.15026074647903442, + 1.026350975036621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524561047554016, + -0.7578265070915222, + -1.354471912407007e-08, + -0.9189231395721436 + ], + [ + 0.7578265070915222, + 0.6524561047554016, + -6.211692049618023e-09, + -1.5377994775772095 + ], + [ + 1.354471912407007e-08, + -6.211692049618023e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3718768810068565, + 0.36824343755168676, + 0.36660261332180993 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.961634167334182, + 0.9960419656155101, + 1.051094442865635 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6181.4740546445155, + "intensity": 1.0098050849280413 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5582297118809288, + 0.5650222544402277, + 0.5758903225351057 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5739.283872041612, + "intensity": 0.5677392714639472 + }, + "point_color_scale": [ + 1.1355551101116341, + 1.0914018726073738, + 1.0157106083143563 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_009/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e56f342a7addef761cf47f55a0a6626038e57d56 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2780505165925837, + "K": [ + [ + 322.8477156276947, + 0.0, + 346.45367131408324 + ], + [ + 0.0, + 323.0018347281243, + 235.83844990795075 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.61807951939182, + -1.7588799429215913, + 0.7307960874922583 + ], + "camera_target": [ + -0.9670143122849635, + -1.5769466312012363, + 0.9837154479177256 + ], + "camera_roll_rad": -0.027610820543757124, + "camera_pose_world_cv": [ + [ + 0.2500918507575989, + 0.3518257737159729, + 0.9020380973815918, + -1.6180795431137085 + ], + [ + -0.9668411612510681, + 0.041005849838256836, + 0.252064973115921, + -1.7588798999786377 + ], + [ + 0.05169403553009033, + -0.9351669549942017, + 0.35041487216949463, + 0.7307960987091064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524561047554016, + -0.7578265070915222, + -1.354471912407007e-08, + -0.9189231395721436 + ], + [ + 0.7578265070915222, + 0.6524561047554016, + -6.211692049618023e-09, + -1.5377994775772095 + ], + [ + 1.354471912407007e-08, + -6.211692049618023e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34793709790612337, + 0.3486383373054794, + 0.37516806985137297 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9150008589831037, + 0.9443237045287073, + 0.991240257401673 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6113.41474517983, + "intensity": 0.9560528427469487 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6364408236211958, + 0.6242123913147516, + 0.6032493645037044 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5220.140303969111, + "intensity": 0.6242123913147516 + }, + "point_color_scale": [ + 0.8114598234307064, + 0.815530365880661, + 0.8220432338005883 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_010/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12d3d35039decce0dacf7a529554155572fb9505 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0983881537056914, + "K": [ + [ + 396.58846346713625, + 0.0, + 326.02717380996853 + ], + [ + 0.0, + 392.1588538878445, + 243.67056311249334 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.431838930242372, + -1.0829613560868745, + 0.8029196057518574 + ], + "camera_target": [ + -0.9172336818797914, + -1.5693525522891196, + 0.8965345890778358 + ], + "camera_roll_rad": -0.04985968359133378, + "camera_pose_world_cv": [ + [ + -0.6929738521575928, + 0.02639526128768921, + 0.7204794883728027, + -1.4318389892578125 + ], + [ + -0.7141754627227783, + -0.1619337797164917, + -0.6809779405593872, + -1.0829613208770752 + ], + [ + 0.09869542717933655, + -0.9864485263824463, + 0.13106679916381836, + 0.8029196262359619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.380215130292926, + 0.376027264598473, + 0.3775805190606972 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.075895052758679, + 1.0946127395094132, + 1.124561038310588 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5839.673167700445, + "intensity": 1.102099814209707 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.9158989775337462, + 0.8797611149990143, + 0.817810493510903 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4913.187091056902, + "intensity": 0.8797611149990143 + }, + "point_color_scale": [ + 0.9983607135896893, + 0.9832328373505604, + 0.9572993352263396 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_011/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4ee2ba7a93090529ae8a7b70eb774494b0c5cec --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9440996165402549, + "K": [ + [ + 474.92838773927576, + 0.0, + 300.2029190999272 + ], + [ + 0.0, + 470.0837639070097, + 262.4200507721752 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5536662058369402, + -1.376699361467522, + 0.8800211036875739 + ], + "camera_target": [ + -0.9106981523433418, + -1.5094863968426422, + 0.8596544543538976 + ], + "camera_roll_rad": 0.021367204458243583, + "camera_pose_world_cv": [ + [ + -0.20336663722991943, + -0.02169734239578247, + 0.9788623452186584, + -1.5536662340164185 + ], + [ + -0.978171169757843, + 0.048104047775268555, + -0.2021566927433014, + -1.3766993284225464 + ], + [ + -0.04270082712173462, + -0.99860680103302, + -0.031006336212158203, + 0.8800210952758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35327395269938905, + 0.3922200667336061, + 0.38847740812226284 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.131940954858255, + 1.1621541080253228, + 1.210495153092631 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6014.599560484513, + "intensity": 1.1742393692921498 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8489819835175493, + 0.8834472380448928, + 0.9385916452886421 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6268.256216000209, + "intensity": 0.8972333398558301 + }, + "point_color_scale": [ + 1.0520720089324271, + 1.052643503150505, + 1.0535578938994297 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_012/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24a606c611ca4042224c423a85dac018b9149d15 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9825946390497868, + "K": [ + [ + 461.1078482181145, + 0.0, + 311.150890578997 + ], + [ + 0.0, + 448.55142096191764, + 241.6047752702705 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.68174521773355, + -1.102005612804421, + 0.9464312628919723 + ], + "camera_target": [ + -0.965716474295103, + -1.5406448962467754, + 0.973234606082876 + ], + "camera_roll_rad": 0.011424253899412345, + "camera_pose_world_cv": [ + [ + -0.5216164588928223, + 0.039132148027420044, + 0.8522822856903076, + -1.681745171546936 + ], + [ + -0.8528746366500854, + 0.0028203725814819336, + -0.5221083164215088, + -1.1020056009292603 + ], + [ + -0.02283492684364319, + -0.999230146408081, + 0.031903743743896484, + 0.9464312791824341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21487296798653957, + 0.22383681600064245, + 0.22489161737523808 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8825841848764897, + 0.9083885088770102, + 0.9496754272778432 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6061.75109234206, + "intensity": 0.9187102384772184 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7668719323103823, + 0.7875336025755884, + 0.820592274999918 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6019.269041575261, + "intensity": 0.7957982706816707 + }, + "point_color_scale": [ + 1.0587549329356272, + 1.0114155875647741, + 0.9302624240718832 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_013/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b31540fb3e4a35e471d23e65be5975865bc7788c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8110983353477923, + "K": [ + [ + 573.442757241587, + 0.0, + 316.280130802091 + ], + [ + 0.0, + 558.9848071664389, + 236.01821696311674 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4490020207021788, + -1.1284790829644988, + 0.9205249728047926 + ], + "camera_target": [ + -0.8798976600186086, + -1.5046860497184178, + 0.8735002643546184 + ], + "camera_roll_rad": 0.00475345748777805, + "camera_pose_world_cv": [ + [ + -0.5519731044769287, + -0.052120476961135864, + 0.8322314620018005, + -1.4490020275115967 + ], + [ + -0.8338080644607544, + 0.045850515365600586, + -0.5501472353935242, + -1.1284791231155396 + ], + [ + -0.00948423147201538, + -0.9975877404212952, + -0.06876665353775024, + 0.9205249547958374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524561047554016, + -0.7578265070915222, + -1.354471912407007e-08, + -0.9189231395721436 + ], + [ + 0.7578265070915222, + 0.6524561047554016, + -6.211692049618023e-09, + -1.5377994775772095 + ], + [ + 1.354471912407007e-08, + -6.211692049618023e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27748917868409484, + 0.2566625938643916, + 0.27551311184864474 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9326990698443458, + 0.9264689867292214, + 0.9157888442461508 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5403.935060283963, + "intensity": 0.9264689867292214 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.9195055223674291, + 0.8778061809778426, + 0.8063215957385514 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4821.370833444691, + "intensity": 0.8778061809778426 + }, + "point_color_scale": [ + 1.0114571744020442, + 1.0443719516676873, + 1.0970355952927164 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_014/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd666dfd261d2490ca6363507a7d4fe48401674e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.114312755754938, + "K": [ + [ + 402.43711224855605, + 0.0, + 336.49780273885324 + ], + [ + 0.0, + 385.2356994879749, + 227.9817149266292 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.743708341549219, + -1.751280870112531, + 0.8197152346624512 + ], + "camera_target": [ + -0.9316765575655042, + -1.4897255064682164, + 0.8516401835488414 + ], + "camera_roll_rad": 0.03923565248105265, + "camera_pose_world_cv": [ + [ + 0.3084351420402527, + 0.011451244354248047, + 0.9511764049530029, + -1.7437083721160889 + ], + [ + -0.9480143785476685, + 0.08604538440704346, + 0.3063739538192749, + -1.7512809038162231 + ], + [ + -0.0783359706401825, + -0.9962254762649536, + 0.037395358085632324, + 0.8197152614593506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524560451507568, + -0.7578266263008118, + -7.505664001428158e-08, + -0.9189231395721436 + ], + [ + 0.7578266263008118, + 0.6524560451507568, + -5.081488296809766e-08, + -1.5377994775772095 + ], + [ + 8.748002500169605e-08, + -2.3725437614530165e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27405030715235656, + 0.28111510201559825, + 0.2863342687032371 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.202422201206517, + 1.1856259707072019, + 1.1568324327083759 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5297.620703393421, + "intensity": 1.1856259707072019 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6598767323411097, + 0.6816165396206411, + 0.7164002312678913 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6129.854115621138, + "intensity": 0.6903124625324536 + }, + "point_color_scale": [ + 0.962648519020703, + 0.921863743363385, + 0.8519469850936969 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_015/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5928866b14d69ed60d086654a4c99dff5f404efb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0674021315882123, + "K": [ + [ + 423.04200390634156, + 0.0, + 329.53006915094966 + ], + [ + 0.0, + 406.1604542953853, + 237.3946351026994 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2592644714872635, + -0.9631943843805584, + 1.0748300906745352 + ], + "camera_target": [ + -0.915812503016974, + -1.5568007694178339, + 0.8873674746834601 + ], + "camera_roll_rad": -0.04866187238791596, + "camera_pose_world_cv": [ + [ + -0.682417631149292, + 0.08779850602149963, + -0.7256708145141602, + -0.2592644691467285 + ], + [ + 0.7247551679611206, + 0.2103797197341919, + -0.6561026573181152, + -0.9631943702697754 + ], + [ + 0.09506148099899292, + -0.9736694097518921, + -0.20719897747039795, + 1.0748300552368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524561047554016, + -0.7578265070915222, + -1.354471912407007e-08, + -0.9189231395721436 + ], + [ + 0.7578265070915222, + 0.6524561047554016, + -6.211692049618023e-09, + -1.5377994775772095 + ], + [ + 1.354471912407007e-08, + -6.211692049618023e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25653820258904486, + 0.26941296524427677, + 0.26492508770968504 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.017800864134614, + 0.961052826730311, + 0.8637704768943631 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4656.460263073142, + "intensity": 0.961052826730311 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.845066726965626, + 0.8483602505010756, + 0.8536298881577947 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5577.524070381654, + "intensity": 0.8496776599152553 + }, + "point_color_scale": [ + 0.8199240724373623, + 0.811990725391207, + 0.7983907018835121 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b03_016/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..519bdec6dad1489c893e23f5377aa74ade803d69 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b03_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.801607361481843, + "K": [ + [ + 574.2835797318947, + 0.0, + 342.27400547668697 + ], + [ + 0.0, + 566.3838672930037, + 226.47124285582032 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5060552181860483, + -1.4623019033032063, + 0.7958757174100187 + ], + "camera_target": [ + -0.8877587450547234, + -1.5262950623028761, + 0.8989960143277218 + ], + "camera_roll_rad": 0.0392096546239359, + "camera_pose_world_cv": [ + [ + -0.08988022804260254, + 0.17035332322120667, + 0.9812754392623901, + -1.506055235862732 + ], + [ + -0.9929497241973877, + 0.061126112937927246, + -0.10156124830245972, + -1.4623018503189087 + ], + [ + -0.07728278636932373, + -0.9834854006767273, + 0.16365838050842285, + 0.7958757281303406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6524561047554016, + -0.7578265070915222, + -1.354471912407007e-08, + -0.9189231395721436 + ], + [ + 0.7578265070915222, + 0.6524561047554016, + -6.211692049618023e-09, + -1.5377994775772095 + ], + [ + 1.354471912407007e-08, + -6.211692049618023e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27324206050548955, + 0.2704182375858514, + 0.27498230829184234 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.107205299742736, + 1.095060993771071, + 1.074242183533931 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5341.57039078522, + "intensity": 1.095060993771071 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8506715815283193, + 0.8746227658108925, + 0.9129446606630093 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6041.757442451104, + "intensity": 0.8842032395239217 + }, + "point_color_scale": [ + 0.8187610710051095, + 0.8382422857807397, + 0.8694122294217479 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_001/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4eafd45b6c6d33a39f6a15bfa81e32c0fb85b6db --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.242360597881238, + "K": [ + [ + 334.20033823945073, + 0.0, + 301.2596569801342 + ], + [ + 0.0, + 335.3396108623306, + 232.95107299601193 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9947331927396357, + -1.380746798895471, + 1.0693471848829117 + ], + "camera_target": [ + -0.9716881099737598, + -0.8542789755898574, + 0.9528586783209086 + ], + "camera_roll_rad": -0.05163609073563681, + "camera_pose_world_cv": [ + [ + 0.9946936368942261, + 0.09360137581825256, + 0.04270031303167343, + -0.9947332143783569 + ], + [ + -0.021268565207719803, + -0.21899473667144775, + 0.9754942655563354, + -1.380746841430664 + ], + [ + 0.10065873712301254, + -0.9712260961532593, + -0.2158418893814087, + 1.0693471431732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24770909161021296, + 0.23504450081304612, + 0.24227082576009368 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1978171017731847, + 1.1270837779647191, + 1.0058266514359209 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4603.4596769449, + "intensity": 1.1270837779647191 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.857801912661466, + 0.8931248268865996, + 0.9496414896468133 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6278.677515098379, + "intensity": 0.907253992576653 + }, + "point_color_scale": [ + 0.8244822102028889, + 0.8167743799321432, + 0.8035609566108649 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_002/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bd096abf0adcf6f9f0da72e29292183c0f64c5e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8200617316670399, + "K": [ + [ + 565.2770192483877, + 0.0, + 325.43050017287294 + ], + [ + 0.0, + 552.1456705427081, + 258.76280130037475 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.388998408036025, + -1.4860745142626914, + 0.9146407513316025 + ], + "camera_target": [ + -0.948483071451602, + -0.8683203289157553, + 0.9572355865992823 + ], + "camera_roll_rad": -0.046610501218822695, + "camera_pose_world_cv": [ + [ + 0.8076286315917969, + 0.10819180309772491, + 0.5796814560890198, + -1.3889983892440796 + ], + [ + -0.5823214650154114, + -0.00860673189163208, + 0.8129130601882935, + -1.4860745668411255 + ], + [ + 0.09293971955776215, + -0.9940928220748901, + 0.05605137348175049, + 0.9146407246589661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2672003787543984, + 0.27728708516583506, + 0.265782780267038 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1940785100004594, + 1.190305614858891, + 1.1838377946162024 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5454.718770247257, + "intensity": 1.190305614858891 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8050907580325054, + 0.7895406558422183, + 0.7628833378017266 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5218.641066346187, + "intensity": 0.7895406558422183 + }, + "point_color_scale": [ + 0.852072715588081, + 0.8568359938658624, + 0.8644572391103127 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_003/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd5a4f8000ce0d342eace681cdc1809d400650b2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1692388949785835, + "K": [ + [ + 351.333278570671, + 0.0, + 339.1386213104588 + ], + [ + 0.0, + 362.65233172297263, + 216.35835836059545 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6657948544878383, + -0.8951268667044179, + 0.6642330250423475 + ], + "camera_target": [ + -0.9367148875413682, + -0.8879991117846836, + 0.926983928951987 + ], + "camera_roll_rad": -0.0252554532702877, + "camera_pose_world_cv": [ + [ + -0.007352948188781738, + 0.3390723764896393, + 0.9407315850257874, + -1.665794849395752 + ], + [ + -0.9988442659378052, + -0.04717683792114258, + 0.009196996688842773, + -0.8951268792152405 + ], + [ + 0.04749917984008789, + -0.9395766854286194, + 0.33902740478515625, + 0.6642330288887024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23833989731924277, + 0.23122496927185168, + 0.2560889207863586 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9202864596340989, + 0.9460201512078777, + 0.987194057725924 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6038.185189977331, + "intensity": 0.9563136278373893 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6482656254536735, + 0.637551207053212, + 0.6191836326524209 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5259.920272578486, + "intensity": 0.637551207053212 + }, + "point_color_scale": [ + 0.9796621583972722, + 0.9640337571359372, + 0.9372422121165059 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_004/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8650d5e3f3e8f7a7bd1c2999e21ae6b0dc98bb5a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8142602607659556, + "K": [ + [ + 577.934300502128, + 0.0, + 329.36634967727 + ], + [ + 0.0, + 556.556009328031, + 234.88256022998772 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.8164045744533337, + -0.6055993002836288, + 0.6569380740993073 + ], + "camera_target": [ + -0.9479621706030948, + -0.8764249848922488, + 0.8574363129832989 + ], + "camera_roll_rad": -0.03293744829309246, + "camera_pose_world_cv": [ + [ + -0.31059181690216064, + 0.18543368577957153, + 0.9322806596755981, + -1.8164045810699463 + ], + [ + -0.948367178440094, + -0.12678176164627075, + -0.2907337546348572, + -0.6055992841720581 + ], + [ + 0.06428441405296326, + -0.9744438529014587, + 0.21523666381835938, + 0.6569380760192871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23365667543307186, + 0.22969920871138122, + 0.23880757129303584 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.183184997600512, + 1.138150596087685, + 1.0609487649228388 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4934.742120021858, + "intensity": 1.138150596087685 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.757154182368932, + 0.7795242417007393, + 0.8153163366316315 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6067.427931520446, + "intensity": 0.7884722654334624 + }, + "point_color_scale": [ + 0.787906509080957, + 0.8044984638119469, + 0.8310455913815303 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_005/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cd1230e8d9d30a0f5694af117f84a679bbb0431 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0607124445665304, + "K": [ + [ + 393.0304026314745, + 0.0, + 332.90702623895527 + ], + [ + 0.0, + 409.27999729182557, + 247.62160107252996 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6482695987186102, + -1.3995232416383458, + 1.0222067713775627 + ], + "camera_target": [ + -0.9785577090269528, + -0.8804054219323707, + 0.9756445853286204 + ], + "camera_roll_rad": 0.04078394461384789, + "camera_pose_world_cv": [ + [ + 0.6070685982704163, + -0.09313756227493286, + 0.7891724109649658, + -1.6482696533203125 + ], + [ + -0.790473997592926, + 0.03089451789855957, + 0.6117159128189087, + -1.3995232582092285 + ], + [ + -0.0813547670841217, + -0.9951738119125366, + -0.05486774444580078, + 1.0222067832946777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30556560485652395, + 0.3265249628172693, + 0.31286570658770696 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0553446547206944, + 1.0288237270067393, + 0.9833592794971019 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5131.744111291124, + "intensity": 1.0288237270067393 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5925482155324129, + 0.6170545237751727, + 0.6562646169635885 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6281.878686926026, + "intensity": 0.6268570470722766 + }, + "point_color_scale": [ + 0.8493610067483409, + 0.8782609892835352, + 0.9245009613398465 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_006/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9973bd21188c978855a93eee95823388f8446bc0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.933380220741563, + "K": [ + [ + 457.43723488803477, + 0.0, + 323.0269715921733 + ], + [ + 0.0, + 476.371069212362, + 256.9021427899001 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.21993564344763195, + -0.3767320146388635, + 0.8386106547410912 + ], + "camera_target": [ + -0.9677403564152465, + -0.9212583664907908, + 0.989056633672218 + ], + "camera_roll_rad": 0.0166192936979727, + "camera_pose_world_cv": [ + [ + -0.5926315784454346, + -0.11013427376747131, + -0.7979087233543396, + -0.21993564069271088 + ], + [ + 0.8048055171966553, + -0.12130534648895264, + -0.5810103416442871, + -0.3767320215702057 + ], + [ + -0.03280150890350342, + -0.9864864349365234, + 0.16052615642547607, + 0.8386106491088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35910485248954704, + 0.38039206821846383, + 0.38011744129039315 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0391864915399842, + 1.074094769069063, + 1.129948013115589 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6141.662024631807, + "intensity": 1.0880580800806945 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6143902492719875, + 0.6389047267248307, + 0.6781278906493798 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6255.790966347629, + "intensity": 0.648710517705968 + }, + "point_color_scale": [ + 1.0220633725639714, + 0.9798488002997359, + 0.9074809621324752 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_007/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8b37fde995d773bcb9f5c8387b153808a2d1265 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1468315229641732, + "K": [ + [ + 388.25386602228593, + 0.0, + 322.80289632035175 + ], + [ + 0.0, + 371.6330971297678, + 240.10302385892834 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3497269938801255, + -0.47452600686066476, + 1.1140258695356038 + ], + "camera_target": [ + -1.0052038113212658, + -0.9156897820588779, + 0.8921652613161778 + ], + "camera_roll_rad": 0.0032744968814531414, + "camera_pose_world_cv": [ + [ + -0.5568758249282837, + 0.22792711853981018, + -0.7987104654312134, + -0.34972700476646423 + ], + [ + 0.8305717706680298, + 0.14551043510437012, + -0.5375660061836243, + -0.4745260179042816 + ], + [ + -0.006305128335952759, + -0.9627439379692078, + -0.270341157913208, + 1.1140258312225342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2510170754268428, + 0.2551773486813806, + 0.2782183429260585 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9329868380824078, + 0.9393930971027317, + 0.94964311153525 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5636.020402989044, + "intensity": 0.9419556007108613 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.8746154211784893, + 0.8826380766584355, + 0.8954743254263495 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5681.129568028125, + "intensity": 0.8858471388504141 + }, + "point_color_scale": [ + 0.838014973513252, + 0.8211378630063725, + 0.7922056735660077 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_008/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9903e842b02ba8bb1275e013138da67d516415e4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9582694533598786, + "K": [ + [ + 463.82783033305986, + 0.0, + 348.6029817786734 + ], + [ + 0.0, + 461.97240831882215, + 258.0729926430779 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3204011200354234, + -0.952609869221706, + 0.9771603488868725 + ], + "camera_target": [ + -0.9268813170772404, + -0.8438805781905774, + 0.9436353926157066 + ], + "camera_roll_rad": 0.036285778824689, + "camera_pose_world_cv": [ + [ + 0.17987871170043945, + 0.040541499853134155, + -0.9828530550003052, + -0.320401132106781 + ], + [ + 0.9810208082199097, + -0.08093208074569702, + 0.1762051284313202, + -0.9526098966598511 + ], + [ + -0.07240080833435059, + -0.9958947896957397, + -0.05432999134063721, + 0.9771603345870972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23844284688518, + 0.23953250755000643, + 0.22750913941097362 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8920666428646251, + 0.8946936558501317, + 0.8988968766269422 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5558.655411219485, + "intensity": 0.8957444610443344 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6870858835905687, + 0.6723547070462907, + 0.6471012615418144 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5187.002445288926, + "intensity": 0.6723547070462907 + }, + "point_color_scale": [ + 1.1031341326638346, + 1.1285816576991199, + 1.1692976977555762 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_009/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..405c13ced793ea76b15caa2f486565467c9eb9f9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9551835021768027, + "K": [ + [ + 467.15314730995885, + 0.0, + 320.50703192910294 + ], + [ + 0.0, + 463.71999571074707, + 232.56093075321036 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.16753828874876486, + -0.8475769835956992, + 1.0993557933317986 + ], + "camera_target": [ + -0.9870532068042883, + -0.8605151542455902, + 0.976749912578627 + ], + "camera_roll_rad": -0.042276211283811996, + "camera_pose_world_cv": [ + [ + -0.028221845626831055, + 0.1460631787776947, + -0.9888727068901062, + -0.16753828525543213 + ], + [ + 0.9961062669754028, + 0.0867682695388794, + -0.01561194658279419, + -0.8475769758224487 + ], + [ + 0.08352237939834595, + -0.9854628443717957, + -0.1479431390762329, + 1.0993558168411255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29823306592731713, + 0.3100997862431517, + 0.3001056415002853 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0130985021200751, + 1.0669971619909475, + 1.1532350177843436 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6490.27755812637, + "intensity": 1.0885566259392965 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6105493882758409, + 0.6361577544902743, + 0.6771311404333678 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6292.336714023707, + "intensity": 0.6464011009760476 + }, + "point_color_scale": [ + 0.8725454467178181, + 0.8940706753141154, + 0.9285110410681912 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_010/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfa8625d2979eaecf75d6c328c6069368a89825a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9839215866670179, + "K": [ + [ + 447.7832988786388, + 0.0, + 309.77732007137797 + ], + [ + 0.0, + 447.8368654746194, + 234.6897409452036 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6267790904196024, + -0.6471254135695229, + 0.990610205863932 + ], + "camera_target": [ + -0.9168842068776147, + -0.9400295360525251, + 0.8499629623319509 + ], + "camera_roll_rad": -0.018341157950269707, + "camera_pose_world_cv": [ + [ + -0.3750476837158203, + -0.18040800094604492, + 0.9092812538146973, + -1.6267790794372559 + ], + [ + -0.926303505897522, + 0.03476357460021973, + -0.37517136335372925, + -0.6471254229545593 + ], + [ + 0.03607407212257385, + -0.9829774498939514, + -0.18015038967132568, + 0.9906101822853088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27246874397595455, + 0.29342269105162944, + 0.2785340778959569 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.2145287524180315, + 1.1786009964578146, + 1.1170105576688714 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5064.522974172713, + "intensity": 1.1786009964578146 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7496358906350615, + 0.7233426261166928, + 0.678268458370918 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4980.719024448136, + "intensity": 0.7233426261166928 + }, + "point_color_scale": [ + 1.176771925109831, + 1.123445390162074, + 1.0320284731087765 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_011/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39c108d1df2a70fe7ec4f066fcb73b49ba1d1d8d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.003116040452744, + "K": [ + [ + 430.13888192975907, + 0.0, + 301.7284886209492 + ], + [ + 0.0, + 437.69484895577176, + 232.71418027092716 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7226385992855593, + -0.5528397500085106, + 1.0998592955274078 + ], + "camera_target": [ + -0.9657936926455511, + -0.9230417458081817, + 0.8917014229244323 + ], + "camera_roll_rad": 0.00776347149152351, + "camera_pose_world_cv": [ + [ + -0.8321044445037842, + 0.24645602703094482, + -0.4968522787094116, + -0.7226386070251465 + ], + [ + 0.5544414520263672, + 0.346946120262146, + -0.7564544677734375, + -0.5528397560119629 + ], + [ + -0.014051854610443115, + -0.9049243927001953, + -0.425340473651886, + 1.0998592376708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33246398763084556, + 0.35696679477102744, + 0.3424811399364648 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.1650278363927127, + 1.157088951547555, + 1.1434794346701422 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5401.984509926033, + "intensity": 1.157088951547555 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7298374220234289, + 0.7505396894134932, + 0.7836633172375961 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6045.64326506454, + "intensity": 0.7588205963695189 + }, + "point_color_scale": [ + 0.7920470529124655, + 0.8101032596860865, + 0.8389931905238807 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_012/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47888146e241639f68524441f647ebf8d821cb0f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0619147470886838, + "K": [ + [ + 416.68653662033086, + 0.0, + 296.7661956650993 + ], + [ + 0.0, + 408.7167195496926, + 249.42960387389894 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.304311620562797, + -0.45245269260347953, + 0.6964080525826993 + ], + "camera_target": [ + -0.9721658344981046, + -0.9239144581387573, + 0.867759587210373 + ], + "camera_roll_rad": -0.029086935608237444, + "camera_pose_world_cv": [ + [ + -0.825653076171875, + 0.11622419953346252, + 0.5520768165588379, + -1.3043116331100464 + ], + [ + -0.5614185333251953, + -0.2659251093864441, + -0.7836409211158752, + -0.452452689409256 + ], + [ + 0.055733054876327515, + -0.9569616913795471, + 0.28481221199035645, + 0.6964080333709717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3196201220143006, + 0.3143058212352518, + 0.31897274031661527 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9874934557496292, + 0.9626856040510268, + 0.9201578582819941 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5131.865398301084, + "intensity": 0.9626856040510268 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7298035845649641, + 0.7265983892725572, + 0.721103768771288 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5436.982375885687, + "intensity": 0.7265983892725572 + }, + "point_color_scale": [ + 0.9502569219888396, + 0.9798198016895583, + 1.0271204092107082 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_013/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e5e7b4cc48711b4417a1cf40fee540882fe97c8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2623738673324498, + "K": [ + [ + 332.1970735820069, + 0.0, + 296.7782647452173 + ], + [ + 0.0, + 328.3469192284136, + 218.07610631228874 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4350378975669247, + -1.082669680625178, + 0.8153109534709232 + ], + "camera_target": [ + -0.9863435823966862, + -0.8569434397809148, + 0.8759506135248831 + ], + "camera_roll_rad": -0.045587597956712904, + "camera_pose_world_cv": [ + [ + 0.43779319524765015, + 0.14754754304885864, + 0.8868861198425293, + -1.4350378513336182 + ], + [ + -0.8945202231407166, + -0.02769380807876587, + 0.44616907835006714, + -1.082669734954834 + ], + [ + 0.09039250016212463, + -0.9886673092842102, + 0.11986017227172852, + 0.8153109550476074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3258476437359428, + 0.3323454678875675, + 0.343079243196696 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.8908317532236332, + 0.8672278125543184, + 0.8267639142640644 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5111.175809242553, + "intensity": 0.8672278125543184 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.6990648771190797, + 0.6804788298195872, + 0.6486170344490286 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 5109.811577104146, + "intensity": 0.6804788298195872 + }, + "point_color_scale": [ + 1.09789979468563, + 1.1071685150166233, + 1.1219984675462125 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_014/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a83ee2648f9e82879279303449772585ad634679 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2055422947120218, + "K": [ + [ + 364.7340243049763, + 0.0, + 321.9308449618712 + ], + [ + 0.0, + 348.72939210679203, + 245.98035616805345 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.504243627001789, + -0.38011589313950966, + 1.0708180347435237 + ], + "camera_target": [ + -0.9756024165879189, + -0.8796977271652606, + 0.9427499594505206 + ], + "camera_roll_rad": 0.002647680209882465, + "camera_pose_world_cv": [ + [ + -0.7266771793365479, + 0.12964075803756714, + -0.6746357679367065, + -0.5042436122894287 + ], + [ + 0.6869592666625977, + 0.12968695163726807, + -0.7150302529335022, + -0.38011589646339417 + ], + [ + -0.005205601453781128, + -0.9830434918403625, + -0.18329846858978271, + 1.0708180665969849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.39060509334827087, + 0.37227017928200246, + 0.38383231026231135 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 0.9488712143062472, + 0.9716148495296465, + 1.0080046658870856 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 5963.818698704426, + "intensity": 0.9807123036190062 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5922047692777661, + 0.5715774040134237, + 0.5362162064174082 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4984.450146971622, + "intensity": 0.5715774040134237 + }, + "point_color_scale": [ + 0.8952393255366576, + 0.9212009100299215, + 0.962739445219144 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_015/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61893ab8f30ed309a318098d7c7ccb93e67bb62c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.219025119776351, + "K": [ + [ + 351.0010514530267, + 0.0, + 320.3238290984628 + ], + [ + 0.0, + 343.7442186328862, + 253.22755322536275 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5702578574592482, + -0.5541994965032022, + 1.0753178754102226 + ], + "camera_target": [ + -0.9899609931495597, + -0.8720730112445192, + 0.8717525628305351 + ], + "camera_roll_rad": 0.03961807149534857, + "camera_pose_world_cv": [ + [ + -0.5791076421737671, + 0.3343678116798401, + -0.7435270547866821, + -0.570257842540741 + ], + [ + 0.8119013905525208, + 0.15394949913024902, + -0.563130259513855, + -0.5541995167732239 + ], + [ + -0.07382699847221375, + -0.9297837018966675, + -0.36062705516815186, + 1.0753178596496582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3189811932117563, + 0.3395487193498134, + 0.3448802845633562 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0456908655828006, + 1.1008471200498597, + 1.1890971271971549 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 6482.381010803758, + "intensity": 1.1229096218366834 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.7518081292959595, + 0.721462404382299, + 0.6694411616731668 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 4899.122735604501, + "intensity": 0.721462404382299 + }, + "point_color_scale": [ + 0.8500088045486118, + 0.8330788044659956, + 0.8040559471815104 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000443/scene_b04_016/scene_meta.json b/so100/ProcTHOR/test/bg_000443/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54c486ba7e854045d989caed956c0b88ea4a2e4f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000443/scene_b04_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 443, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0786494449110877, + "K": [ + [ + 403.6945647190319, + 0.0, + 332.56564776767095 + ], + [ + 0.0, + 400.99441338577367, + 218.62785564273125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5739475183364893, + -1.2777346236416707, + 0.8535212171487796 + ], + "camera_target": [ + -0.952712271805846, + -0.8783694106858985, + 0.891821591313996 + ], + "camera_roll_rad": 0.012714044664721535, + "camera_pose_world_cv": [ + [ + 0.5416902303695679, + 0.0298021137714386, + 0.8400497436523438, + -1.573947548866272 + ], + [ + -0.840194582939148, + 0.049384474754333496, + 0.5400316715240479, + -1.277734637260437 + ], + [ + -0.02539125084877014, + -0.9983351230621338, + 0.051790714263916016, + 0.8535212278366089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9679394960403442, + 0.2511832118034363, + 3.773286572084089e-09, + -0.9652546048164368 + ], + [ + -0.2511832118034363, + -0.9679394960403442, + -2.956248401631001e-08, + -0.892583966255188 + ], + [ + -3.773286572084089e-09, + -2.956248401631001e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3085326630612671, + 0.33078670700130136, + 0.33292581444892483 + ], + "directional_primary": { + "direction": [ + 0.7274573622232929, + 0.0007317751954270675, + -0.6861524966450184 + ], + "color": [ + 1.0621035377520602, + 1.025034797739606, + 0.9614883862896842 + ], + "azimuth_rad": 0.0010059351744842182, + "elevation_rad": 0.7561867983802193, + "color_temp_k": 4983.380047275359, + "intensity": 1.025034797739606 + }, + "directional_fill": { + "direction": [ + -0.16896128435975943, + -0.2920473339618314, + -0.9413609494308158 + ], + "color": [ + 0.5942631254586608, + 0.6156599887903176, + 0.6498949701209688 + ], + "azimuth_rad": -2.095287504620525, + "elevation_rad": 1.2266414974613509, + "color_temp_k": 6185.55658976558, + "intensity": 0.6242187341229803 + }, + "point_color_scale": [ + 1.0698673078985843, + 1.0880892225713952, + 1.117244286047893 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15bc611dbe1feb7a411c9118f386bd2f06f6f4bf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9916976528661384, + "K": [ + [ + 429.8944995283881, + 0.0, + 340.19956964775395 + ], + [ + 0.0, + 443.6847751420125, + 221.07728482023646 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9745994876335327, + -5.641722213860314, + 1.0335297991446704 + ], + "camera_target": [ + -4.958651191406298, + -5.622258861993182, + 0.8534638027977443 + ], + "camera_roll_rad": 0.01525148553685532, + "camera_pose_world_cv": [ + [ + 0.0252532958984375, + 0.17923957109451294, + -0.9834814071655273, + -3.974599599838257 + ], + [ + 0.9992309212684631, + -0.034049272537231445, + 0.019452333450317383, + -5.641722202301025 + ], + [ + -0.030000358819961548, + -0.9832161664962769, + -0.1799614429473877, + 1.0335297584533691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932668447494507, + -2.8312255651030682e-08, + -4.957930564880371 + ], + [ + 0.5932668447494507, + 0.8050059080123901, + -9.305631820666349e-09, + -5.58002233505249 + ], + [ + 2.8312255651030682e-08, + -9.305631820666349e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29621898398331825, + 0.2961524497172987, + 0.28482293763563105 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1819255185424817, + 1.1450912937312452, + 1.081946908340554 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5040.470515783526, + "intensity": 1.1450912937312452 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6531375133687205, + 0.6773877067968201, + 0.71618801628178 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6205.883410733679, + "intensity": 0.6870877841680602 + }, + "point_color_scale": [ + 0.9498427099033873, + 0.9464447616411522, + 0.9406197074773209 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1daf2f97a5e0ed574679b2b7e4960ce7d0e11ff --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0781838226793665, + "K": [ + [ + 390.9062804055612, + 0.0, + 322.1406864113288 + ], + [ + 0.0, + 401.20635056884805, + 255.28400985910838 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.224936964134137, + -6.109748863117182, + 0.9187604477290344 + ], + "camera_target": [ + -4.987093932205626, + -5.627651994604015, + 0.8613913256668971 + ], + "camera_roll_rad": 0.043098328219884616, + "camera_pose_world_cv": [ + [ + 0.5372092723846436, + 0.007432401180267334, + -0.8434162139892578, + -4.2249369621276855 + ], + [ + 0.8390617370605469, + -0.10656827688217163, + 0.533496618270874, + -6.109748840332031 + ], + [ + -0.08591625094413757, + -0.9942775964736938, + -0.06348574161529541, + 0.9187604188919067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35730784234007706, + 0.3763790561518586, + 0.37881048404817075 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9112483604216542, + 0.8715761440226304, + 0.8035666301957326 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4849.745914405424, + "intensity": 0.8715761440226304 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6321751896745921, + 0.6512915627615325, + 0.6818777597006375 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6080.2175572763845, + "intensity": 0.6589381119963088 + }, + "point_color_scale": [ + 0.8279282216900764, + 0.8595669072222721, + 0.9101888040737856 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84c2858ada80c7a80f5cafe3fa2943bcbcd8d1e1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1500072154202432, + "K": [ + [ + 353.1134355723858, + 0.0, + 347.51678124172355 + ], + [ + 0.0, + 370.3414417755511, + 229.53755751085086 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.335208757403413, + -5.741295671862944, + 0.7950564221296826 + ], + "camera_target": [ + -4.935746054354932, + -5.550450535676454, + 0.852485128110803 + ], + "camera_roll_rad": 0.019231215864340886, + "camera_pose_world_cv": [ + [ + 0.2993154525756836, + -0.09808063507080078, + -0.9490997791290283, + -4.335208892822266 + ], + [ + 0.9533854722976685, + -0.009178757667541504, + 0.3016155958175659, + -5.74129581451416 + ], + [ + -0.0382942259311676, + -0.9951361417770386, + 0.09076130390167236, + 0.7950564026832581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36372975120441325, + 0.3517033734525375, + 0.3426562078528289 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9075918826090962, + 0.881639938790706, + 0.8371508922448944 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5079.485866920961, + "intensity": 0.881639938790706 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7037183944191476, + 0.7101763422749162, + 0.720509058844146 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5681.209725348259, + "intensity": 0.7127595214172237 + }, + "point_color_scale": [ + 0.8427826640632893, + 0.8612783487399297, + 0.8908714442225544 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1122f86bba5dcb3fb8c6d33f04533bb2bdfa9e91 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.12450468501107, + "K": [ + [ + 370.94611480552453, + 0.0, + 345.3778604241814 + ], + [ + 0.0, + 380.8969764766654, + 216.60002901147968 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.387451688060393, + -4.909491176750384, + 0.6759243571362822 + ], + "camera_target": [ + -4.970654876996603, + -5.563840399997452, + 0.8880053678756686 + ], + "camera_roll_rad": 0.03488290816238565, + "camera_pose_world_cv": [ + [ + -0.7556169033050537, + -0.10405191779136658, + -0.6466965675354004, + -4.387451648712158 + ], + [ + 0.6515003442764282, + -0.22151488065719604, + -0.7255884408950806, + -4.909491062164307 + ], + [ + -0.06775408983230591, + -0.9695898294448853, + 0.2351703643798828, + 0.6759243607521057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932668447494507, + -2.8312255651030682e-08, + -4.957930564880371 + ], + [ + 0.5932668447494507, + 0.8050059080123901, + -9.305631820666349e-09, + -5.58002233505249 + ], + [ + 2.8312255651030682e-08, + -9.305631820666349e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3105939815018367, + 0.31011841881480146, + 0.27784771039467004 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1120122218570356, + 1.162392324661572, + 1.2430004891488304 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6352.062793790602, + "intensity": 1.1825443657833865 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9509099806681722, + 0.9415638809247713, + 0.9255419956503697 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5358.197926529553, + "intensity": 0.9415638809247713 + }, + "point_color_scale": [ + 0.8680129577290087, + 0.8950599640513801, + 0.9383351741671746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b276dbfe1f533603d15bce359e37b31724ca8f8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8711392016648253, + "K": [ + [ + 513.7000383335363, + 0.0, + 347.9962118489215 + ], + [ + 0.0, + 515.7082258269377, + 253.65247865513672 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.9793091337874795, + -4.642594007072786, + 1.1478123707564882 + ], + "camera_target": [ + -4.939281402444548, + -5.551915246880245, + 0.9824971873087683 + ], + "camera_roll_rad": -0.021178592344145458, + "camera_pose_world_cv": [ + [ + -0.9978036880493164, + -0.05015518143773079, + 0.043268803507089615, + -4.97930908203125 + ], + [ + -0.051496926695108414, + 0.17650604248046875, + -0.9829515814781189, + -4.642593860626221 + ], + [ + 0.04166291281580925, + -0.9830209612846375, + -0.17870116233825684, + 1.1478123664855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932668447494507, + -2.8312255651030682e-08, + -4.957930564880371 + ], + [ + 0.5932668447494507, + 0.8050059080123901, + -9.305631820666349e-09, + -5.58002233505249 + ], + [ + 2.8312255651030682e-08, + -9.305631820666349e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2563999925056154, + 0.2768781305102228, + 0.2757942080541539 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0324967583469624, + 1.0442062163726566, + 1.0629413492137674 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5723.273327619679, + "intensity": 1.0488899995829344 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8588556470800935, + 0.8195333031468299, + 0.7521235706898064 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4814.551625518809, + "intensity": 0.8195333031468299 + }, + "point_color_scale": [ + 1.03788446253992, + 1.0747507627292856, + 1.1337368430322703 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbec3a604c937bcabd8ad4ed637687d9bdbf5a4c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.200056976105515, + "K": [ + [ + 364.6262341719449, + 0.0, + 344.98449978612007 + ], + [ + 0.0, + 350.7855831487706, + 217.4091569659435 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.462849227832496, + -5.121732005415558, + 1.0977046565368707 + ], + "camera_target": [ + -4.92651287791054, + -5.600192134295676, + 0.9489823506657624 + ], + "camera_roll_rad": 0.03346636706321979, + "camera_pose_world_cv": [ + [ + -0.7063754796981812, + 0.19930049777030945, + -0.6792004108428955, + -4.462849140167236 + ], + [ + 0.7048212289810181, + 0.10955297946929932, + -0.7008746862411499, + -5.121732234954834 + ], + [ + -0.06527626514434814, + -0.9737954139709473, + -0.21785664558410645, + 1.0977046489715576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38025937414254607, + 0.3739720090693191, + 0.35252352928677594 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0783715258003421, + 1.051850643482991, + 1.0063862737961038 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5139.8065165067765, + "intensity": 1.051850643482991 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8680733775944243, + 0.8858632688708691, + 0.9143270949131809 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5898.439085049165, + "intensity": 0.892979225381447 + }, + "point_color_scale": [ + 1.0440981205606277, + 1.0737515965465134, + 1.1211971581239306 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a47033490270f65c096087a51b7c9474dc382aa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9536497223298155, + "K": [ + [ + 482.8509758744103, + 0.0, + 288.72309888461604 + ], + [ + 0.0, + 464.59246358969006, + 260.9488875271794 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.506448844095131, + -5.50945952980928, + 1.0997512679297232 + ], + "camera_target": [ + -4.948020887588692, + -5.604778687660606, + 0.8511301830026677 + ], + "camera_roll_rad": -0.032715396439788026, + "camera_pose_world_cv": [ + [ + -0.1419973373413086, + -0.40629473328590393, + 0.9026414155960083, + -5.506448745727539 + ], + [ + -0.9880548715591431, + 0.003021717071533203, + -0.1540738344192505, + -5.509459495544434 + ], + [ + 0.05987200140953064, + -0.9137371778488159, + -0.40187036991119385, + 1.0997512340545654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3207249297948397, + 0.3084899334754808, + 0.3134287839381518 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1638316023083832, + 1.1697672259378753, + 1.1792642237450626 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5601.278280039, + "intensity": 1.172141475389672 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8810769040072529, + 0.9181362359624508, + 0.9774311670907678 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6294.446347040338, + "intensity": 0.93295996874453 + }, + "point_color_scale": [ + 0.942302716917085, + 0.970166528638675, + 1.0147486273932191 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9ee045fba22ac493f7e8d5f9491ef0fd1b8aa0e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9686520209919696, + "K": [ + [ + 476.9281442181054, + 0.0, + 326.5022631790107 + ], + [ + 0.0, + 456.16813120536847, + 251.5556842338094 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.537389665731506, + -5.030294816587901, + 1.1103241427830322 + ], + "camera_target": [ + -5.007680241046449, + -5.606866446968944, + 0.8771491013523554 + ], + "camera_roll_rad": 0.03658838160501962, + "camera_pose_world_cv": [ + [ + -0.748546838760376, + -0.138746440410614, + 0.6484037637710571, + -5.537389755249023 + ], + [ + -0.6593695282936096, + 0.25908684730529785, + -0.7057663202285767, + -5.030294895172119 + ], + [ + -0.07007020711898804, + -0.9558366537094116, + -0.28542351722717285, + 1.1103241443634033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38529214485168906, + 0.3734517788494679, + 0.3688647542149519 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9589549520767576, + 0.9477839201690631, + 0.9286335797558722 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5331.621779274905, + "intensity": 0.9477839201690631 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9267986656337491, + 0.9224440432564585, + 0.9149789763239604 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5432.560796983915, + "intensity": 0.9224440432564585 + }, + "point_color_scale": [ + 0.8956873710341419, + 0.9037715975712799, + 0.9167063600307008 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61b05d6386aea3dbcbe772dc38c8e2b1d09d36c9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.907145213440446, + "K": [ + [ + 511.8291766649136, + 0.0, + 309.7249310579789 + ], + [ + 0.0, + 492.33905219206616, + 254.21773818428454 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.403998549077329, + -5.937646633037302, + 1.0829364346670527 + ], + "camera_target": [ + -4.912168513144949, + -5.613586534927364, + 0.8756019076555068 + ], + "camera_roll_rad": 0.02944232768961927, + "camera_pose_world_cv": [ + [ + 0.552886962890625, + 0.24215656518936157, + -0.7972931265830994, + -4.403998374938965 + ], + [ + 0.8313959240913391, + -0.2242218255996704, + 0.5084344148635864, + -5.937646865844727 + ], + [ + -0.05564987659454346, + -0.9439729452133179, + -0.3252972364425659, + 1.082936406135559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932668447494507, + -2.8312255651030682e-08, + -4.957930564880371 + ], + [ + 0.5932668447494507, + 0.8050059080123901, + -9.305631820666349e-09, + -5.58002233505249 + ], + [ + 2.8312255651030682e-08, + -9.305631820666349e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24335168166271867, + 0.2612440626283396, + 0.2641513567293364 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1100422758705166, + 1.1536245635589562, + 1.2233562238604594 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6244.323630284391, + "intensity": 1.171057478634332 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8492514110703769, + 0.882392164802394, + 0.9354173707736216 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6240.039311831839, + "intensity": 0.8956484662952009 + }, + "point_color_scale": [ + 1.1693300840394238, + 1.1680238606665974, + 1.1657846205988949 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45d6f48f5876730cb219e97890b32e012f052a5a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0633975516721825, + "K": [ + [ + 394.90047590663187, + 0.0, + 331.6373145221773 + ], + [ + 0.0, + 408.0236130875057, + 220.28941401958875 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.38846242491805, + -4.954573579217488, + 0.985318426816619 + ], + "camera_target": [ + -4.963090890153616, + -5.584056149815353, + 0.9380471946370457 + ], + "camera_roll_rad": -0.0341718353489671, + "camera_pose_world_cv": [ + [ + -0.8242526054382324, + -0.09127196669578552, + 0.5588178634643555, + -5.388462543487549 + ], + [ + -0.5621052980422974, + 0.013098835945129395, + -0.8269620537757874, + -4.954573631286621 + ], + [ + 0.06815867125988007, + -0.9957399964332581, + -0.06210094690322876, + 0.9853184223175049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24819624979335847, + 0.24836846187363232, + 0.2459093090583756 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0313833676301016, + 0.9896569579734591, + 0.9181259699906432 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4897.678597901141, + "intensity": 0.9896569579734591 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7435482039470118, + 0.7331016861710771, + 0.7151933699837603 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5296.432103427444, + "intensity": 0.7331016861710771 + }, + "point_color_scale": [ + 1.206716126416039, + 1.1981086643491152, + 1.183353015091531 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..954ce657cb5c3352caa2cb241876e6900ce5ec76 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9810684499478721, + "K": [ + [ + 456.73010736049366, + 0.0, + 325.38849720817984 + ], + [ + 0.0, + 449.37546149668384, + 240.1130058209738 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.57572146418127, + -6.160531320697942, + 0.6736266679161174 + ], + "camera_target": [ + -5.00159343179988, + -5.625340900214587, + 0.9304928796049496 + ], + "camera_roll_rad": -0.027222086037246674, + "camera_pose_world_cv": [ + [ + 0.793245792388916, + -0.17601093649864197, + -0.5829076170921326, + -4.575721263885498 + ], + [ + 0.6067668199539185, + 0.30858659744262695, + 0.7325356006622314, + -6.160531520843506 + ], + [ + 0.05094313621520996, + -0.9347697496414185, + 0.35158252716064453, + 0.6736266613006592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932668447494507, + -2.8312255651030682e-08, + -4.957930564880371 + ], + [ + 0.5932668447494507, + 0.8050059080123901, + -9.305631820666349e-09, + -5.58002233505249 + ], + [ + 2.8312255651030682e-08, + -9.305631820666349e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23023426951035725, + 0.23348510122879598, + 0.22649938526572888 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.8849904699864827, + 0.872792682959336, + 0.8518821909127989 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5300.348807007668, + "intensity": 0.872792682959336 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.654797721836941, + 0.6526454293148514, + 0.6489557849912692 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5452.888605897187, + "intensity": 0.6526454293148514 + }, + "point_color_scale": [ + 0.8775467609397635, + 0.8751419722178431, + 0.8710194772659794 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33105f06f6cc092b9c95021c115259ba0da97f8f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8100238810391935, + "K": [ + [ + 582.9437996262966, + 0.0, + 302.46748942791083 + ], + [ + 0.0, + 559.8142135367959, + 224.28003116218943 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.059279762686963, + -5.687629613529328, + 1.008664216958472 + ], + "camera_target": [ + -4.9472830146958495, + -5.5910590109797145, + 0.8826482727953615 + ], + "camera_roll_rad": -0.03898252214991138, + "camera_pose_world_cv": [ + [ + 0.09696781635284424, + 0.14687418937683105, + -0.9843909740447998, + -4.059279918670654 + ], + [ + 0.9922951459884644, + 0.062372803688049316, + 0.107052743434906, + -5.687629699707031 + ], + [ + 0.07712236046791077, + -0.987186849117279, + -0.1396942138671875, + 1.0086642503738403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2628124847091138, + 0.2628180524939874, + 0.25900711385415925 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.015806998106514, + 0.9660163790099712, + 0.8806610319873263 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4763.6827138986855, + "intensity": 0.9660163790099712 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8521373031708037, + 0.8540127107751329, + 0.8570133629420594 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5543.881353806457, + "intensity": 0.8547628738168644 + }, + "point_color_scale": [ + 0.9079444551960354, + 0.8926436892515224, + 0.8664138047752145 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..022d2481be2f739060982bf4da9bd50c42713ede --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.135412483666255, + "K": [ + [ + 376.07468389259196, + 0.0, + 294.3692121371839 + ], + [ + 0.0, + 376.3305817080015, + 240.80021703463788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.235224655552235, + -5.613326968716956, + 0.686423547312102 + ], + "camera_target": [ + -4.947577979573868, + -5.56345001392661, + 0.9408551398222237 + ], + "camera_roll_rad": -0.023274448568695937, + "camera_pose_world_cv": [ + [ + 0.0853501558303833, + -0.33119824528694153, + -0.9396932125091553, + -4.235224723815918 + ], + [ + 0.9953864812850952, + 0.06983578205108643, + 0.06579488515853882, + -5.6133270263671875 + ], + [ + 0.043832987546920776, + -0.9409733414649963, + 0.33563077449798584, + 0.6864235401153564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932668447494507, + -2.8312255651030682e-08, + -4.957930564880371 + ], + [ + 0.5932668447494507, + 0.8050059080123901, + -9.305631820666349e-09, + -5.58002233505249 + ], + [ + 2.8312255651030682e-08, + -9.305631820666349e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2517705888222856, + 0.24784423752341211, + 0.24619460146959113 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0419900610807948, + 1.0471612216476294, + 1.0554350785545648 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5598.570611115054, + "intensity": 1.0492296858743633 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7495327443745995, + 0.7556099278366768, + 0.7653334213760007 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5660.33921794934, + "intensity": 0.7580408012215079 + }, + "point_color_scale": [ + 1.1461167309488693, + 1.1682566472979974, + 1.203680513456602 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4838ab35ceb0fbbcece56c325b421c03b893a93 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2643485190918866, + "K": [ + [ + 335.809356706492, + 0.0, + 346.54957604214826 + ], + [ + 0.0, + 327.66735672699707, + 216.09190534367073 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.010450030408291, + -4.7808679356159836, + 1.102511670207968 + ], + "camera_target": [ + -4.955447950413992, + -5.556011588891417, + 0.8910000559920042 + ], + "camera_roll_rad": 0.003153396656175811, + "camera_pose_world_cv": [ + [ + -0.9975895881652832, + -0.012297237291932106, + 0.06829435378313065, + -5.0104498863220215 + ], + [ + -0.06912531703710556, + 0.26241135597229004, + -0.9624771475791931, + -4.780868053436279 + ], + [ + -0.006085401400923729, + -0.9648779034614563, + -0.2626286745071411, + 1.1025116443634033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22395442837315543, + 0.22801606430672003, + 0.22849945812033487 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.2607122134075455, + 1.1961146063342967, + 1.0853758513515843 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4728.482828232136, + "intensity": 1.1961146063342967 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7751550077587764, + 0.7775376316007929, + 0.7813498297480194 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5561.211364496612, + "intensity": 0.7784906811375996 + }, + "point_color_scale": [ + 0.9665910423855846, + 0.9764421450834578, + 0.9922039094000548 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4db97b8aa1e4621cce911826794861fd550ef3dd --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0515309858886597, + "K": [ + [ + 417.28537858884755, + 0.0, + 334.8708019699381 + ], + [ + 0.0, + 413.61991888853316, + 239.79310519346222 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.354307230194997, + -5.957980599975974, + 0.9258609976400143 + ], + "camera_target": [ + -4.947743042627999, + -5.5755567894643026, + 0.9299295326641865 + ], + "camera_roll_rad": -0.021831875608503443, + "camera_pose_world_cv": [ + [ + 0.5413839817047119, + 0.018805116415023804, + -0.8405652046203613, + -4.354307174682617 + ], + [ + 0.8396416902542114, + 0.0398099422454834, + 0.541679859161377, + -5.957980632781982 + ], + [ + 0.043649137020111084, + -0.999030351638794, + 0.005762934684753418, + 0.9258610010147095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33562702559960184, + 0.3435896657878382, + 0.34260217831867845 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9352489648945351, + 0.9300852069795496, + 0.92123305055386 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5420.6868686218095, + "intensity": 0.9300852069795496 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6374778362989703, + 0.6443404206469319, + 0.6553205556036705 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5712.107513820477, + "intensity": 0.6470854543861165 + }, + "point_color_scale": [ + 1.0214211436123908, + 1.0448150366871263, + 1.0822452656067028 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..785f05954af0aee31fe6ededfe9c4f4c76ef9995 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0562079806991584, + "K": [ + [ + 409.4502101295585, + 0.0, + 331.278239469214 + ], + [ + 0.0, + 411.40064668187614, + 247.26676198960638 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.248064772811095, + -5.906102912465322, + 0.9213168513198841 + ], + "camera_target": [ + -4.91476879339966, + -5.602938973078531, + 0.9713401668069841 + ], + "camera_roll_rad": -0.03628686541291383, + "camera_pose_world_cv": [ + [ + 0.4173433780670166, + -0.03185263276100159, + -0.9081904888153076, + -4.248064994812012 + ], + [ + 0.905864953994751, + 0.09413862228393555, + 0.4129730761051178, + -5.906103134155273 + ], + [ + 0.07234147191047668, + -0.9950494766235352, + 0.06814229488372803, + 0.9213168621063232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.8050059080123901, + -0.5932667851448059, + -1.9006618501293815e-08, + -4.957930564880371 + ], + [ + 0.5932667851448059, + 0.8050059080123901, + -3.7617876813555995e-08, + -5.58002233505249 + ], + [ + 3.7617876813555995e-08, + 1.9006618501293815e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35656226613147485, + 0.3646707127360471, + 0.3911877859255832 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.070803956735268, + 1.011910479984523, + 0.9109502341261033 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4668.567379432253, + "intensity": 1.011910479984523 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7093908944274422, + 0.702222885311973, + 0.6899348696854546 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5354.177167445213, + "intensity": 0.702222885311973 + }, + "point_color_scale": [ + 1.0042162858086643, + 1.0284926567454091, + 1.0673348502442008 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5274b04ebf3aee8c44aee1f71b70ea53385ecb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0013888906578032, + "K": [ + [ + 454.1594518089362, + 0.0, + 310.0588566567386 + ], + [ + 0.0, + 438.59285853168996, + 262.34426913441814 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.505307432192691, + -4.366819762324732, + 0.6934984838951131 + ], + "camera_target": [ + -4.868132046578032, + -4.891001876764999, + 0.8988769132386318 + ], + "camera_roll_rad": 0.024891221228046836, + "camera_pose_world_cv": [ + [ + -0.8299095630645752, + -0.13338783383369446, + -0.5417174696922302, + -4.505307197570801 + ], + [ + 0.5558837652206421, + -0.28014272451400757, + -0.7826323509216309, + -4.366819858551025 + ], + [ + -0.04736459255218506, + -0.9506460428237915, + 0.3066413402557373, + 0.6934984922409058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2886515704097262, + 0.2858723069855599, + 0.27241228067301526 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.263678723456764, + 1.1921457572772653, + 1.0695178152552685 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4642.8065648751835, + "intensity": 1.1921457572772653 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8955572743545346, + 0.8581564180500274, + 0.7940406643851581 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4877.3886252330085, + "intensity": 0.8581564180500274 + }, + "point_color_scale": [ + 1.0751908557441419, + 1.1171941680346025, + 1.1843994676993397 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d39eeb16a523f0b8d503d77362d471cf5088008 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0704751364065705, + "K": [ + [ + 419.6874223600525, + 0.0, + 292.583031722773 + ], + [ + 0.0, + 404.739258352667, + 251.99648526338865 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.346317747049814, + -4.462693066063619, + 1.0337543895124017 + ], + "camera_target": [ + -4.87909984524896, + -4.957395320082503, + 0.915915996280479 + ], + "camera_roll_rad": -0.0227148104570968, + "camera_pose_world_cv": [ + [ + -0.7209429740905762, + -0.15005791187286377, + 0.6765530705451965, + -5.346317768096924 + ], + [ + -0.6915482878684998, + 0.09274411201477051, + -0.7163516879081726, + -4.462693214416504 + ], + [ + 0.04474794864654541, + -0.9843177199363708, + -0.17063534259796143, + 1.0337543487548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24542656934979742, + 0.24775490676061288, + 0.24597043865424478 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9718500875129672, + 1.0028469313067023, + 1.0524418813766785 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6110.6274519670515, + "intensity": 1.0152456688241964 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7437360919131131, + 0.7677780792003531, + 0.8062452588599373 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6118.527034014784, + "intensity": 0.7773948741152491 + }, + "point_color_scale": [ + 1.032192277477403, + 1.0188073894824914, + 0.9958618672055 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18e9fe8063ca12892ee2d07fade6c30dea90385d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1754760355836655, + "K": [ + [ + 362.84128022888444, + 0.0, + 317.0435729323815 + ], + [ + 0.0, + 360.20645883339057, + 263.3319532862584 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.767867273650637, + -4.5262200347312875, + 1.1013261421068066 + ], + "camera_target": [ + -4.936675499391298, + -4.92123540374313, + 0.9075876097585015 + ], + "camera_roll_rad": -0.008588200664501444, + "camera_pose_world_cv": [ + [ + -0.9221917390823364, + 0.1457405686378479, + -0.35822105407714844, + -4.767867088317871 + ], + [ + 0.3864161968231201, + 0.3847435712814331, + -0.8382452130317688, + -4.526219844818115 + ], + [ + 0.015656933188438416, + -0.9114450812339783, + -0.41112375259399414, + 1.1013261079788208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25648133401026907, + 0.2647120814784352, + 0.2527217146087667 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9741869572324988, + 0.9352026233624382, + 0.8683723367280485 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4904.493698612363, + "intensity": 0.9352026233624382 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8302924523658336, + 0.8120044180085166, + 0.7806535019674019 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5178.255896295856, + "intensity": 0.8120044180085166 + }, + "point_color_scale": [ + 0.9477135278825449, + 0.9715067172112126, + 1.0095758201370806 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..896f46140ac26e5c7d75e57974865fa6b664feb9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8917445344360744, + "K": [ + [ + 481.21153777983676, + 0.0, + 323.2661716980461 + ], + [ + 0.0, + 502.1190885075509, + 232.37096948966723 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.347000837724825, + -4.837173376209203, + 1.0554856351562836 + ], + "camera_target": [ + -4.883169901176799, + -4.9566738715116, + 0.9837800656205972 + ], + "camera_roll_rad": 0.04215860017611649, + "camera_pose_world_cv": [ + [ + -0.26067936420440674, + -0.12185269594192505, + 0.9577047824859619, + -5.347001075744629 + ], + [ + -0.9618260264396667, + 0.1183614730834961, + -0.24674147367477417, + -4.8371734619140625 + ], + [ + -0.08328917622566223, + -0.9854657053947449, + -0.14805543422698975, + 1.0554856061935425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3552520308701458, + 0.3731842688049028, + 0.3573235866553642 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1281538968487461, + 1.1592161173874294, + 1.208915670249323 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6030.234438537757, + "intensity": 1.1716410056029027 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8184428403854106, + 0.8393495639376282, + 0.8728003216211762 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5993.250474306301, + "intensity": 0.8477122533585151 + }, + "point_color_scale": [ + 0.9141375680952435, + 0.8786230260462002, + 0.8177409539621261 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..511896aad2e9250179e15c52074381970bc52292 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0831826591497706, + "K": [ + [ + 405.4555640562971, + 0.0, + 341.9334042452159 + ], + [ + 0.0, + 398.9396119350783, + 245.57249733540647 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.582871861358313, + -4.054591148434242, + 0.937246467274436 + ], + "camera_target": [ + -4.887421215084282, + -4.966040277144488, + 0.9541444326366639 + ], + "camera_roll_rad": 0.04021473603820605, + "camera_pose_world_cv": [ + [ + -0.9458358287811279, + 0.07064767181873322, + -0.31686508655548096, + -4.582871913909912 + ], + [ + 0.31454986333847046, + -0.04208296537399292, + -0.9483077526092529, + -4.054591178894043 + ], + [ + -0.08033037185668945, + -0.9966132640838623, + 0.017581462860107422, + 0.9372464418411255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38170270428871306, + 0.3807478928725197, + 0.34915956024104366 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9959853083307894, + 1.0122278454820215, + 1.0382159049239927 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5818.879763978098, + "intensity": 1.0187248603425143 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8268815109405421, + 0.8424037141612489, + 0.8672392393143796 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5865.825426206035, + "intensity": 0.8486125954495316 + }, + "point_color_scale": [ + 1.0453853414978111, + 1.032113834177003, + 1.0093626787699037 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfec419c2a9859cfca7300a37b6f240ce8ddd8e4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8294907331303486, + "K": [ + [ + 542.286445629443, + 0.0, + 312.2361432857501 + ], + [ + 0.0, + 545.101847329195, + 231.54968348285868 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.560277572726369, + -4.1805852898492155, + 0.8439529102204096 + ], + "camera_target": [ + -4.926242294979947, + -4.903303205570467, + 0.9796036447514269 + ], + "camera_roll_rad": -0.048105561461274315, + "camera_pose_world_cv": [ + [ + -0.7570964097976685, + 0.019497931003570557, + 0.6530123949050903, + -5.560277462005615 + ], + [ + -0.6463415622711182, + -0.16788941621780396, + -0.7443493008613586, + -4.1805853843688965 + ], + [ + 0.09512066841125488, + -0.9856130480766296, + 0.1397109031677246, + 0.8439528942108154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3269719101612304, + 0.32380633259431246, + 0.31357329902427217 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.032443341523303, + 1.0497529706066344, + 1.0774483771399648 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5827.623900118073, + "intensity": 1.0566768222399672 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7168634128960515, + 0.6999595442414761, + 0.6709814836907755 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5155.003149954626, + "intensity": 0.6999595442414761 + }, + "point_color_scale": [ + 1.1701168613148196, + 1.1418386115591734, + 1.0933616119780656 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfae0dc48910d4e9a6b617e2124d20a72bafe360 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1845013421633905, + "K": [ + [ + 369.23657466791315, + 0.0, + 346.2131784533763 + ], + [ + 0.0, + 356.7074678658889, + 256.31715881921525 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.40076557443313, + -4.8794530968145144, + 1.0169988484307964 + ], + "camera_target": [ + -4.859954107974717, + -4.930954105831169, + 0.9960049016845959 + ], + "camera_roll_rad": 0.020388262354869, + "camera_pose_world_cv": [ + [ + -0.10952603816986084, + 0.04961138963699341, + -0.9927451014518738, + -4.400765419006348 + ], + [ + 0.99314945936203, + -0.03545659780502319, + -0.11134248971939087, + -4.879453182220459 + ], + [ + -0.04072326421737671, + -0.9981390833854675, + -0.04538804292678833, + 1.0169988870620728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2666694397343958, + 0.2645294144333383, + 0.26311448499639045 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0419402470803172, + 1.069344836991424, + 1.1131921808491954 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6007.348340932196, + "intensity": 1.0803066729558668 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9363336351716615, + 0.8977299368120353, + 0.8315521681955333 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4885.693422349372, + "intensity": 0.8977299368120353 + }, + "point_color_scale": [ + 0.9053613929132189, + 0.9223651854219699, + 0.9495712534359714 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cedb2074198ba18db82bf58d91334e52ac2b71e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2181693158292508, + "K": [ + [ + 348.1677283632481, + 0.0, + 312.92164169656684 + ], + [ + 0.0, + 344.0577778583532, + 238.28801571490226 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9839679866526616, + -5.154696278508135, + 0.8056302666534745 + ], + "camera_target": [ + -4.93447895776913, + -4.906663967369621, + 0.8618569433848887 + ], + "camera_roll_rad": -0.048053605207564874, + "camera_pose_world_cv": [ + [ + 0.25663238763809204, + -0.03080841898918152, + -0.9660179615020752, + -3.9839680194854736 + ], + [ + 0.9617493152618408, + 0.10721206665039062, + 0.25207921862602234, + -5.154696464538574 + ], + [ + 0.09580251574516296, + -0.9937587976455688, + 0.0571441650390625, + 0.8056302666664124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28927170061170887, + 0.3014115583627994, + 0.3087222764622594 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9420863079573069, + 0.9702509569750033, + 1.0153143954033175 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6073.900488343615, + "intensity": 0.9815168165820818 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6931978034872834, + 0.6887915445614272, + 0.6812379578313879 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5408.613053425705, + "intensity": 0.6887915445614272 + }, + "point_color_scale": [ + 0.813941317417609, + 0.8118943358276822, + 0.808385224530665 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12511e96e1485bef218d3ae24e0e03a27d726379 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9831375246563059, + "K": [ + [ + 440.46840157174086, + 0.0, + 325.4347001197009 + ], + [ + 0.0, + 448.2588653856238, + 259.9303223512285 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.62397268109125, + -4.445324593682, + 0.9857138169063498 + ], + "camera_target": [ + -4.915307606305289, + -4.973073426651269, + 0.9153182917060108 + ], + "camera_roll_rad": 0.05004473599134156, + "camera_pose_world_cv": [ + [ + -0.6006559133529663, + -0.0036958158016204834, + 0.7994993329048157, + -5.6239728927612305 + ], + [ + -0.7932788133621216, + 0.12733900547027588, + -0.5953937768936157, + -4.445324420928955 + ], + [ + -0.09960687160491943, + -0.9918525218963623, + -0.07941854000091553, + 0.9857138395309448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2579539946205279, + 0.25751718897896597, + 0.2740544075810022 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0287438606980623, + 1.0487927897256994, + 1.0808710761699196 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5879.422682041259, + "intensity": 1.0568123613367546 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7905177983411171, + 0.8119056005801759, + 0.8461260841626699 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6021.360783745688, + "intensity": 0.8204607214757994 + }, + "point_color_scale": [ + 1.0044438478058098, + 0.9701068781148865, + 0.9112435015018752 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2e9a1a08fcef329ff41deb388c919ca0c4344a6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2869483176091427, + "K": [ + [ + 313.26452685074764, + 0.0, + 293.7905786933033 + ], + [ + 0.0, + 320.0179673047712, + 258.829603219767 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.558872043385004, + -4.474775704275508, + 1.1099941716028083 + ], + "camera_target": [ + -4.940636876454191, + -4.945539933590474, + 0.8840928033306283 + ], + "camera_roll_rad": 0.018004318481427736, + "camera_pose_world_cv": [ + [ + -0.7682813405990601, + 0.24779468774795532, + -0.5902050733566284, + -4.558872222900391 + ], + [ + 0.6392231583595276, + 0.24840569496154785, + -0.7277970910072327, + -4.474775791168213 + ], + [ + -0.033734023571014404, + -0.936425507068634, + -0.34924131631851196, + 1.1099941730499268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2933209329591265, + 0.28357341236719225, + 0.2980743347071384 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9617538874669237, + 1.0096165661637877, + 1.08619685207877 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6430.491125360079, + "intensity": 1.0287616376425333 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8610426586201113, + 0.8403200850970873, + 0.804795673343332 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5147.709521806295, + "intensity": 0.8403200850970873 + }, + "point_color_scale": [ + 0.9785308031556215, + 0.9820364867374163, + 0.9876455804682879 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3c3c858fc0b3ac8b0c8a29307fbbdb2d87a0837 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8448738880198435, + "K": [ + [ + 510.7776368318844, + 0.0, + 337.4192204079312 + ], + [ + 0.0, + 533.9281612956366, + 224.91732149421915 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.655743752838971, + -4.208411815894624, + 0.8536342509807006 + ], + "camera_target": [ + -4.92723780494351, + -4.923588719625577, + 0.9921521319459837 + ], + "camera_roll_rad": 0.03655248424990022, + "camera_pose_world_cv": [ + [ + -0.9370236396789551, + 0.005217790603637695, + -0.3492268919944763, + -4.655743598937988 + ], + [ + 0.34179115295410156, + -0.1920558214187622, + -0.9199420213699341, + -4.208411693572998 + ], + [ + -0.07187111675739288, + -0.9813700914382935, + 0.17817747592926025, + 0.853634238243103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3596683452446953, + 0.3513759728832542, + 0.3647778514999695 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9894910396243753, + 0.9410380271810191, + 0.8579757201352657 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4764.44429230829, + "intensity": 0.9410380271810191 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9169711792673928, + 0.9327692828455113, + 0.9580462485705008 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5836.456109721614, + "intensity": 0.9390885242767587 + }, + "point_color_scale": [ + 0.8094029819413415, + 0.8245046318167869, + 0.8486672716174994 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f83ad9510aae851dedaf0caa4e5b4ecab72f6fa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2779593360836319, + "K": [ + [ + 334.4533939525759, + 0.0, + 341.47464132269096 + ], + [ + 0.0, + 323.03259677542104, + 257.790698174841 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.22956372851527, + -5.173265528051533, + 1.0908830443380388 + ], + "camera_target": [ + -4.872879384624393, + -4.962566464074334, + 0.9115273927331075 + ], + "camera_roll_rad": 0.04154437257853218, + "camera_pose_world_cv": [ + [ + 0.33037781715393066, + 0.21671989560127258, + -0.9186310768127441, + -4.2295637130737305 + ], + [ + 0.940433144569397, + -0.1583113670349121, + 0.30087047815322876, + -5.17326545715332 + ], + [ + -0.08022508025169373, + -0.9633119702339172, + -0.2561131715774536, + 1.0908830165863037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.337009811791994, + 0.3333904917604422, + 0.3510730077549764 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0730254954197498, + 1.0967212159723758, + 1.1346343688565779 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5928.416763211328, + "intensity": 1.1061995041934263 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8400035298197649, + 0.8323949704153752, + 0.8193517257221358 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5369.420515932772, + "intensity": 0.8323949704153752 + }, + "point_color_scale": [ + 0.9378757582756042, + 0.9238489735374373, + 0.899803056843437 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5bf0d6b0661651d05421f15bfe007f8cdba09fa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8375731032303482, + "K": [ + [ + 561.0031210535907, + 0.0, + 320.01599638137003 + ], + [ + 0.0, + 539.1830003558247, + 240.4169945952061 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.40167008900859, + -5.016062154041646, + 1.0745277843094994 + ], + "camera_target": [ + -4.858853159979006, + -4.944643183508016, + 0.973224252798483 + ], + "camera_roll_rad": -0.03794680139695447, + "camera_pose_world_cv": [ + [ + 0.1378786563873291, + 0.22239306569099426, + -0.9651584625244141, + -4.401669979095459 + ], + [ + 0.9876759052276611, + 0.041999101638793945, + 0.15077292919158936, + -5.016062259674072 + ], + [ + 0.07406654953956604, + -0.9740520715713501, + -0.21386146545410156, + 1.0745277404785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31134217916586543, + 0.3392097602882175, + 0.3345522488596819 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9282841208285733, + 0.9271174154032281, + 0.9251173489597793 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5482.022535565439, + "intensity": 0.9271174154032281 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6054075098476002, + 0.6105720657109858, + 0.6188353550924026 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5668.600602870667, + "intensity": 0.61263788805634 + }, + "point_color_scale": [ + 0.8575166697756008, + 0.8755227344437359, + 0.904332437912752 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b4669b43d115f5f866f752797240986a0437069 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1482490174726676, + "K": [ + [ + 354.0104409334068, + 0.0, + 313.50707546522796 + ], + [ + 0.0, + 371.0557733543456, + 260.2112638547462 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.1964067485489975, + -4.037996675817461, + 0.7494003990651028 + ], + "camera_target": [ + -4.919237791635941, + -4.937776621232829, + 0.854842626920841 + ], + "camera_roll_rad": -0.0048511300949294275, + "camera_pose_world_cv": [ + [ + -0.955958366394043, + 0.023491352796554565, + 0.29256153106689453, + -5.196406841278076 + ], + [ + -0.29334473609924316, + -0.10921686887741089, + -0.9497476816177368, + -4.037996768951416 + ], + [ + 0.009641796350479126, + -0.993740439414978, + 0.11129796504974365, + 0.7494003772735596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35565167280442184, + 0.373996943481808, + 0.3633862764951402 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.012903634678303, + 0.9953920553988531, + 0.9653722052055108 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5248.676496943095, + "intensity": 0.9953920553988531 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7771763874116053, + 0.7526319948634093, + 0.710555893352216 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5034.122676616243, + "intensity": 0.7526319948634093 + }, + "point_color_scale": [ + 1.0387429393343024, + 0.9915053148703207, + 0.9105265300749236 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7401f39c21fe4ef82dd0913014d5dda433be7400 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.235058362577195, + "K": [ + [ + 332.1186975660778, + 0.0, + 333.9962517267315 + ], + [ + 0.0, + 337.93989719592383, + 258.0849501538363 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.054286974859249, + -4.492129620873065, + 0.8023564266549084 + ], + "camera_target": [ + -4.874088701995604, + -4.953477443622332, + 0.8520074948207136 + ], + "camera_roll_rad": 0.038916135360026846, + "camera_pose_world_cv": [ + [ + -0.9258265495300293, + 0.10860531032085419, + 0.36200857162475586, + -5.054286956787109 + ], + [ + -0.3699457049369812, + -0.06434071063995361, + -0.9268227815628052, + -4.492129802703857 + ], + [ + -0.07736597955226898, + -0.9920005798339844, + 0.0997464656829834, + 0.8023564219474792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2542390720144912, + 0.2467641573398736, + 0.2530686575390786 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9430527785064301, + 0.9695852829262505, + 1.012037289997963 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6041.370145900601, + "intensity": 0.9801982846941786 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.843785059726753, + 0.8061283644318604, + 0.7415740296406159 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4832.671056294895, + "intensity": 0.8061283644318604 + }, + "point_color_scale": [ + 0.8968073099732388, + 0.864674185338927, + 0.8095888288229641 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe50c270de5d86fa1b4ac863025dcdc3b1f9124 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8932262806289581, + "K": [ + [ + 490.7908246459203, + 0.0, + 298.2542889343962 + ], + [ + 0.0, + 501.16446025326854, + 242.59721799987744 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.567669429075904, + -4.90457270436856, + 1.1352192664093936 + ], + "camera_target": [ + -4.8704724354128155, + -4.8893436333912215, + 0.8796378138761255 + ], + "camera_roll_rad": -0.02123808304543312, + "camera_pose_world_cv": [ + [ + 0.036426544189453125, + -0.34279438853263855, + 0.9387040734291077, + -5.56766939163208 + ], + [ + -0.9985407590866089, + -0.049960970878601074, + 0.020503878593444824, + -4.904572486877441 + ], + [ + 0.03987002372741699, + -0.9380810856819153, + -0.34411394596099854, + 1.1352192163467407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.6957100033760071, + -0.71832275390625, + 2.1629380952958854e-08, + -4.905049800872803 + ], + [ + 0.71832275390625, + 0.6957100033760071, + 2.5345471499349514e-08, + -4.926909923553467 + ], + [ + -3.3254003994898085e-08, + -2.0962218627573748e-09, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3572057411059265, + 0.36775930526815587, + 0.3771277916864129 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1441903878213315, + 1.1285303205834354, + 1.1016844910327563 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5301.764080082491, + "intensity": 1.1285303205834354 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.5843858950744959, + 0.5752256538945424, + 0.5595223833003364 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5272.505646437945, + "intensity": 0.5752256538945424 + }, + "point_color_scale": [ + 1.015495786501151, + 1.0218360312168804, + 1.0319804227620473 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fb764767e877d08ea8e733109d28c230649f314 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1981268043670135, + "K": [ + [ + 346.34621231336837, + 0.0, + 293.93572298222716 + ], + [ + 0.0, + 351.5130397960946, + 229.41852600285284 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.544776414019349, + -5.623589600213696, + 1.0074148551953246 + ], + "camera_target": [ + -5.991947453134107, + -5.5626515354730435, + 0.9524005939636709 + ], + "camera_roll_rad": 0.019328957821708737, + "camera_pose_world_cv": [ + [ + 0.13955914974212646, + 0.1145886480808258, + -0.9835612773895264, + -5.544776439666748 + ], + [ + 0.989470362663269, + -0.054620981216430664, + 0.13403403759002686, + -5.623589515686035 + ], + [ + -0.03836432099342346, + -0.9919103384017944, + -0.12100487947463989, + 1.0074148178100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3192657774630326, + 0.3427267136239752, + 0.32084812273881186 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0374306804053348, + 1.091141786779158, + 1.1770795569772754 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6465.483375423033, + "intensity": 1.1126262293286873 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9192070167070603, + 0.8822448590585179, + 0.8188811602324452 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4901.491753531904, + "intensity": 0.8822448590585179 + }, + "point_color_scale": [ + 0.9661583950450419, + 0.9594865530944863, + 0.9480491097506766 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fcf0c96c2b81cf39ad606a6810553d52363ea243 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8907801250643983, + "K": [ + [ + 488.8656807923295, + 0.0, + 289.6845975236241 + ], + [ + 0.0, + 502.7420093280007, + 249.10814306029698 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.384987323263483, + -5.014775948446535, + 1.0575335915550688 + ], + "camera_target": [ + -5.982194840118616, + -5.500884953938968, + 0.8558132184835657 + ], + "camera_roll_rad": -0.02993272603863822, + "camera_pose_world_cv": [ + [ + -0.7570109367370605, + -0.23991943895816803, + 0.607761025428772, + -6.3849873542785645 + ], + [ + -0.650912344455719, + 0.19577419757843018, + -0.7334752082824707, + -5.01477575302124 + ], + [ + 0.05699107050895691, + -0.9508477449417114, + -0.3043694496154785, + 1.057533621788025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2656564365074562, + 0.2787596841802998, + 0.28644471741149874 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1702852079109596, + 1.1855963837463834, + 1.2100942650830617 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5756.959098819109, + "intensity": 1.191720854080553 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.5671496852164948, + 0.5757153721038486, + 0.5894204711236147 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5795.806282757018, + "intensity": 0.5791416468587901 + }, + "point_color_scale": [ + 0.9165413713900739, + 0.913067933790817, + 0.9071134693349481 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83ee85791becde1dc195d2d2fee355dd24b0f67a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.005434561793023, + "K": [ + [ + 418.80722446219687, + 0.0, + 327.4607756573532 + ], + [ + 0.0, + 436.4938008046104, + 240.28848006782056 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.103624430615971, + -6.053261423089097, + 0.7876764324567235 + ], + "camera_target": [ + -5.9222338827654815, + -5.535144426645836, + 0.8899780622457707 + ], + "camera_roll_rad": 0.03847558666062005, + "camera_pose_world_cv": [ + [ + 0.9456910490989685, + -0.012200161814689636, + 0.324837863445282, + -6.10362434387207 + ], + [ + -0.31615984439849854, + 0.19780373573303223, + 0.9278560280799866, + -6.0532612800598145 + ], + [ + -0.07557410001754761, + -0.9801657795906067, + 0.1832040548324585, + 0.7876764535903931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24237412480509188, + 0.24403287792805325, + 0.22913453784015458 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0562414509312652, + 1.032176912180291, + 0.9909234171786212 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5166.937788515592, + "intensity": 1.032176912180291 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9186646911013758, + 0.8811044898965805, + 0.8167155735455026 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4891.020805048185, + "intensity": 0.8811044898965805 + }, + "point_color_scale": [ + 0.9040090827429227, + 0.8687025780892469, + 0.8081771415400884 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5beca1944b2c1b4bfb89c814edb75fdd0e0e5384 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0230943499902456, + "K": [ + [ + 439.1269279485387, + 0.0, + 308.8731414756978 + ], + [ + 0.0, + 427.5089656065341, + 259.9096469163378 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.551140215090515, + -5.627004215521957, + 1.090192899212771 + ], + "camera_target": [ + -5.990006112086586, + -5.516436745349182, + 0.9329351494418578 + ], + "camera_roll_rad": -0.018341108093206042, + "camera_pose_world_cv": [ + [ + 0.2324683666229248, + 0.3270203471183777, + -0.915978193283081, + -5.551140308380127 + ], + [ + 0.9719868302345276, + -0.04456925392150879, + 0.23077097535133362, + -5.627004146575928 + ], + [ + 0.034642308950424194, + -0.9439657926559448, + -0.3282203674316406, + 1.0901929140090942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3581156692541172, + 0.36959873598490417, + 0.36841484264439595 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1105425797806654, + 1.0585553193181658, + 0.9694343013824525 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4798.406860831186, + "intensity": 1.0585553193181658 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9254130205159259, + 0.8987946111072773, + 0.8531630521210225 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5076.918923575148, + "intensity": 0.8987946111072773 + }, + "point_color_scale": [ + 1.2444696719582078, + 1.1915969155048385, + 1.1009579044419198 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd3cfb1d4e46617e14beb394d8acaa99377462e3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9911954885740167, + "K": [ + [ + 443.61926622570456, + 0.0, + 300.6851148570553 + ], + [ + 0.0, + 443.95110461899446, + 252.2800701877342 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.141586702280456, + -6.098002814703966, + 1.0544161800408336 + ], + "camera_target": [ + -5.93948302392207, + -5.542131888250804, + 0.9227109822312098 + ], + "camera_roll_rad": -0.04323096315721273, + "camera_pose_world_cv": [ + [ + 0.9427131414413452, + 0.00716613233089447, + 0.3335275650024414, + -6.141586780548096 + ], + [ + -0.32278043031692505, + -0.23301219940185547, + 0.9173429608345032, + -6.098002910614014 + ], + [ + 0.0842897966504097, + -0.9724474549293518, + -0.21735060214996338, + 1.0544161796569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25051091849116824, + 0.24143594980591776, + 0.2380669544169117 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0200083941908216, + 0.9955795305164467, + 0.9537014785032327 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5149.466711518515, + "intensity": 0.9955795305164467 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8284417981225914, + 0.7911329697182247, + 0.7271749781678817 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4826.303815767714, + "intensity": 0.7911329697182247 + }, + "point_color_scale": [ + 1.1101625721600648, + 1.1407704984848026, + 1.189743180604383 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..355fb2d0fd6f57c2e82841a74677b7fa4943d59d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.026787125796966, + "K": [ + [ + 405.6098662431642, + 0.0, + 300.84882788024987 + ], + [ + 0.0, + 425.6658378527171, + 254.69454645667554 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.362165617674679, + -5.7574864837567015, + 0.7424117671732825 + ], + "camera_target": [ + -5.919526769565644, + -5.53621622044449, + 0.9438976699594661 + ], + "camera_roll_rad": -0.012126728087360601, + "camera_pose_world_cv": [ + [ + 0.4388224482536316, + 0.34804436564445496, + 0.8284322619438171, + -6.362165451049805 + ], + [ + -0.8982930183410645, + 0.14687108993530273, + 0.4141237735748291, + -5.757486343383789 + ], + [ + 0.0224606990814209, + -0.9259017705917358, + 0.37709617614746094, + 0.7424117922782898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30164348339014324, + 0.3253723943078287, + 0.31305308170677965 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9590706367957481, + 0.9099238974113624, + 0.8256723441809871 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4728.401101545763, + "intensity": 0.9099238974113624 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6221082260682386, + 0.5949499022341982, + 0.5483927756615578 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4847.884496971848, + "intensity": 0.5949499022341982 + }, + "point_color_scale": [ + 1.0162392967374259, + 0.9698093053701164, + 0.8902150344547292 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac536fce2fc19b46efe49ee6397925dbc46f3a8a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0174219346390236, + "K": [ + [ + 443.8999297012687, + 0.0, + 347.5373225486454 + ], + [ + 0.0, + 430.36390496400116, + 257.18325385945957 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.058564265525168, + -6.427800861534564, + 0.7703710979824545 + ], + "camera_target": [ + -5.918631239117856, + -5.550137789779906, + 0.8840977214541733 + ], + "camera_roll_rad": 0.03650561234741835, + "camera_pose_world_cv": [ + [ + 0.9863539338111877, + -0.05210504308342934, + 0.1561761349439621, + -6.058564186096191 + ], + [ + -0.1478867083787918, + 0.1364959478378296, + 0.9795399308204651, + -6.42780065536499 + ], + [ + -0.07235637307167053, + -0.9892694354057312, + 0.12692773342132568, + 0.7703710794448853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24258393050048727, + 0.2212683505594649, + 0.23159710518877755 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9439921840123412, + 0.9045252172485498, + 0.8368675599391929 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4876.674303645887, + "intensity": 0.9045252172485498 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8370069356136519, + 0.8443400767966479, + 0.8560731026894414 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5673.099775362821, + "intensity": 0.8472733332698462 + }, + "point_color_scale": [ + 0.8088402718057262, + 0.8164124099232541, + 0.8285278309112989 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd04007dfa2dc125bb60de941b888717f1137573 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9540411797214496, + "K": [ + [ + 472.66194661010593, + 0.0, + 326.7064021457834 + ], + [ + 0.0, + 464.3695428008703, + 251.35641398422683 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.650214086743807, + -5.160787562029835, + 0.9750592750916889 + ], + "camera_target": [ + -6.004004708498556, + -5.501187889566939, + 0.8531883587192393 + ], + "camera_roll_rad": 0.02636185539180011, + "camera_pose_world_cv": [ + [ + -0.47308349609375, + -0.12085279822349548, + 0.8726893663406372, + -6.650214195251465 + ], + [ + -0.8794828653335571, + 0.12322473526000977, + -0.45970168709754944, + -5.160787582397461 + ], + [ + -0.05198061466217041, + -0.9849926233291626, + -0.16458344459533691, + 0.9750592708587646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26229096552568343, + 0.2368101767707056, + 0.2570159251154879 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0056246320255526, + 0.9605050453836719, + 0.8831571825690193 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4828.930621912592, + "intensity": 0.9605050453836719 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7749292685529708, + 0.7944622603505251, + 0.8257150472266123 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5986.939781727888, + "intensity": 0.802275457069547 + }, + "point_color_scale": [ + 1.156456472858025, + 1.150349355817199, + 1.1398800123186406 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49105c1a483eb4f2c2783ec868e424ebebed474e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7890992624067129, + "K": [ + [ + 563.845184489049, + 0.0, + 321.4403937096148 + ], + [ + 0.0, + 576.3920181470829, + 237.72519733920217 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.479287218015056, + -5.263050551917751, + 0.9436996459956267 + ], + "camera_target": [ + -5.947750084933307, + -5.541704629854412, + 0.8564749434330222 + ], + "camera_roll_rad": -0.013773496392319923, + "camera_pose_world_cv": [ + [ + -0.4606229066848755, + -0.14012432098388672, + 0.8764655590057373, + -6.479287147521973 + ], + [ + -0.8871773481369019, + 0.04236018657684326, + -0.4594801664352417, + -5.263050556182861 + ], + [ + 0.027257055044174194, + -0.9892274141311646, + -0.1438271403312683, + 0.9436996579170227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38448002977653567, + 0.3829456401773115, + 0.35989746064834194 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.88981631888785, + 0.9361639884028767, + 1.0103202596269196 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6470.93372046116, + "intensity": 0.9547030562088874 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7410918951774406, + 0.75910385708597, + 0.7879229961396168 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5970.0967971615155, + "intensity": 0.7663086418493816 + }, + "point_color_scale": [ + 1.0157984342609483, + 0.9822962803554061, + 0.9248640165173339 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a6c0bce9089f2ed884d6e50f2d52ce5d99759fa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1067381600435169, + "K": [ + [ + 379.21356141131633, + 0.0, + 349.35684197109316 + ], + [ + 0.0, + 388.5064659548881, + 219.08986828384553 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.517318659508481, + -5.627293183120658, + 0.72840762091146 + ], + "camera_target": [ + -5.996860791228539, + -5.523846360808262, + 0.9805955308580278 + ], + "camera_roll_rad": -0.04106424321333272, + "camera_pose_world_cv": [ + [ + 0.1597529649734497, + 0.43558159470558167, + 0.8858597874641418, + -6.5173187255859375 + ], + [ + -0.9843723773956299, + 0.0029358863830566406, + 0.1760747730731964, + -5.627293109893799 + ], + [ + 0.07409405708312988, + -0.9001444578170776, + 0.4292435646057129, + 0.728407621383667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22285162854946855, + 0.22826534227702222, + 0.21723267683642344 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9229811739540033, + 0.9349728284411711, + 0.9541594756206396 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5755.20416680384, + "intensity": 0.9397694902360383 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.905365744195367, + 0.9144081994044208, + 0.9288761277389068 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5696.997977645815, + "intensity": 0.9180251814880422 + }, + "point_color_scale": [ + 0.9191341081515483, + 0.8913885900027404, + 0.8438248446047841 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1116f5a76994431079ab273b2f53d855353519 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9136723105523767, + "K": [ + [ + 467.8573053929316, + 0.0, + 311.2872432569874 + ], + [ + 0.0, + 488.2867624247762, + 223.40153876250557 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.686922475424778, + -5.566046307408228, + 1.0504664891697697 + ], + "camera_target": [ + -5.961536315014756, + -5.566620958522113, + 0.9835075521634009 + ], + "camera_roll_rad": 0.010244326145839117, + "camera_pose_world_cv": [ + [ + -0.002675175666809082, + -0.09188169240951538, + 0.9957664012908936, + -6.686922550201416 + ], + [ + -0.9997883439064026, + 0.020560026168823242, + -0.0007887780666351318, + -5.566046237945557 + ], + [ + -0.020400404930114746, + -0.9955576658248901, + -0.09191721677780151, + 1.050466537475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35949020653984987, + 0.3627392493550276, + 0.3827298490420504 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0559247984599716, + 1.0625863276068859, + 1.0732447742419484 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5625.06966952794, + "intensity": 1.0652509392656515 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7457224950794742, + 0.7590471022447303, + 0.7803664737091398 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5848.6396927715805, + "intensity": 0.7643769451108327 + }, + "point_color_scale": [ + 0.935102971648324, + 0.8980588777184689, + 0.83455471669586 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c56df7ad98bfe69406c3ac57a0e4aae8aeb4d65 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2229914034240272, + "K": [ + [ + 344.146208490883, + 0.0, + 328.80854585541164 + ], + [ + 0.0, + 342.2960086270074, + 235.6125078987435 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.579815180947597, + -5.654270492408999, + 0.996649461201399 + ], + "camera_target": [ + -5.923255878120491, + -5.505802436794041, + 0.9575213085672007 + ], + "camera_roll_rad": 0.03450972909728299, + "camera_pose_world_cv": [ + [ + 0.40244507789611816, + 0.06787750124931335, + -0.9129241704940796, + -5.57981538772583 + ], + [ + 0.9128708839416504, + -0.10447609424591064, + 0.3946535885334015, + -5.654270648956299 + ], + [ + -0.06859058141708374, + -0.9922083616256714, + -0.10400933027267456, + 0.996649444103241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23926495847179224, + 0.239749312054233, + 0.24430134776810647 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9900148286005997, + 0.9451931689923619, + 0.8683560382353832 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4822.562367164127, + "intensity": 0.9451931689923619 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9592266015246661, + 0.9291537425339687, + 0.8776002699784875 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5037.63058616753, + "intensity": 0.9291537425339687 + }, + "point_color_scale": [ + 1.1085770928391028, + 1.1262423156854129, + 1.1545066722395092 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d047c45a6eb64485cc6d52be37f89d441b0e9c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0361321141690605, + "K": [ + [ + 415.7266305377858, + 0.0, + 309.4214059201697 + ], + [ + 0.0, + 421.05505029378554, + 231.00309483887835 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.153944162837018, + -6.451041411787133, + 1.1073219225626554 + ], + "camera_target": [ + -5.983822291080223, + -5.525631420859772, + 0.8565802692979709 + ], + "camera_roll_rad": -0.007228931750843395, + "camera_pose_world_cv": [ + [ + 0.9840894341468811, + -0.032333120703697205, + 0.1747070848941803, + -6.15394401550293 + ], + [ + -0.1771237999200821, + -0.2558438181877136, + 0.9503531455993652, + -6.451041221618652 + ], + [ + 0.013969846069812775, + -0.966177225112915, + -0.25750017166137695, + 1.1073219776153564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2612749033532694, + 0.2544272141069204, + 0.2637666898138503 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.036161063399012, + 0.9692162862922645, + 0.8544538112521259 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4513.2708537881135, + "intensity": 0.9692162862922645 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7311617929872652, + 0.6973467419343276, + 0.6393780829864344 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 4807.2712198250965, + "intensity": 0.6973467419343276 + }, + "point_color_scale": [ + 1.0735183424635846, + 1.080875927346062, + 1.092648063158026 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4bebffcfa2307fb00f2097539bfc02404a0484a1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2978692952251523, + "K": [ + [ + 323.44910352432106, + 0.0, + 292.15463928916336 + ], + [ + 0.0, + 316.4036598667023, + 217.2451618492012 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.439881009154481, + -4.938538227745357, + 0.9961338119339578 + ], + "camera_target": [ + -5.96000427715011, + -5.585329156518909, + 0.9083658820363639 + ], + "camera_roll_rad": -0.03911450486769329, + "camera_pose_world_cv": [ + [ + -0.7820518016815186, + 0.004798948764801025, + -0.6231950521469116, + -5.439880847930908 + ], + [ + 0.6183488965034485, + 0.13067328929901123, + -0.7749639749526978, + -4.938538074493408 + ], + [ + 0.07771596312522888, + -0.991413950920105, + -0.105160653591156, + 0.9961338043212891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25260063301809227, + 0.27873970028004424, + 0.2549939598630967 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0109246159798357, + 0.9937115331729117, + 0.9642033912181851 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5252.542689958628, + "intensity": 0.9937115331729117 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.5721665094888103, + 0.5724603647523702, + 0.5729305331740658 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5510.264289279776, + "intensity": 0.5725779068577941 + }, + "point_color_scale": [ + 0.9607652826792402, + 0.9936185454399167, + 1.046183765856999 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b2813c7d9c32aa90cb5406708dd87c78d2aaf1a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9948258108057835, + "K": [ + [ + 437.5451392372318, + 0.0, + 323.61372200236667 + ], + [ + 0.0, + 442.0312650735954, + 259.009628789684 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.4112437490846075, + -5.34105009827321, + 1.145940559147013 + ], + "camera_target": [ + -5.939606470047657, + -5.529010871218637, + 0.8911918299115705 + ], + "camera_roll_rad": 0.006498484270797453, + "camera_pose_world_cv": [ + [ + -0.3755946159362793, + -0.4117591679096222, + 0.8302909135818481, + -6.411243915557861 + ], + [ + -0.9267112016677856, + 0.17808818817138672, + -0.3308941721916199, + -5.341050148010254 + ], + [ + -0.011616319417953491, + -0.8937219977378845, + -0.4484708309173584, + 1.1459405422210693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2655036481710483, + 0.26247599123716675, + 0.27415831934701346 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0745859426708417, + 1.053612623174616, + 1.017658361181086 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5215.627125799511, + "intensity": 1.053612623174616 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8574879085393985, + 0.8829284423874587, + 0.9236332965443551 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6069.710026237925, + "intensity": 0.8931046559266828 + }, + "point_color_scale": [ + 1.0090546802029285, + 0.9642417366615156, + 0.8874195477333792 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dce0725879ece75e92c0b42f70fa68ce74c26ca1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.830179157657037, + "K": [ + [ + 527.5480521219386, + 0.0, + 302.8359974272584 + ], + [ + 0.0, + 544.5934760440473, + 233.44059141643856 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.252994277616955, + -5.8821261212195015, + 0.9637245120219688 + ], + "camera_target": [ + -5.9854538606533545, + -5.5346941727485826, + 0.9751250473831421 + ], + "camera_roll_rad": -0.047412641949073915, + "camera_pose_world_cv": [ + [ + 0.7872494459152222, + 0.09080415964126587, + 0.6099121570587158, + -6.252994060516357 + ], + [ + -0.6093270182609558, + -0.03726828098297119, + 0.7920427918434143, + -5.882126331329346 + ], + [ + 0.09465119242668152, + -0.9951712489128113, + 0.025990009307861328, + 0.9637244939804077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.471055269241333, + -0.8821037411689758, + 5.111867906748557e-08, + -5.9678263664245605 + ], + [ + 0.8821037411689758, + 0.471055269241333, + 3.0652806515263364e-08, + -5.543120384216309 + ], + [ + -5.111867906748557e-08, + 3.0652806515263364e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26543937107418364, + 0.2566542317135784, + 0.2791783660499802 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.8371109664059434, + 0.8671010959352698, + 0.9150853031821924 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6182.293864931469, + "intensity": 0.8790971477470005 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7112189309473312, + 0.699759114758603, + 0.6801137155779261 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5266.045691458481, + "intensity": 0.699759114758603 + }, + "point_color_scale": [ + 1.048719027712143, + 1.0407937473575375, + 1.0272075524639286 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_001/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a97347c0b0a5f3ba6121b69b1c16d64428fb72 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2528487950099065, + "K": [ + [ + 334.3536237443974, + 0.0, + 308.14676302190367 + ], + [ + 0.0, + 331.6508851372332, + 217.33564894376653 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.4557174767779895, + -5.336294834374424, + 0.8017086756989165 + ], + "camera_target": [ + -6.006559801579789, + -4.947261926652846, + 0.9615623966852409 + ], + "camera_roll_rad": -0.011756306276241177, + "camera_pose_world_cv": [ + [ + 0.6499050259590149, + 0.21170330047607422, + 0.7299350500106812, + -6.45571756362915 + ], + [ + -0.7596762776374817, + 0.1522613763809204, + 0.632224977016449, + -5.336294651031494 + ], + [ + 0.022703230381011963, + -0.9654005169868469, + 0.2597813606262207, + 0.8017086982727051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061379551887512, + 0.7080742716789246, + -2.2847400416026176e-08, + -6.0225725173950195 + ], + [ + -0.7080742716789246, + 0.7061379551887512, + -5.505187772314457e-08, + -4.968023777008057 + ], + [ + -2.2847400416026176e-08, + 5.505187772314457e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24604624626343993, + 0.2265540338465883, + 0.24005894818069623 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.982412585144144, + 0.9363030079713505, + 0.857258018532276 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4796.479622816959, + "intensity": 0.9363030079713505 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6363050718261501, + 0.6177980774294796, + 0.5860718013209015 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5072.051704436828, + "intensity": 0.6177980774294796 + }, + "point_color_scale": [ + 0.9337951135819074, + 0.9650939405134166, + 1.0151720636038317 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_002/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4427893ee84c33c4bce20f43a5a1ff65e20904ea --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.255748296180644, + "K": [ + [ + 340.7620017209114, + 0.0, + 309.91549219264004 + ], + [ + 0.0, + 330.6405458183973, + 222.30108605442427 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.206022658696125, + -5.370117976699273, + 1.0909489404965713 + ], + "camera_target": [ + -6.051408302324247, + -4.96379969855062, + 0.9932521925738054 + ], + "camera_roll_rad": -0.0232549805512259, + "camera_pose_world_cv": [ + [ + 0.9372352957725525, + -0.034439608454704285, + 0.34699273109436035, + -6.2060227394104 + ], + [ + -0.34573447704315186, + -0.22123414278030396, + 0.9118788838386536, + -5.370118141174316 + ], + [ + 0.045361876487731934, + -0.9746124148368835, + -0.21925538778305054, + 1.0909489393234253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32661421925650286, + 0.3641483726400047, + 0.3397215602820345 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9089927758972816, + 0.8634592258350495, + 0.7854017114426516 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4746.658942147223, + "intensity": 0.8634592258350495 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.5812753914385484, + 0.5820821587185653, + 0.5833729863665922 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5527.704688872863, + "intensity": 0.582404865630572 + }, + "point_color_scale": [ + 1.1366813928714814, + 1.158785061911522, + 1.1941509323755868 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_003/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0f0a673da7d57c5136ed7bf80bfbcc379ede73 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1965788555597723, + "K": [ + [ + 364.6178519417356, + 0.0, + 323.30942534349833 + ], + [ + 0.0, + 352.0979291880041, + 257.2729128175746 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.098883852257383, + -4.523419315190773, + 1.097644178196909 + ], + "camera_target": [ + -5.984903791422969, + -4.929133399641824, + 0.8642876246160617 + ], + "camera_roll_rad": -0.002599776190707781, + "camera_pose_world_cv": [ + [ + -0.9620356559753418, + -0.136025071144104, + 0.236612007021904, + -6.098883628845215 + ], + [ + -0.27288711071014404, + 0.4649602174758911, + -0.8422262668609619, + -4.523419380187988 + ], + [ + 0.004548743367195129, + -0.8748197555541992, + -0.48442739248275757, + 1.0976442098617554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2759598728257411, + 0.2737804118232416, + 0.2745044683177682 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.7982352415846721, + 0.8408142098938375, + 0.9089405591885023 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6492.695154473542, + "intensity": 0.8578457972175036 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6215473866042664, + 0.6247698418681864, + 0.6299257702904583 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5602.944168839157, + "intensity": 0.6260588239737543 + }, + "point_color_scale": [ + 0.9347675666877518, + 0.926489282863193, + 0.9122979391639491 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_004/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27a795d1a704e26d2296384a76723512ab04eb0a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1410927469231253, + "K": [ + [ + 375.6471735730623, + 0.0, + 304.1132313594833 + ], + [ + 0.0, + 373.9834267101194, + 222.88020720563162 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.1889343534192065, + -4.435670202643772, + 0.8247959599547257 + ], + "camera_target": [ + -6.0560587563383, + -4.956309720442357, + 0.9284835363007868 + ], + "camera_roll_rad": 0.009736544243212741, + "camera_pose_world_cv": [ + [ + -0.9678456783294678, + 0.06571297347545624, + 0.24280992150306702, + -6.188934326171875 + ], + [ + -0.25081729888916016, + -0.17873865365982056, + -0.9513901472091675, + -4.435670375823975 + ], + [ + -0.01911914348602295, + -0.9816997051239014, + 0.18947339057922363, + 0.8247959613800049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3420230912992316, + 0.35503843250179207, + 0.3731878680922499 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9761965400662556, + 1.0270577332980615, + 1.108435642468951 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6471.187433395197, + "intensity": 1.0474022105907839 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7228488761370497, + 0.7502647107410593, + 0.7941300461074744 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6220.302588789977, + "intensity": 0.7612310445826631 + }, + "point_color_scale": [ + 1.1354015250351088, + 1.1426782241065345, + 1.1543209426208159 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_005/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2efea2b943b1e0ee47a46c708fb46a721f7441a9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.90069885066969, + "K": [ + [ + 507.5416812298377, + 0.0, + 345.76769159161273 + ], + [ + 0.0, + 496.39482975484526, + 245.91573515699912 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.292229495412464, + -4.42915306679085, + 1.0606098715742094 + ], + "camera_target": [ + -6.060872936903467, + -4.989818779727431, + 0.9721451897953947 + ], + "camera_roll_rad": 0.024035172465485366, + "camera_pose_world_cv": [ + [ + -0.5850321054458618, + 0.10303062200546265, + -0.8044391870498657, + -5.292229652404785 + ], + [ + 0.8095977306365967, + 0.015676140785217285, + -0.5867758989334106, + -4.429152965545654 + ], + [ + -0.04784545302391052, + -0.9945547580718994, + -0.09258425235748291, + 1.0606098175048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3815262843627818, + 0.340191126687467, + 0.36205049555842606 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9679620632139281, + 1.006519975317637, + 1.0682126346835719 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6254.5999496157, + "intensity": 1.0219431401591208 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.5386656934180815, + 0.5489038183566213, + 0.5652848182582851 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5870.276390136434, + "intensity": 0.5529990683320373 + }, + "point_color_scale": [ + 0.9945219394338554, + 0.9814979399925358, + 0.9591710838074166 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_006/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..379ea07fa2582ad798f5b8851d20e6c4696a430b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9721305412815698, + "K": [ + [ + 440.2421124773214, + 0.0, + 300.2082853583156 + ], + [ + 0.0, + 454.24904457135415, + 238.66441789549287 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.186355091987945, + -4.081016077656913, + 0.668089219607718 + ], + "camera_target": [ + -6.016544075050325, + -4.918151231841882, + 0.9050434156800148 + ], + "camera_roll_rad": -0.009891973542004093, + "camera_pose_world_cv": [ + [ + -0.9808998107910156, + 0.03374267369508743, + 0.19156518578529358, + -6.186355113983154 + ], + [ + -0.19357788562774658, + -0.2658553123474121, + -0.9443774819374084, + -4.0810160636901855 + ], + [ + 0.019062809646129608, + -0.9634223580360413, + 0.26730942726135254, + 0.6680892109870911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061379551887512, + 0.7080742716789246, + -2.2847400416026176e-08, + -6.0225725173950195 + ], + [ + -0.7080742716789246, + 0.7061379551887512, + -5.505187772314457e-08, + -4.968023777008057 + ], + [ + -2.2847400416026176e-08, + 5.505187772314457e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3168201225755054, + 0.32712051699082356, + 0.31101503308843176 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0226232845440963, + 1.0240325315774186, + 1.026287326830734 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5527.508339217386, + "intensity": 1.0245962303907474 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8300900890162848, + 0.838964884509346, + 0.853164557298244 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5710.673936281026, + "intensity": 0.8425148027065705 + }, + "point_color_scale": [ + 0.9265673669280994, + 0.9620292561640341, + 1.01876827894153 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_007/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f228c1ce61954ecf94b0792b74aa33cf281c7bd6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8997584021579117, + "K": [ + [ + 497.36373301960896, + 0.0, + 329.01730104277954 + ], + [ + 0.0, + 496.99104238352265, + 220.74522146305648 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.16787545045703, + -5.7237216953376, + 1.099683309060079 + ], + "camera_target": [ + -6.0201086999717, + -4.998663816433714, + 0.9155888749678676 + ], + "camera_roll_rad": -0.027387221437148467, + "camera_pose_world_cv": [ + [ + 0.9810280799865723, + 0.005504436790943146, + 0.1937875598669052, + -6.167875289916992 + ], + [ + -0.18644404411315918, + -0.24714457988739014, + 0.9508724212646484, + -5.723721504211426 + ], + [ + 0.053127557039260864, + -0.9689630270004272, + -0.24142944812774658, + 1.0996832847595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061379551887512, + 0.7080742716789246, + -2.2847400416026176e-08, + -6.0225725173950195 + ], + [ + -0.7080742716789246, + 0.7061379551887512, + -5.505187772314457e-08, + -4.968023777008057 + ], + [ + -2.2847400416026176e-08, + 5.505187772314457e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30462147508678544, + 0.29790741478342775, + 0.30387884844279556 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1786308722720853, + 1.1846383929983606, + 1.194250426160401 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5601.218385807813, + "intensity": 1.1870414012888706 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7990947453932298, + 0.8154230357308508, + 0.8415483002710444 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5897.304066839102, + "intensity": 0.8219543518658992 + }, + "point_color_scale": [ + 0.9326986655378288, + 0.8975586013091773, + 0.8373184912029178 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_008/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45e1e99ed4791bc7acdb70052e44048cfa69dcc8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1692064396575006, + "K": [ + [ + 364.2511379758113, + 0.0, + 310.4036343292973 + ], + [ + 0.0, + 362.6651192108365, + 256.2658657745535 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.615315760296738, + -4.294892462689999, + 1.1128434905972127 + ], + "camera_target": [ + -5.992984140249124, + -4.954756057162476, + 0.9177268017306701 + ], + "camera_roll_rad": -0.04490489709223794, + "camera_pose_world_cv": [ + [ + -0.7116203308105469, + -0.20895904302597046, + 0.6707704067230225, + -6.615315914154053 + ], + [ + -0.697071373462677, + 0.09084093570709229, + -0.7112240195274353, + -4.294892311096191 + ], + [ + 0.0876832902431488, + -0.9736961722373962, + -0.2103034257888794, + 1.1128435134887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28470083473315183, + 0.27692052943753215, + 0.2760989712560394 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1880807237138802, + 1.1567357028731315, + 1.1030013814318482 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5112.888224251684, + "intensity": 1.1567357028731315 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.764483333545229, + 0.7555770179336315, + 0.7403090483137503 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5331.608059607693, + "intensity": 0.7555770179336315 + }, + "point_color_scale": [ + 1.082311152800247, + 1.067766173194441, + 1.0428319224416307 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_009/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..873a31b5a04949f725c66fb05fd451cd48884936 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2475799096499345, + "K": [ + [ + 337.0718836085075, + 0.0, + 309.7976789224528 + ], + [ + 0.0, + 333.4972457699759, + 232.09086930128979 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.173338254361166, + -4.561551364971256, + 0.7057919831932118 + ], + "camera_target": [ + -6.025418290798766, + -4.9861631226103125, + 0.971121008812487 + ], + "camera_roll_rad": -0.0325633685511531, + "camera_pose_world_cv": [ + [ + -0.9532172679901123, + 0.10537534952163696, + 0.2833247184753418, + -6.173338413238525 + ], + [ + -0.2970442771911621, + -0.5003132820129395, + -0.8132966160774231, + -4.561551570892334 + ], + [ + 0.05604971945285797, + -0.8594083189964294, + 0.5082085132598877, + 0.7057920098304749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061379551887512, + 0.7080742716789246, + -2.2847400416026176e-08, + -6.0225725173950195 + ], + [ + -0.7080742716789246, + 0.7061379551887512, + -5.505187772314457e-08, + -4.968023777008057 + ], + [ + -2.2847400416026176e-08, + 5.505187772314457e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30168256052504244, + 0.3135804440663047, + 0.2943545748530728 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1256085881668714, + 1.083566966706563, + 1.0114956156317485 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4945.724527653706, + "intensity": 1.083566966706563 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.6411212085649394, + 0.6600500082099812, + 0.6903360876420482 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 6067.051805528774, + "intensity": 0.6676215280679979 + }, + "point_color_scale": [ + 1.0771150328509485, + 1.0377190883038456, + 0.9701831833659551 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_010/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41fb9ce101933d67f189a4717868b05fa17e2e7a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9932879987669184, + "K": [ + [ + 438.97263278630635, + 0.0, + 324.55263910095994 + ], + [ + 0.0, + 442.84294301618456, + 244.1038317967196 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.61716459308502, + -4.72271088823067, + 0.9786455895935166 + ], + "camera_target": [ + -6.016183449159282, + -4.9768026222018245, + 0.8601610119920249 + ], + "camera_roll_rad": -0.021173052327303384, + "camera_pose_world_cv": [ + [ + -0.5453264713287354, + 0.18201643228530884, + -0.8182229995727539, + -5.617164611816406 + ], + [ + 0.8372171521186829, + 0.16609442234039307, + -0.5210374593734741, + -4.722711086273193 + ], + [ + 0.041064947843551636, + -0.9691659212112427, + -0.2429630160331726, + 0.9786455631256104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3852454255595162, + 0.36193661253753084, + 0.39659399521096694 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9859390611667244, + 0.9462269997264255, + 0.8781491801144847 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4900.444963421184, + "intensity": 0.9462269997264255 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7723203436970106, + 0.7831396735691066, + 0.8004506013644603 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5774.788005097931, + "intensity": 0.787467405517945 + }, + "point_color_scale": [ + 1.095913155258541, + 1.1408429283939905, + 1.2127305654107101 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_011/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6227b3772ee228caf3cc110a97e123dc3ed9cbec --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9972214836755933, + "K": [ + [ + 420.6449481846287, + 0.0, + 314.0512947927805 + ], + [ + 0.0, + 440.7713665096207, + 234.95642731233596 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.847399965745896, + -4.435943859733243, + 1.0209968515877237 + ], + "camera_target": [ + -6.025473061610666, + -4.9877650068583845, + 0.8875691146315684 + ], + "camera_roll_rad": -0.004436430074918722, + "camera_pose_world_cv": [ + [ + -0.9522488117218018, + 0.0604218989610672, + -0.29928475618362427, + -5.847400188446045 + ], + [ + 0.30520057678222656, + 0.21612977981567383, + -0.9274376034736633, + -4.435944080352783 + ], + [ + 0.00864681601524353, + -0.9744932055473328, + -0.2242501974105835, + 1.0209968090057373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25976588126559647, + 0.27300155349920036, + 0.24639555992604414 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0686956992628123, + 1.100220597898407, + 1.1506604357153587 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6066.571405274683, + "intensity": 1.112830557352645 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.5874582066556766, + 0.5740413910198936, + 0.5510411356442656 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5166.106316033475, + "intensity": 0.5740413910198936 + }, + "point_color_scale": [ + 1.0586269815648848, + 1.0286922280696176, + 0.9773755077920169 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_012/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d5942fcc7be450a91b137723259ee2cf87baf83 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2278338663346156, + "K": [ + [ + 342.738921785669, + 0.0, + 325.2611083243323 + ], + [ + 0.0, + 340.5389465590795, + 222.55394659602328 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.380304200133705, + -5.3554490412460245, + 0.8164577255148397 + ], + "camera_target": [ + -6.060499296860003, + -5.01784496581349, + 0.9374097434426405 + ], + "camera_roll_rad": -0.02588682417160355, + "camera_pose_world_cv": [ + [ + 0.71605384349823, + 0.21044909954071045, + 0.6655659675598145, + -6.380304336547852 + ], + [ + -0.6962459683418274, + 0.1469113826751709, + 0.7026085257530212, + -5.355449199676514 + ], + [ + 0.05008423328399658, + -0.9665032029151917, + 0.2517207860946655, + 0.8164577484130859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2621032993571745, + 0.2402847961342544, + 0.24063761344264195 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.9022597325029441, + 0.9359698262232446, + 0.9899059761757258 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 6210.094402871346, + "intensity": 0.949453863711365 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8354681900015153, + 0.8177031250691057, + 0.7872487280421179 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5189.63474137375, + "intensity": 0.8177031250691057 + }, + "point_color_scale": [ + 0.9116580830115565, + 0.9095008350319568, + 0.9058026956383575 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_013/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa7a2492e9d52328a7ccf064d62aaeefee2e2248 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.107390929261884, + "K": [ + [ + 394.3117164200322, + 0.0, + 307.59392599867476 + ], + [ + 0.0, + 388.2230183830143, + 258.67015055712966 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.131301384809166, + -4.396189109775811, + 1.050450175034126 + ], + "camera_target": [ + -6.028959765728915, + -5.000905982088555, + 0.8711894084051407 + ], + "camera_roll_rad": 0.043554021579092814, + "camera_pose_world_cv": [ + [ + -0.9863141775131226, + 0.039142411202192307, + 0.16016486287117004, + -6.131301403045654 + ], + [ + -0.1421688050031662, + 0.29007887840270996, + -0.9463840126991272, + -4.396189212799072 + ], + [ + -0.08350415527820587, + -0.9562020897865295, + -0.2805436849594116, + 1.0504502058029175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.20889119411578666, + 0.21552195784220177, + 0.22393331152401014 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 0.8827416027520256, + 0.8641815849932061, + 0.8323644116923725 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5193.185881943592, + "intensity": 0.8641815849932061 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7982246711332397, + 0.7998649924105017, + 0.802489506454121 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5540.981336641662, + "intensity": 0.8005211209214066 + }, + "point_color_scale": [ + 0.8459876859953306, + 0.8591240879787667, + 0.8801423311522645 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_014/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e1ece32386e736fb1c1e9b4ec0e14841ea001b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1329681373945677, + "K": [ + [ + 389.36351642951064, + 0.0, + 291.25093882544826 + ], + [ + 0.0, + 377.34705973331177, + 256.7794348681572 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.161796827122191, + -5.354990632250969, + 0.9356056478757311 + ], + "camera_target": [ + -6.048489664591248, + -4.9669923413664465, + 0.981123856641515 + ], + "camera_roll_rad": 0.028408473593132477, + "camera_pose_world_cv": [ + [ + 0.9601383805274963, + -0.02319084107875824, + 0.27856144309043884, + -6.161797046661377 + ], + [ + -0.27376991510391235, + 0.12316310405731201, + 0.953876793384552, + -5.354990482330322 + ], + [ + -0.05642969161272049, + -0.9921154379844666, + 0.11190462112426758, + 0.9356056451797485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061379551887512, + 0.7080742716789246, + -2.2847400416026176e-08, + -6.0225725173950195 + ], + [ + -0.7080742716789246, + 0.7061379551887512, + -5.505187772314457e-08, + -4.968023777008057 + ], + [ + -2.2847400416026176e-08, + 5.505187772314457e-08, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3596146097443977, + 0.3537776279354945, + 0.3647960130520757 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.2388911612020044, + 1.191709456172914, + 1.1108265332659022 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4934.405463456663, + "intensity": 1.191709456172914 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.9344443956310695, + 0.9268228265494511, + 0.9137572795523914 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5382.5238705932725, + "intensity": 0.9268228265494511 + }, + "point_color_scale": [ + 1.0297211052846933, + 1.0522026826374113, + 1.0881732064017604 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_015/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8996061eab9466f723efa53233439840282d7ee0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0566580291403616, + "K": [ + [ + 416.05529042285656, + 0.0, + 313.3023169858761 + ], + [ + 0.0, + 411.18803345960725, + 244.60014398510455 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.460158544088338, + -5.113553697757169, + 0.9708870781915985 + ], + "camera_target": [ + -5.98201624174729, + -5.013085430556103, + 0.9115177598346034 + ], + "camera_roll_rad": 0.03117847098687311, + "camera_pose_world_cv": [ + [ + 0.1978754997253418, + -0.13063278794288635, + 0.9714836478233337, + -6.460158348083496 + ], + [ + -0.9782732725143433, + 0.03622865676879883, + 0.20413008332252502, + -5.113553524017334 + ], + [ + -0.06186157464981079, + -0.9907687902450562, + -0.12062573432922363, + 0.9708870649337769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3459409743384784, + 0.3320640876680703, + 0.34742030063011126 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.0757693629378369, + 1.0668075417065093, + 1.0514444195956618 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 5379.991458079121, + "intensity": 1.0668075417065093 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.7218072562744283, + 0.7050249221581465, + 0.676255206530235 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5159.944460546577, + "intensity": 0.7050249221581465 + }, + "point_color_scale": [ + 1.0679372926775954, + 1.0467480721899451, + 1.010423694211116 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000682/scene_b03_016/scene_meta.json b/so100/ProcTHOR/test/bg_000682/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2dcca2e99d500823a714ee78938d472d9720c2cf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000682/scene_b03_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 682, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8099133469117631, + "K": [ + [ + 577.7748022394792, + 0.0, + 332.77084837075955 + ], + [ + 0.0, + 559.8996563680583, + 236.0119867793811 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.388443229720334, + -4.443670276810692, + 0.99223106345593 + ], + "camera_target": [ + -6.059653516678535, + -4.999945778669855, + 0.8891454041751529 + ], + "camera_roll_rad": 0.009661354587783541, + "camera_pose_world_cv": [ + [ + -0.6362400054931641, + 0.10272872447967529, + -0.7646212577819824, + -5.3884429931640625 + ], + [ + 0.7712526321411133, + 0.0600435733795166, + -0.6336910128593445, + -4.443670272827148 + ], + [ + -0.01918777823448181, + -0.9928956627845764, + -0.11743175983428955, + 0.9922310709953308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.7061380743980408, + 0.708074152469635, + 0.0, + -6.0225725173950195 + ], + [ + -0.708074152469635, + 0.7061380743980408, + -0.0, + -4.968023777008057 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489279508590698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35710865080330995, + 0.3895100109160631, + 0.3681474502042305 + ], + "directional_primary": { + "direction": [ + -0.07369494335318547, + 0.6077964733145651, + -0.790665858849709 + ], + "color": [ + 1.1313569564466268, + 1.0763662108946181, + 0.982096361376889 + ], + "azimuth_rad": 1.6914567109346015, + "elevation_rad": 0.9118958003529019, + "color_temp_k": 4770.153530124774, + "intensity": 1.0763662108946181 + }, + "directional_fill": { + "direction": [ + 0.2352793814503027, + 0.30585587437405226, + -0.9225485324768811 + ], + "color": [ + 0.8072997278564198, + 0.8173871650418194, + 0.8335270645384592 + ], + "azimuth_rad": 0.9150891322113193, + "elevation_rad": 1.1746336509029434, + "color_temp_k": 5745.609089290717, + "intensity": 0.8214221399159793 + }, + "point_color_scale": [ + 0.7994651240734378, + 0.8181472926940034, + 0.8480387624869086 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d705fdfd23997912497b601dd2ecaf24d8878c9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8906638457426485, + "K": [ + [ + 492.36617813028545, + 0.0, + 298.6844695055806 + ], + [ + 0.0, + 502.8172002200883, + 255.84482404950722 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.353172937835046, + -7.0360575153658695, + 0.8644293652727769 + ], + "camera_target": [ + -4.896216839509466, + -6.709946469325079, + 0.991320243833912 + ], + "camera_roll_rad": 0.04326186574395778, + "camera_pose_world_cv": [ + [ + 0.5942353010177612, + 0.12858566641807556, + 0.7939459085464478, + -5.353172779083252 + ], + [ + -0.799862265586853, + 0.19793176651000977, + 0.5666069984436035, + -7.036057472229004 + ], + [ + -0.08428946137428284, + -0.9717453718185425, + 0.22046887874603271, + 0.8644293546676636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2370639937083116, + 0.2471181084233971, + 0.23298727935855748 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9011734359870714, + 0.9151766832351487, + 0.9375818788320721 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5804.161209754763, + "intensity": 0.9207779821343794 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8577546888034867, + 0.8654502095726613, + 0.8777630428033408 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5677.208266551734, + "intensity": 0.8685284178803312 + }, + "point_color_scale": [ + 1.0442082549710505, + 1.0543819669794083, + 1.0706599061927808 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..910fbe0c569f527a29e42f08bf65d9b182589c28 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.04885891005824, + "K": [ + [ + 396.73497333700124, + 0.0, + 339.59219316626724 + ], + [ + 0.0, + 414.89588708916443, + 255.71547416918224 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.385384478981973, + -6.977557006261799, + 1.0442903661398262 + ], + "camera_target": [ + -4.875504070543365, + -6.661879324185506, + 1.0171047526183423 + ], + "camera_roll_rad": 0.004093104347631445, + "camera_pose_world_cv": [ + [ + 0.526066780090332, + -0.042811959981918335, + 0.8493649959564209, + -5.385384559631348 + ], + [ + -0.850403904914856, + -0.01687777042388916, + 0.5258595943450928, + -6.977557182312012 + ], + [ + -0.00817766785621643, + -0.9989405870437622, + -0.04528623819351196, + 1.0442904233932495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21163155304353265, + 0.21356415480535243, + 0.22539229377703796 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.136942010791375, + 1.138895199060597, + 1.142020300291353 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5534.2761882543, + "intensity": 1.1396764743682861 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7581926982767764, + 0.7351725855764203, + 0.695709535232953 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5052.678161136296, + "intensity": 0.7351725855764203 + }, + "point_color_scale": [ + 1.104709694813237, + 1.0989205925899381, + 1.088996417349997 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e15e56806b4ed9fcc968e3c6afe5dab0199959 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8878769616654185, + "K": [ + [ + 492.76645930739073, + 0.0, + 344.1008792953704 + ], + [ + 0.0, + 504.6248094350494, + 246.01825868618664 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.49055624729219, + -6.044932478278666, + 1.0465178882293102 + ], + "camera_target": [ + -4.970804854131966, + -6.659803966136652, + 0.8851270193071084 + ], + "camera_roll_rad": -0.01503356219405598, + "camera_pose_world_cv": [ + [ + -0.7595477104187012, + -0.14978523552417755, + 0.6329705715179443, + -5.490556240081787 + ], + [ + -0.6497834324836731, + 0.130629301071167, + -0.7488107085227966, + -6.0449323654174805 + ], + [ + 0.029476284980773926, + -0.9800512194633484, + -0.19654715061187744, + 1.0465178489685059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29211471328413574, + 0.31953648668691853, + 0.3196718935074262 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1093192638088027, + 1.1630849399416519, + 1.2491100217542104 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6407.750718746774, + "intensity": 1.1845912103947915 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8891547513650057, + 0.9161936413861422, + 0.9594558654199608 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6083.357535116818, + "intensity": 0.9270091973945969 + }, + "point_color_scale": [ + 1.053098826055219, + 1.064801495308541, + 1.0835257661138558 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa102e6ac5f2e314ca10920e77588b0e2bc00dd --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7972108020542086, + "K": [ + [ + 546.5391883447876, + 0.0, + 338.868088263694 + ], + [ + 0.0, + 569.8678159363761, + 242.1714061612408 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.190140465709522, + -7.142320062756846, + 0.6956533534369469 + ], + "camera_target": [ + -4.958314696760825, + -6.66064601403521, + 0.9147560203393359 + ], + "camera_roll_rad": 0.015598266556660967, + "camera_pose_world_cv": [ + [ + 0.5247738361358643, + -0.21547561883926392, + -0.8235185146331787, + -4.190140247344971 + ], + [ + 0.850701630115509, + 0.09829521179199219, + 0.5163768529891968, + -7.142320156097412 + ], + [ + -0.030318796634674072, + -0.9715496301651001, + 0.2348881959915161, + 0.6956533789634705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3208015597804256, + 0.3031233240187106, + 0.3137706054253462 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.2772461534768402, + 1.1969534719113861, + 1.0593088749420367 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4541.701841387174, + "intensity": 1.1969534719113861 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.5739268909479931, + 0.57708709579236, + 0.5821434235433468 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5609.283250940021, + "intensity": 0.5783511777301067 + }, + "point_color_scale": [ + 0.9407764964086359, + 0.9253355736782114, + 0.8988654204260551 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4994d0c4be5b0b59734ecfbff42695d3d93b0eb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8963790512214823, + "K": [ + [ + 513.9641425324673, + 0.0, + 337.3735933874532 + ], + [ + 0.0, + 499.14305472415504, + 231.78423513553085 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.4972378609380765, + -6.911604366166868, + 0.9081500263752662 + ], + "camera_target": [ + -4.880806075450028, + -6.7073437160987135, + 0.9435132714138162 + ], + "camera_roll_rad": -0.03270873891399063, + "camera_pose_world_cv": [ + [ + 0.31049448251724243, + 0.07206690311431885, + 0.9478394985198975, + -5.497237682342529 + ], + [ + -0.9483314752578735, + -0.04498600959777832, + 0.31407618522644043, + -6.911604404449463 + ], + [ + 0.06527411937713623, + -0.996384859085083, + 0.054375410079956055, + 0.9081500172615051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21716358211823258, + 0.2374828974512391, + 0.2210383955612954 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8654413836543657, + 0.8554457714730376, + 0.8383104363050463 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5333.075965192539, + "intensity": 0.8554457714730376 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6069631051464499, + 0.6047687045305585, + 0.6010068749033162 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5448.164347804086, + "intensity": 0.6047687045305585 + }, + "point_color_scale": [ + 0.8640687448841765, + 0.8855552377779908, + 0.9199336264080938 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..830204af52693d007143eda6747257d528005a31 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8780960857448611, + "K": [ + [ + 534.8228701753596, + 0.0, + 345.8035516743531 + ], + [ + 0.0, + 511.0535512848795, + 259.2051519108653 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.535276610018615, + -6.6051938027096355, + 1.084045703814626 + ], + "camera_target": [ + -4.955229680132387, + -6.7059700538378015, + 0.9991329354510091 + ], + "camera_roll_rad": -0.042473347670220006, + "camera_pose_world_cv": [ + [ + -0.24842143058776855, + 0.16711989045143127, + -0.9541268348693848, + -4.535276412963867 + ], + [ + 0.9650681018829346, + 0.1273573637008667, + -0.22896283864974976, + -6.605193614959717 + ], + [ + 0.08325079083442688, + -0.9776764512062073, + -0.19292020797729492, + 1.084045648574829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3392334194729372, + 0.3463738344565293, + 0.3403769450967301 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.2118741608424606, + 1.1967996971011712, + 1.1709577592589608 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5320.062218815706, + "intensity": 1.1967996971011712 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6960621575832169, + 0.6643286580093191, + 0.6099283730254943 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4817.603263485616, + "intensity": 0.6643286580093191 + }, + "point_color_scale": [ + 1.0531216023813568, + 1.0598901378767946, + 1.0707197946694953 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..883e4469353e94b98f57b5d2852e8d84f70431b1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9387429687757594, + "K": [ + [ + 464.9736158981025, + 0.0, + 350.9000525614135 + ], + [ + 0.0, + 473.20901685415504, + 229.45071988775837 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.463301683971219, + -7.099990548738867, + 1.1667141154658216 + ], + "camera_target": [ + -4.914163325403273, + -6.703073439088048, + 1.0256338315265179 + ], + "camera_roll_rad": -0.009771820054066377, + "camera_pose_world_cv": [ + [ + 0.5889143943786621, + -0.1537276804447174, + 0.7934405207633972, + -5.463301658630371 + ], + [ + -0.8079690933227539, + -0.13522684574127197, + 0.5734980702400208, + -7.099990367889404 + ], + [ + 0.01913207769393921, + -0.978816568851471, + -0.20384418964385986, + 1.166714072227478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23681746912419796, + 0.2293904427127559, + 0.2344823445651132 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8930461723962295, + 0.8502200546552695, + 0.7768038528136237 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4780.419605884531, + "intensity": 0.8502200546552695 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8459402229960818, + 0.8200129509427283, + 0.7755661988512651 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5048.312498800933, + "intensity": 0.8200129509427283 + }, + "point_color_scale": [ + 0.9323680289241282, + 0.9151306655116799, + 0.8855808996617686 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbc4f81dedbd7464f7415470958f27045aec1aec --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0780260886844717, + "K": [ + [ + 414.7219790631412, + 0.0, + 345.5348270545958 + ], + [ + 0.0, + 401.2781837329834, + 237.97377833366585 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.140321644555541, + -7.263842249782559, + 0.6902821775064902 + ], + "camera_target": [ + -4.900627594495052, + -6.693489948144418, + 0.9895316820134352 + ], + "camera_roll_rad": 0.05227640279554695, + "camera_pose_world_cv": [ + [ + 0.5717344284057617, + -0.3015475869178772, + -0.7630129456520081, + -4.140321731567383 + ], + [ + 0.8143773674964905, + 0.09574627876281738, + 0.5723828673362732, + -7.2638421058654785 + ], + [ + -0.09954506158828735, + -0.9486314654350281, + 0.30031490325927734, + 0.6902821660041809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23826328675890185, + 0.24294272038535017, + 0.23029762336597503 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9866438288848594, + 0.9272235651735081, + 0.8253602559540489 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4584.513226318492, + "intensity": 0.9272235651735081 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8491254483825561, + 0.8714963262231825, + 0.9072897307681846 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6008.172254677478, + "intensity": 0.880444677359433 + }, + "point_color_scale": [ + 1.0395332119643708, + 0.9949855174673622, + 0.9186180411867759 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff8c6ea476610c1ebf4fa6cca6de3e55e5d9e73 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9393098590066873, + "K": [ + [ + 486.6168086722739, + 0.0, + 326.8920895816734 + ], + [ + 0.0, + 472.8767134394006, + 252.54501690167274 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.1019415359818545, + -7.232616098182536, + 0.9613904092005962 + ], + "camera_target": [ + -4.91122153624973, + -6.6609167632466635, + 0.9989766384480072 + ], + "camera_roll_rad": -0.02888570401125009, + "camera_pose_world_cv": [ + [ + 0.9458868503570557, + 0.07443692535161972, + 0.31584370136260986, + -5.1019415855407715 + ], + [ + -0.3193386495113373, + 0.04067564010620117, + 0.9467673301696777, + -7.232615947723389 + ], + [ + 0.05762733519077301, + -0.9963958263397217, + 0.06224513053894043, + 0.9613904356956482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33710413326356575, + 0.36212213677543614, + 0.37216076364509065 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.884397299726245, + 0.9074259138974679, + 0.9442716965714246 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6002.458555303208, + "intensity": 0.916637359565957 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.769159132454444, + 0.7715243851987854, + 0.7753087895897317 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5561.2386566555115, + "intensity": 0.7724704862965219 + }, + "point_color_scale": [ + 0.9773050373670962, + 0.9793869831783852, + 0.9827180964764477 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a774e7b4fe52673bf849f3868ba7c89998d2a53b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9167400066554545, + "K": [ + [ + 506.80671490825125, + 0.0, + 341.84061736379897 + ], + [ + 0.0, + 486.4007474771322, + 226.21985326378942 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.143078025537331, + -7.263797359335034, + 0.7312406453868945 + ], + "camera_target": [ + -4.9104892972790575, + -6.736331924499162, + 0.9527025286652553 + ], + "camera_roll_rad": 0.014467678446494034, + "camera_pose_world_cv": [ + [ + 0.9187955260276794, + 0.11815877258777618, + 0.3766341805458069, + -5.143077850341797 + ], + [ + -0.39380890130996704, + 0.3396667242050171, + 0.8541317582130432, + -7.263797283172607 + ], + [ + -0.02700696885585785, + -0.933094322681427, + 0.3586162328720093, + 0.7312406301498413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2964787241290171, + 0.2903762909772536, + 0.3126648633141117 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0051375106464049, + 0.965810461676769, + 0.8983926634431075 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4918.296852671143, + "intensity": 0.965810461676769 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.5619129920984158, + 0.5676466458081656, + 0.5768204917437654 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5701.201973203532, + "intensity": 0.5699401072920656 + }, + "point_color_scale": [ + 0.9616715565701102, + 0.9991825379164828, + 1.0592001080706792 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1a6474b9316ee2417d0cba56d26d8945df8e9e4 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8691035304283158, + "K": [ + [ + 540.7427971562527, + 0.0, + 295.91174040908794 + ], + [ + 0.0, + 517.083424750301, + 244.85702329229 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.953972779637684, + -5.94513654812555, + 1.1272185870432692 + ], + "camera_target": [ + -4.953741803844226, + -6.657251738303666, + 0.9334554266951014 + ], + "camera_roll_rad": 0.048314964085791515, + "camera_pose_world_cv": [ + [ + -0.9953434467315674, + 0.09639490395784378, + 0.00031285360455513, + -4.953972816467285 + ], + [ + 0.025007985532283783, + 0.2613563537597656, + -0.9649185538291931, + -5.945136547088623 + ], + [ + -0.09309498965740204, + -0.9604172110557556, + -0.26254957914352417, + 1.1272186040878296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22830513137214303, + 0.21628798396786225, + 0.21911417162735997 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9019085191789267, + 0.9063410728967614, + 0.913433158845297 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5597.6210752646, + "intensity": 0.9081140943838952 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7795292253135199, + 0.7453983987408233, + 0.6868884103304862 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4845.875658471407, + "intensity": 0.7453983987408233 + }, + "point_color_scale": [ + 0.8534147367923908, + 0.882468560267714, + 0.9289546778282313 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a979cc1edb76d13a4ef13fd091fa490a2a3b712 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8669193988688372, + "K": [ + [ + 508.8119050344512, + 0.0, + 334.6635424230704 + ], + [ + 0.0, + 518.5656393397525, + 244.8800414905178 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.254094859853679, + -6.935579924708521, + 1.1113910216353555 + ], + "camera_target": [ + -4.926483905779229, + -6.708907427117715, + 0.9866934468327753 + ], + "camera_roll_rad": 0.011233855614125321, + "camera_pose_world_cv": [ + [ + 0.5633177757263184, + -0.2583714425563812, + 0.7848039865493774, + -5.254095077514648 + ], + [ + -0.8259620666503906, + -0.15144670009613037, + 0.5430014133453369, + -6.935579776763916 + ], + [ + -0.021440058946609497, + -0.9541007280349731, + -0.2987176179885864, + 1.1113910675048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2356187802353832, + 0.23552441050595257, + 0.22992629763746514 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1098139859076215, + 1.0398159971863092, + 0.9198194450926311 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4538.319019756197, + "intensity": 1.0398159971863092 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7864184293084389, + 0.8004523463748181, + 0.8229066136810249 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5848.2076797080335, + "intensity": 0.8060659132013699 + }, + "point_color_scale": [ + 0.9903342568715361, + 1.0148283881278055, + 1.054018998137837 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..537bec4fb6439e9f379015d2d2a50a7a8dbe920a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8034024305897032, + "K": [ + [ + 555.6386756997008, + 0.0, + 346.1717145604264 + ], + [ + 0.0, + 564.9717799077861, + 249.04760137109685 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.3869994660370555, + -6.971850525386921, + 0.7696645905272682 + ], + "camera_target": [ + -4.911407871296847, + -6.655594518545405, + 0.9855129573226735 + ], + "camera_roll_rad": 0.034164835167239754, + "camera_pose_world_cv": [ + [ + 0.5725307464599609, + 0.2558824419975281, + 0.7789305448532104, + -5.386999607086182 + ], + [ + -0.8173919320106506, + 0.25214946269989014, + 0.517968475818634, + -6.971850395202637 + ], + [ + -0.0638677179813385, + -0.9332444071769714, + 0.3535196781158447, + 0.7696645855903625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27894747834733463, + 0.2940843932799667, + 0.2757019773774805 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0619059856431918, + 1.0356759453948674, + 0.9907101621120257 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5138.192947942339, + "intensity": 1.0356759453948674 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7324641710325946, + 0.7028525333416663, + 0.6520897258715034 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4898.133498113105, + "intensity": 0.7028525333416663 + }, + "point_color_scale": [ + 0.8717082714181904, + 0.8999852266629561, + 0.9452283550545814 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8b09e9c049c6c96892f723c00307e068731b246 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9667209278691921, + "K": [ + [ + 451.3773398066795, + 0.0, + 323.7437251134436 + ], + [ + 0.0, + 457.2389945180063, + 219.09800438247277 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.039482282578921, + -7.10858256165579, + 1.0779934159397335 + ], + "camera_target": [ + -4.921134018139321, + -6.718016447684309, + 1.0085793439152255 + ], + "camera_roll_rad": -0.04026434480478716, + "camera_pose_world_cv": [ + [ + 0.9578381180763245, + 0.02851565182209015, + 0.2858898639678955, + -5.039482116699219 + ], + [ + -0.27614712715148926, + -0.18328338861465454, + 0.9434775710105896, + -7.108582496643066 + ], + [ + 0.07930273562669754, + -0.9826464056968689, + -0.16768133640289307, + 1.077993392944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3494021821367961, + 0.3785703199933407, + 0.36030955163398776 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8729017426920421, + 0.8754184588014914, + 0.8794452045766104 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5557.431398975778, + "intensity": 0.8764251452452712 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6727112261964695, + 0.6754537964406994, + 0.679841908831467 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5581.07506915245, + "intensity": 0.6765508245383913 + }, + "point_color_scale": [ + 1.0253845247811328, + 1.0134075924850376, + 0.9928757085488746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..247a00599df1201ec7be6c3e80138ce880530a39 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.147369577132107, + "K": [ + [ + 365.0954643906975, + 0.0, + 345.85124022186505 + ], + [ + 0.0, + 371.41380680003897, + 228.8449763362412 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.518519188598399, + -6.4509704364990625, + 1.115265349583988 + ], + "camera_target": [ + -4.919150376353949, + -6.6576834214343945, + 0.970663246905421 + ], + "camera_roll_rad": -0.013816064583014827, + "camera_pose_world_cv": [ + [ + -0.4658539295196533, + 0.2586560845375061, + -0.8462133407592773, + -4.518519401550293 + ], + [ + 0.8844704031944275, + 0.16454780101776123, + -0.43661895394325256, + -6.450970649719238 + ], + [ + 0.026308417320251465, + -0.9518513679504395, + -0.30542898178100586, + 1.1152653694152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2829827054837475, + 0.3111241786684739, + 0.2962461039088964 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.058961742243094, + 1.0873061475080636, + 1.1326571959320153 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6015.988939035344, + "intensity": 1.0986439096140517 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8800778723919173, + 0.9048784473965567, + 0.9445593674039798 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6042.208370374334, + "intensity": 0.9147986773984125 + }, + "point_color_scale": [ + 1.2422663617524135, + 1.1980678869310157, + 1.1222990729514768 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45a9690311ce8588ec94fa958f1443d34b483576 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.109402808565327, + "K": [ + [ + 398.11722195230715, + 0.0, + 312.57583893186126 + ], + [ + 0.0, + 387.35129305091056, + 261.31217075780444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.382063803939003, + -6.903291553321742, + 0.6912114825676379 + ], + "camera_target": [ + -4.922508137715007, + -6.715084287091165, + 1.0233768855205319 + ], + "camera_roll_rad": 0.029964447457258153, + "camera_pose_world_cv": [ + [ + 0.40912532806396484, + 0.49087363481521606, + 0.7691941261291504, + -5.382063865661621 + ], + [ + -0.9111191630363464, + 0.26575493812561035, + 0.31501784920692444, + -6.903291702270508 + ], + [ + -0.04978311061859131, + -0.8297092914581299, + 0.5559713840484619, + 0.691211462020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.45252084732055664, + -0.8917538523674011, + 1.2698905926811221e-08, + -4.923460006713867 + ], + [ + 0.8917538523674011, + 0.45252084732055664, + 7.796306711327361e-09, + -6.702770233154297 + ], + [ + -1.2698905926811221e-08, + 7.796306711327361e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29444367597922744, + 0.2979051502679857, + 0.3159603155252562 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9292026926124524, + 0.9172404742941765, + 0.8967338143199893 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5313.692441723391, + "intensity": 0.9172404742941765 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7175639518699416, + 0.697062298486221, + 0.6619166069712715 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5079.835599686548, + "intensity": 0.697062298486221 + }, + "point_color_scale": [ + 1.1094116481207963, + 1.1164938917161384, + 1.1278254814686859 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d41769d588155822e308478a9e4bfdb42575f014 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9405337467784581, + "K": [ + [ + 479.39177194777443, + 0.0, + 346.7512776366427 + ], + [ + 0.0, + 472.16055101033555, + 260.2015637653098 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.957864335371326, + -7.108531736301163, + 1.1794501487904265 + ], + "camera_target": [ + -4.350519947349375, + -6.660864714085435, + 1.0304457840577084 + ], + "camera_roll_rad": 0.022440833313604747, + "camera_pose_world_cv": [ + [ + 0.7582125663757324, + 0.12617620825767517, + -0.6396821737289429, + -3.957864284515381 + ], + [ + 0.6505531072616577, + -0.21189451217651367, + 0.7293019890785217, + -7.108531951904297 + ], + [ + -0.043524593114852905, + -0.9691131711006165, + -0.24274539947509766, + 1.1794501543045044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34465632488211806, + 0.3824867742119416, + 0.35495178586909343 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1287138141169333, + 1.156426028181123, + 1.2007655706838263 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5974.7229980717, + "intensity": 1.167510913806799 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8413568321225589, + 0.8475209602463073, + 0.8573835652443047 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5645.040593354777, + "intensity": 0.8499866114958067 + }, + "point_color_scale": [ + 1.1123378505885126, + 1.1289007581794817, + 1.155401410325032 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fe93c50fecfe71d20e927b7d1fbf1ad3bf992ea --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0150274417050555, + "K": [ + [ + 433.6544333493437, + 0.0, + 309.8877964889337 + ], + [ + 0.0, + 431.5777912602793, + 218.38151997045247 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.675965230213586, + -6.895568870300832, + 0.82830893287004 + ], + "camera_target": [ + -4.328406516017097, + -6.663912155725682, + 0.9216628921691548 + ], + "camera_roll_rad": 0.03686048044878516, + "camera_pose_world_cv": [ + [ + 0.3244122862815857, + -0.15022799372673035, + -0.9339102506637573, + -3.6759653091430664 + ], + [ + 0.943095326423645, + -0.024818897247314453, + 0.33159539103507996, + -6.89556884765625 + ], + [ + -0.07299363613128662, + -0.988339900970459, + 0.13362789154052734, + 0.8283089399337769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30654951996690216, + 0.29133939171903694, + 0.30875502692981166 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.136683168549069, + 1.0949476883650062, + 1.0234011509066128 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4955.479789745115, + "intensity": 1.0949476883650062 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8554204235169113, + 0.8870231588602582, + 0.937587535409613 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6202.545093640199, + "intensity": 0.8996642529975969 + }, + "point_color_scale": [ + 1.1287707928195283, + 1.1651332604410147, + 1.2233132086353928 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b7ead1290a5bc591e689ae468d7f7748a6a78df --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8854809765548579, + "K": [ + [ + 492.22638450611265, + 0.0, + 337.2702064629232 + ], + [ + 0.0, + 506.1873653637396, + 218.32814236893472 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.896857105549756, + -6.0989780933103654, + 0.9892073638369078 + ], + "camera_target": [ + -4.392747170081341, + -6.661357611447494, + 0.8868887033131362 + ], + "camera_roll_rad": 0.03567108412381148, + "camera_pose_world_cv": [ + [ + -0.7491234540939331, + -0.036302924156188965, + 0.6614348292350769, + -4.896857261657715 + ], + [ + -0.6586534976959229, + 0.1472916603088379, + -0.7378893494606018, + -6.098978042602539 + ], + [ + -0.0706363320350647, + -0.9884266257286072, + -0.13425076007843018, + 0.98920738697052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3821230950123633, + 0.3664454722168599, + 0.3838452162731411 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.025217727595082, + 0.9927010678943574, + 0.9369582226931152 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5032.060833785881, + "intensity": 0.9927010678943574 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6514780026755709, + 0.6479498410168959, + 0.6419015638877387 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5422.212637122433, + "intensity": 0.6479498410168959 + }, + "point_color_scale": [ + 1.0712571276578695, + 1.0276763974426208, + 0.9529665742164802 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..519d82f168637ebc517c4eb16a47fe4fbf92be8a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1458314912160845, + "K": [ + [ + 364.4774028255805, + 0.0, + 322.40459292854865 + ], + [ + 0.0, + 372.04115763448596, + 216.80566008451484 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5885468587295355, + -7.018019370444541, + 1.0025444912733514 + ], + "camera_target": [ + -4.37711968876971, + -6.689773841392031, + 0.9677461262494697 + ], + "camera_roll_rad": 0.033332828870981865, + "camera_pose_world_cv": [ + [ + 0.3859391212463379, + 0.011896967887878418, + -0.9224475026130676, + -3.5885467529296875 + ], + [ + 0.9201198816299438, + -0.07710915803909302, + 0.38397079706192017, + -7.018019199371338 + ], + [ + -0.06656104326248169, + -0.9969516396522522, + -0.040706098079681396, + 1.0025445222854614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3611114598050606, + 0.36518533381974455, + 0.37980255608358726 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0327618300327082, + 1.0503787228477992, + 1.0785657513519447 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5833.203486179033, + "intensity": 1.0574254799738354 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.612906308747269, + 0.6378039646080063, + 0.6776402139851859 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6268.727291456558, + "intensity": 0.6477630269523011 + }, + "point_color_scale": [ + 1.1348613583903033, + 1.0857802979577678, + 1.001641337216278 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..174904e9f0900fa4cad7072826c0b4ebe4059768 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7892365892138484, + "K": [ + [ + 600.9648190558031, + 0.0, + 315.4972654442109 + ], + [ + 0.0, + 576.2805077824926, + 254.7346841506459 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.474951195631639, + -6.608734217145508, + 0.7053914831346968 + ], + "camera_target": [ + -4.396867300738836, + -6.635374741506962, + 1.0143013194418726 + ], + "camera_roll_rad": 0.02670084777432638, + "camera_pose_world_cv": [ + [ + -0.04578852653503418, + -0.31546661257743835, + -0.9478312730789185, + -3.4749512672424316 + ], + [ + 0.9976680278778076, + -0.06251466274261475, + -0.027389347553253174, + -6.608734130859375 + ], + [ + -0.05061289668083191, + -0.9468751549720764, + 0.3175933361053467, + 0.7053914666175842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2616492764521845, + 0.2642824974273699, + 0.27004438580753587 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9821858457531556, + 0.9316365445945491, + 0.8449805997512241 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4724.877042571736, + "intensity": 0.9316365445945491 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8150182253041364, + 0.8098316957914671, + 0.800940502341177 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5408.5078058348845, + "intensity": 0.8098316957914671 + }, + "point_color_scale": [ + 0.8694310398270648, + 0.8718699509959706, + 0.8757722088662199 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52910efdaf0eb6ef91244812a41807919b1b9309 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9667977118991156, + "K": [ + [ + 437.9711307108073, + 0.0, + 313.80986424958456 + ], + [ + 0.0, + 457.19633971048216, + 225.10501704952213 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5184044399872425, + -6.287227903525099, + 0.9420490691211294 + ], + "camera_target": [ + -4.343032279538021, + -6.669221331529039, + 0.9992750970515847 + ], + "camera_roll_rad": -0.011948206798773668, + "camera_pose_world_cv": [ + [ + -0.41884171962738037, + -0.06704986095428467, + -0.9055807590484619, + -3.518404483795166 + ], + [ + 0.9077463746070862, + -0.004726052284240723, + -0.4194931983947754, + -6.287228107452393 + ], + [ + 0.023846954107284546, + -0.9977385997772217, + 0.06284403800964355, + 0.9420490860939026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24482059790348049, + 0.24165527634252426, + 0.26329181888418834 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8780225284696276, + 0.8724139884538532, + 0.8627993484268113 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5408.160573666011, + "intensity": 0.8724139884538532 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7687076416593581, + 0.7896117208935389, + 0.8230582476682283 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6023.929255692688, + "intensity": 0.7979733525872112 + }, + "point_color_scale": [ + 1.0737127087246845, + 1.0295169356551737, + 0.953752753250298 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35266232bb363b34fa2f50f60e9f9e9d6c927ef8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9421207132098273, + "K": [ + [ + 452.71392279420365, + 0.0, + 315.0800149640657 + ], + [ + 0.0, + 471.2344952714327, + 248.27218496743527 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.144893051559369, + -7.114963703505789, + 0.7475080764195817 + ], + "camera_target": [ + -4.373674515095566, + -6.629454194830742, + 0.9137891138056089 + ], + "camera_roll_rad": -0.047819947407007776, + "camera_pose_world_cv": [ + [ + 0.9125111103057861, + -0.03918677568435669, + -0.4071706533432007, + -4.144893169403076 + ], + [ + 0.3987518548965454, + 0.3071862459182739, + 0.8640795946121216, + -7.114963531494141 + ], + [ + 0.09121674299240112, + -0.9508422613143921, + 0.2959367036819458, + 0.7475080490112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31241992582961775, + 0.3076589861591726, + 0.32264298104704736 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9336075239310663, + 0.9211906800537203, + 0.89990466197827 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5307.4410783750645, + "intensity": 0.9211906800537203 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7592442233637667, + 0.7634752357386531, + 0.7702448555384711 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5610.590468020279, + "intensity": 0.7651676406886077 + }, + "point_color_scale": [ + 1.0402888494737283, + 1.0792481850043005, + 1.1415831218532162 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..264ca05f9383990cec85ccfc2be8e4896d61554c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0963579110637416, + "K": [ + [ + 378.59388358448416, + 0.0, + 288.7282759361105 + ], + [ + 0.0, + 393.05444405162035, + 224.35680969411135 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5803823266121357, + -6.364551550610156, + 1.0576706247520473 + ], + "camera_target": [ + -4.35528895664138, + -6.664882673000006, + 0.9907671429636205 + ], + "camera_roll_rad": -0.0028655202201140276, + "camera_pose_world_cv": [ + [ + -0.3618011474609375, + 0.07274791598320007, + -0.9294125437736511, + -3.5803823471069336 + ], + [ + 0.9322377443313599, + 0.03434133529663086, + -0.3602130115032196, + -6.364551544189453 + ], + [ + 0.0057125091552734375, + -0.9967589378356934, + -0.0802430510520935, + 1.0576705932617188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22527192356455913, + 0.21357268836507567, + 0.21488162890304438 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8856597617082353, + 0.91437678352069, + 0.9603240184206173 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6120.329431958801, + "intensity": 0.9258635922456718 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.577364771368642, + 0.5887939715861722, + 0.6070806919342204 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5885.232956619646, + "intensity": 0.5933656516731842 + }, + "point_color_scale": [ + 0.8473473648239012, + 0.8139457422445763, + 0.7566858178228764 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf7762c39f79565ac745e88dd5f4c4ba5828822 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9311855914628567, + "K": [ + [ + 471.3079228941509, + 0.0, + 349.9549952190086 + ], + [ + 0.0, + 477.6748188137961, + 252.41800379247556 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9126842372019484, + -6.030698243775572, + 1.1808483480306498 + ], + "camera_target": [ + -4.355451602332107, + -6.64237614892285, + 0.9777894942682139 + ], + "camera_roll_rad": -0.033407127914790065, + "camera_pose_world_cv": [ + [ + -0.8184090852737427, + 0.09784787893295288, + -0.5662444233894348, + -3.912684202194214 + ], + [ + 0.5710079073905945, + 0.24903833866119385, + -0.7822596430778503, + -6.030698299407959 + ], + [ + 0.06447404623031616, + -0.9635382294654846, + -0.2596869468688965, + 1.1808483600616455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38501515010312715, + 0.35844151169093297, + 0.3623215566173876 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1211180608898563, + 1.1092189453902164, + 1.088820461676548 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5346.750395864571, + "intensity": 1.1092189453902164 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8304250093999851, + 0.8534064823022209, + 0.8901768389457984 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6032.842514269238, + "intensity": 0.8625990714631153 + }, + "point_color_scale": [ + 0.8261098242821917, + 0.8467017609261219, + 0.8796488595564103 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09ced4523dbbd78d682dced9503a5376f704d865 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8153873691713217, + "K": [ + [ + 544.7620961627966, + 0.0, + 345.6724088948321 + ], + [ + 0.0, + 555.6945341423183, + 258.1420339943074 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.32151730370324, + -6.941016521229193, + 0.931039223833796 + ], + "camera_target": [ + -4.371933711310902, + -6.61167754422505, + 0.9844830412811054 + ], + "camera_roll_rad": 0.05065329782021949, + "camera_pose_world_cv": [ + [ + 0.3310700058937073, + 0.01677119731903076, + 0.9434572458267212, + -5.321517467498779 + ], + [ + -0.9381863474845886, + 0.11286008358001709, + 0.3272142708301544, + -6.941016674041748 + ], + [ + -0.10099080204963684, + -0.9934694766998291, + 0.05309915542602539, + 0.9310392141342163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2584344393410943, + 0.26538081794056656, + 0.2485164778787433 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0324344753159813, + 1.063422405446478, + 1.1130030936552733 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6076.081498920017, + "intensity": 1.075817577498677 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8747951856519822, + 0.8462673698908042, + 0.797362542871642 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5018.4261621569185, + "intensity": 0.8462673698908042 + }, + "point_color_scale": [ + 0.9861152693847158, + 0.9566146954847463, + 0.9060422830847985 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..034d69adbbf824e913a89905a1e95654a15576b0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2223014746974106, + "K": [ + [ + 332.0996992067889, + 0.0, + 302.7750749915583 + ], + [ + 0.0, + 342.5473332646326, + 217.13132347581256 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4144844013403604, + -6.395897024356775, + 0.8324074480866086 + ], + "camera_target": [ + -4.363514319414182, + -6.654926692038557, + 0.8860893319110332 + ], + "camera_roll_rad": 0.04724087508894956, + "camera_pose_world_cv": [ + [ + -0.26709461212158203, + -0.027489572763442993, + -0.9632781744003296, + -3.4144845008850098 + ], + [ + 0.9590550661087036, + -0.10529518127441406, + -0.2629188299179077, + -6.395896911621094 + ], + [ + -0.09420108795166016, + -0.9940609931945801, + 0.05448782444000244, + 0.8324074745178223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.286282989621692, + 0.2679010258701708, + 0.26847895094586993 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.111526118328608, + 1.149105125104966, + 1.2092315359471386 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6145.611565694254, + "intensity": 1.164136727815509 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.74610388310024, + 0.755634181803899, + 0.7708826597297532 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5750.980186157438, + "intensity": 0.7594463012853625 + }, + "point_color_scale": [ + 1.1623954088554669, + 1.1216572590429421, + 1.0518204307928998 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b6167d07bdf763aa4a8279da8dc0f80772270aa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0247802282081084, + "K": [ + [ + 445.72675949079166, + 0.0, + 326.1728987925076 + ], + [ + 0.0, + 426.6660138426916, + 251.33447631609002 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.162492297023112, + -7.276114652503524, + 1.1235062040136525 + ], + "camera_target": [ + -4.356057698347867, + -6.672334238563904, + 0.9319394809030207 + ], + "camera_roll_rad": 0.010435450702490426, + "camera_pose_world_cv": [ + [ + 0.9538964629173279, + 0.0684020146727562, + -0.29223740100860596, + -4.162492275238037 + ], + [ + 0.29947027564048767, + -0.2817240357398987, + 0.9115642309188843, + -7.276114463806152 + ], + [ + -0.019977524876594543, + -0.9570542573928833, + -0.2892199754714966, + 1.1235061883926392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31589617610163706, + 0.31157355415264465, + 0.29771670633709435 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9712582147224638, + 1.000638047775936, + 1.0476457806614916 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6080.405448590664, + "intensity": 1.012389980997325 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6487344960487587, + 0.6197591382295948, + 0.5700870962538855 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4832.105559083237, + "intensity": 0.6197591382295948 + }, + "point_color_scale": [ + 1.0156030318469165, + 1.054712965268123, + 1.1172888587420535 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d86a4620343eb4a8c1c490f210c0e95aef989a51 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0647283505451854, + "K": [ + [ + 416.5074030423821, + 0.0, + 326.3649661888011 + ], + [ + 0.0, + 407.40304467380645, + 220.9612987370144 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.1167472769666, + -7.22768170455195, + 1.0949541639679272 + ], + "camera_target": [ + -4.3547244314770195, + -6.635515166324786, + 0.947678964442979 + ], + "camera_roll_rad": -0.018949367465337236, + "camera_pose_world_cv": [ + [ + 0.6176789402961731, + -0.09578657150268555, + 0.7805752754211426, + -5.1167473793029785 + ], + [ + -0.7855379581451416, + -0.12242066860198975, + 0.6065834760665894, + -7.227681636810303 + ], + [ + 0.03745609521865845, + -0.9878453016281128, + -0.15086060762405396, + 1.0949541330337524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2974536998068625, + 0.2845824273940611, + 0.28299454548043773 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8571104441655435, + 0.8529575410362725, + 0.8458382785289508 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5430.445321476452, + "intensity": 0.8529575410362725 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8153484129326521, + 0.7979854040002264, + 0.7682202458303539 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5189.16350661864, + "intensity": 0.7979854040002264 + }, + "point_color_scale": [ + 1.0133292641775022, + 1.0131788231041323, + 1.012920924121212 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b86b509058bee82c05a99a7e6db319dca779268a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9621526981210733, + "K": [ + [ + 458.28988504629905, + 0.0, + 316.6496611719446 + ], + [ + 0.0, + 459.78800457699725, + 260.5326824514388 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4044602432259463, + -6.6423228316816445, + 0.7456486636096621 + ], + "camera_target": [ + -4.35933766513002, + -6.680133951248503, + 0.911407909392462 + ], + "camera_roll_rad": 0.0402277434340981, + "camera_pose_world_cv": [ + [ + -0.05316317081451416, + -0.16703808307647705, + -0.9845160245895386, + -3.4044601917266846 + ], + [ + 0.995441198348999, + -0.08704602718353271, + -0.038984477519989014, + -6.642323017120361 + ], + [ + -0.07918629050254822, + -0.9821004271507263, + 0.17090415954589844, + 0.7456486821174622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3213239387862593, + 0.33205338397275075, + 0.315737940897405 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8214141700928653, + 0.8552907043908095, + 0.9094931592675203 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6279.809467893093, + "intensity": 0.8688413181099871 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.9113486586902075, + 0.9144535070580622, + 0.9194212644466296 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5567.813996018951, + "intensity": 0.9156954464052041 + }, + "point_color_scale": [ + 0.9877942770546148, + 1.012801386206065, + 1.0528127608483855 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be6390145b3be1a5aaf8afbb9305661d14d21a86 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8809023805238596, + "K": [ + [ + 534.2496199327816, + 0.0, + 318.9406250344731 + ], + [ + 0.0, + 509.19539638023633, + 251.6931535072939 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.130646636251492, + -7.302387773966262, + 0.782298935204658 + ], + "camera_target": [ + -4.370738022281224, + -6.664329687684491, + 0.9813399300886945 + ], + "camera_roll_rad": -0.05095159000136885, + "camera_pose_world_cv": [ + [ + 0.9411187171936035, + -0.002980157732963562, + -0.3380630612373352, + -4.130646705627441 + ], + [ + 0.32366645336151123, + 0.2967715263366699, + 0.8984246253967285, + -7.302387714385986 + ], + [ + 0.09765002131462097, + -0.9549438953399658, + 0.280261754989624, + 0.7822989225387573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.304970972585763, + 0.318160262505759, + 0.3259349425431009 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1208512191007542, + 1.089369538391226, + 1.035400942889178 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5087.1572684925895, + "intensity": 1.089369538391226 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8206114974861369, + 0.8164038310503667, + 0.8091906885890465 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5426.372809356289, + "intensity": 0.8164038310503667 + }, + "point_color_scale": [ + 0.8307559751108988, + 0.8088481392526599, + 0.7712918492099645 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eabe89cae503e8dd28d49c951bda2caf931d8f8f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9140697958858426, + "K": [ + [ + 473.6801552542375, + 0.0, + 308.5854835515928 + ], + [ + 0.0, + 488.0417257028157, + 256.5914214078785 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.54653958067587, + -6.481799729704692, + 1.1672936005347758 + ], + "camera_target": [ + -4.427972235308807, + -6.603387304745843, + 0.886909793660613 + ], + "camera_roll_rad": -0.0342821666338815, + "camera_pose_world_cv": [ + [ + -0.15672576427459717, + 0.28766658902168274, + -0.9448201060295105, + -3.546539545059204 + ], + [ + 0.9854782819747925, + 0.10884106159210205, + -0.13033151626586914, + -6.481799602508545 + ], + [ + 0.06534320116043091, + -0.9515259265899658, + -0.30054736137390137, + 1.1672935485839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9991650581359863, + 0.040854983031749725, + 0.0, + -4.378003120422363 + ], + [ + -0.040854983031749725, + 0.9991650581359863, + -0.0, + -6.648362636566162 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2224027404378308, + 0.22534417071620497, + 0.2145538420358047 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0523814725829537, + 1.0564530692593865, + 1.062967623941679 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5576.961857405106, + "intensity": 1.0580817079299596 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6589412544307496, + 0.6675398629740901, + 0.6812976366434349 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5756.300260274327, + "intensity": 0.6709793063914262 + }, + "point_color_scale": [ + 0.8165689855926616, + 0.8462729036112527, + 0.8937991724409988 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5058a89036ef796a618678eee2c388bb3edf395e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9473898314434841, + "K": [ + [ + 449.8145767759628, + 0.0, + 332.94118697333874 + ], + [ + 0.0, + 468.1803455935562, + 263.26063773951347 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.0594023326664646, + -4.971941178238721, + 0.9090714725446242 + ], + "camera_target": [ + -4.361113387657093, + -5.320081085207615, + 0.9786564109875658 + ], + "camera_roll_rad": -0.03200846175138337, + "camera_pose_world_cv": [ + [ + -0.45035552978515625, + 0.050790101289749146, + 0.8914036750793457, + -5.0594024658203125 + ], + [ + -0.8905727863311768, + -0.09680497646331787, + -0.4444199204444885, + -4.971940994262695 + ], + [ + 0.06372025609016418, + -0.9940066933631897, + 0.08882904052734375, + 0.9090714454650879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31065657886477027, + 0.3052066772149062, + 0.3173534721087329 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1999036338243396, + 1.1605974931312417, + 1.0932155376573593 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5016.183432293361, + "intensity": 1.1605974931312417 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.634019060137607, + 0.6050821377563907, + 0.5554759851028773 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4816.812413305156, + "intensity": 0.6050821377563907 + }, + "point_color_scale": [ + 0.9418862066052271, + 0.9810151928744351, + 1.0436215709051675 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..304cefc3b013ed0e61c61270af018fb223c445d5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0817407993818702, + "K": [ + [ + 401.47359141616613, + 0.0, + 303.8678814240398 + ], + [ + 0.0, + 399.5914914916132, + 221.86733142366225 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.659512986292045, + -5.0177358567455475, + 1.1630640797651968 + ], + "camera_target": [ + -4.428671227711532, + -5.32814291180905, + 0.9244706173661776 + ], + "camera_roll_rad": -0.01272891942578041, + "camera_pose_world_cv": [ + [ + -0.3806452751159668, + 0.24675005674362183, + -0.8911924362182617, + -3.659512996673584 + ], + [ + 0.9243976473808289, + 0.12703025341033936, + -0.35965609550476074, + -5.017735958099365 + ], + [ + 0.02446305751800537, + -0.9607174396514893, + -0.27644842863082886, + 1.1630641222000122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2857935510920031, + 0.2774497131352199, + 0.2820558900173792 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8642130065433523, + 0.8820358352073406, + 0.9105523610697218 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5900.88913378307, + "intensity": 0.8891649666729359 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.5808795436417149, + 0.5920852196749393, + 0.6100143013280986 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5875.671695806531, + "intensity": 0.5965674900882292 + }, + "point_color_scale": [ + 0.8391841009886862, + 0.8437198150323744, + 0.8509769575022755 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59920799db725982f34a0770328bae01b6ccf205 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8813573113412496, + "K": [ + [ + 531.2780145337023, + 0.0, + 342.87338983668394 + ], + [ + 0.0, + 508.8952111293871, + 256.0375742638422 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.267817524419466, + -4.844730185554512, + 0.8065741356602235 + ], + "camera_target": [ + -4.448878414694387, + -5.265155720951358, + 1.0047908206729392 + ], + "camera_roll_rad": 0.03959120543949653, + "camera_pose_world_cv": [ + [ + -0.44046592712402344, + 0.22280201315879822, + 0.8696834444999695, + -5.267817497253418 + ], + [ + -0.8944330215454102, + -0.0254671573638916, + -0.44647637009620667, + -4.844730377197266 + ], + [ + -0.07732737064361572, + -0.9745311737060547, + 0.21049904823303223, + 0.8065741062164307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3239038123941245, + 0.3364020940604046, + 0.33149137184355965 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0162274575627104, + 1.0591037434753412, + 1.1277058009355512 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6296.768711487681, + "intensity": 1.0762542578403937 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.9123586178014553, + 0.8821649427209168, + 0.8304043568685654 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5011.045843529149, + "intensity": 0.8821649427209168 + }, + "point_color_scale": [ + 1.0211117398227587, + 1.0493946891864276, + 1.094647408168298 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5112cf2c771a66c12294dadc388884704fa7c5b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0628447608631884, + "K": [ + [ + 387.9445313527994, + 0.0, + 302.0426677029279 + ], + [ + 0.0, + 408.2817993561951, + 217.9689766880122 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.190355785214577, + -4.781600965682782, + 0.8643889287712047 + ], + "camera_target": [ + -4.45131783509595, + -5.354831621017578, + 0.8959551473077796 + ], + "camera_roll_rad": 0.051075874631198726, + "camera_pose_world_cv": [ + [ + -0.6069768667221069, + 0.08901304006576538, + 0.7897188663482666, + -5.1903557777404785 + ], + [ + -0.7881575226783752, + 0.06001114845275879, + -0.6125410199165344, + -4.7816009521484375 + ], + [ + -0.10191607475280762, + -0.994221031665802, + 0.03373098373413086, + 0.8643889427185059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2961575568419746, + 0.2973066647979779, + 0.3284791191084108 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1101467958811555, + 1.128836172698452, + 1.1587391756061263 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5828.94800154799, + "intensity": 1.1363119234253705 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6409810031292791, + 0.6241864634225373, + 0.5953958239252655 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5115.624481032385, + "intensity": 0.6241864634225373 + }, + "point_color_scale": [ + 0.9766570513218461, + 0.974067928412935, + 0.9696294319976585 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2105bcb09a47010d410b4a1d22726e05bcf4db9a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8084623750199953, + "K": [ + [ + 548.3435578420008, + 0.0, + 300.62199360067757 + ], + [ + 0.0, + 561.0233035715198, + 238.2470675743867 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.076600462599254, + -4.84644165773172, + 0.9183769845900717 + ], + "camera_target": [ + -4.387464308786157, + -5.257906029967449, + 1.0015353364661466 + ], + "camera_roll_rad": 0.0021249844472998464, + "camera_pose_world_cv": [ + [ + -0.7982867956161499, + -0.09257462620735168, + -0.5951204299926758, + -4.076600551605225 + ], + [ + 0.6022629737854004, + -0.1295834183692932, + -0.7877102494239807, + -4.846441745758057 + ], + [ + -0.00419577956199646, + -0.9872376322746277, + 0.15919899940490723, + 0.9183769822120667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.3877128064632416, + 2.9213730101673718e-08, + -4.409404754638672 + ], + [ + 0.3877128064632416, + -0.9217803478240967, + -5.8937730251784615e-09, + -5.307406902313232 + ], + [ + 2.9213730101673718e-08, + 5.8937730251784615e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3423759427775061, + 0.34750261384680986, + 0.35684520843355944 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.183831255714699, + 1.191876692630404, + 1.2047493916955323 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5634.640975125778, + "intensity": 1.1950948673966861 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7890340753172794, + 0.7926174209824539, + 0.7983507740467334 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5590.254826242237, + "intensity": 0.7940507592485238 + }, + "point_color_scale": [ + 0.9747286674570136, + 0.9538348617552876, + 0.9180169091237573 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9308cafe78965dca3b808625890a97cf1e4e93d5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.007770141377294, + "K": [ + [ + 424.1437915154743, + 0.0, + 341.2078339910031 + ], + [ + 0.0, + 435.2890257771932, + 245.83854241438212 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.478505651945304, + -4.336536540210701, + 0.8545022838565917 + ], + "camera_target": [ + -4.388180131304029, + -5.357240512180744, + 0.928313780044398 + ], + "camera_roll_rad": -0.0003867227285119443, + "camera_pose_world_cv": [ + [ + -0.9961121082305908, + 0.005562804639339447, + 0.08792097866535187, + -4.478505611419678 + ], + [ + -0.08809340745210648, + -0.07163500785827637, + -0.993533194065094, + -4.336536407470703 + ], + [ + 0.0007713958621025085, + -0.9974154829978943, + 0.07184672355651855, + 0.854502260684967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3312328175720024, + 0.3211406034923746, + 0.32163739462048674 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0232984620133598, + 0.9998042791804643, + 0.9595285371812151 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5164.30311380324, + "intensity": 0.9998042791804643 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7231031786271516, + 0.6961729962449021, + 0.6500069693039031 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4947.383203240973, + "intensity": 0.6961729962449021 + }, + "point_color_scale": [ + 1.0334727304739344, + 1.0038010182038255, + 0.9529352257407815 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f9aa74bbd3c260896657a08464f93c9ac260bbc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0837404439682918, + "K": [ + [ + 411.0769814641144, + 0.0, + 312.50620846792884 + ], + [ + 0.0, + 398.6878506650762, + 250.8735141757152 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.934065256635172, + -5.076356727291139, + 1.1266350677385 + ], + "camera_target": [ + -4.445627532443879, + -5.279007563671478, + 0.9617375236501631 + ], + "camera_roll_rad": -0.02680619318197523, + "camera_pose_world_cv": [ + [ + -0.38206803798675537, + 0.24677202105522156, + -0.8905770778656006, + -3.934065341949463 + ], + [ + 0.9227074384689331, + 0.1553945541381836, + -0.35279372334480286, + -5.076356887817383 + ], + [ + 0.05133119225502014, + -0.9565334320068359, + -0.2870696783065796, + 1.1266350746154785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2514031987062658, + 0.23786659525143358, + 0.23330227888013438 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0653458607388746, + 1.1080264932532617, + 1.1763155052762815 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6258.700205760632, + "intensity": 1.1250987462590167 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.9422192395748114, + 0.932598728683032, + 0.9161064242971243 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5352.63129183476, + "intensity": 0.932598728683032 + }, + "point_color_scale": [ + 1.0723685828031675, + 1.0417980191155487, + 0.9893913385082022 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4272e09bea4f5a0bb972e081bd5daa900c3b42a3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2527016869712755, + "K": [ + [ + 344.14038809443525, + 0.0, + 348.7264868092596 + ], + [ + 0.0, + 331.70225322509515, + 246.25516211416743 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.804950896554115, + -5.164406525980897, + 0.8026792063100445 + ], + "camera_target": [ + -4.431271368886572, + -5.264902040656312, + 0.9279694316197625 + ], + "camera_roll_rad": 0.04315712643607937, + "camera_pose_world_cv": [ + [ + -0.1743316650390625, + -0.17695465683937073, + -0.968656599521637, + -3.8049509525299072 + ], + [ + 0.9810484647750854, + -0.11570286750793457, + -0.15542516112327576, + -5.1644062995910645 + ], + [ + -0.08457320928573608, + -0.9773944616317749, + 0.1937718391418457, + 0.802679181098938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.3877128064632416, + 2.9213730101673718e-08, + -4.409404754638672 + ], + [ + 0.3877128064632416, + -0.9217803478240967, + -5.8937730251784615e-09, + -5.307406902313232 + ], + [ + 2.9213730101673718e-08, + 5.8937730251784615e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3540922420409213, + 0.33728470291504087, + 0.3499634257116614 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9494303680528903, + 0.9828554635440189, + 1.036335616329825 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6171.034729240176, + "intensity": 0.9962255017404704 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8208991440177216, + 0.7900957038303434, + 0.7372898063662667 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4943.043237166539, + "intensity": 0.7900957038303434 + }, + "point_color_scale": [ + 1.0756426779571666, + 1.0340127875760805, + 0.9626472612085043 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0ba7f192eca82d3b7f4f7619baac707d1c2848 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2361170098476975, + "K": [ + [ + 348.59962828877417, + 0.0, + 300.3072135180235 + ], + [ + 0.0, + 337.5612644236175, + 259.66360620960893 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7341375401844203, + -4.89899054333948, + 1.1406024936728798 + ], + "camera_target": [ + -4.374735549857964, + -5.273731871621006, + 0.9146827569587345 + ], + "camera_roll_rad": 0.04770773754012057, + "camera_pose_world_cv": [ + [ + -0.47869110107421875, + 0.29832735657691956, + -0.825745701789856, + -3.734137535095215 + ], + [ + 0.8732402324676514, + 0.06414294242858887, + -0.4830501675605774, + -4.898990631103516 + ], + [ + -0.0911414623260498, + -0.9523059725761414, + -0.2912158966064453, + 1.140602469444275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.3877128064632416, + 2.9213730101673718e-08, + -4.409404754638672 + ], + [ + 0.3877128064632416, + -0.9217803478240967, + -5.8937730251784615e-09, + -5.307406902313232 + ], + [ + 2.9213730101673718e-08, + 5.8937730251784615e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2404455199378136, + 0.24411902674204158, + 0.23772916448536416 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1051979907922655, + 1.1055998749727558, + 1.10624288966154 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5507.268918246487, + "intensity": 1.1057606286449517 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.889868352891175, + 0.8628421686758105, + 0.8165115671637572 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5052.538853628003, + "intensity": 0.8628421686758105 + }, + "point_color_scale": [ + 0.960349546866041, + 0.970385616240413, + 0.9864433272394083 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76779602e7cf2612f35f3804be1d2ef1b9baf918 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8734073488932569, + "K": [ + [ + 516.4822246330027, + 0.0, + 337.87940077216587 + ], + [ + 0.0, + 514.1830453584547, + 239.82670695491205 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.42487286739573, + -5.469301946439103, + 0.8435824755313136 + ], + "camera_target": [ + -4.452240927601465, + -5.305580653795056, + 0.999384222820473 + ], + "camera_roll_rad": 0.021011863168826195, + "camera_pose_world_cv": [ + [ + 0.15109068155288696, + -0.15274667739868164, + -0.9766473770141602, + -3.424872875213623 + ], + [ + 0.9876463413238525, + -0.018199801445007324, + 0.1556386947631836, + -5.469302177429199 + ], + [ + -0.04154804348945618, + -0.9880977869033813, + 0.14810991287231445, + 0.8435824513435364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.3877128064632416, + 2.9213730101673718e-08, + -4.409404754638672 + ], + [ + 0.3877128064632416, + -0.9217803478240967, + -5.8937730251784615e-09, + -5.307406902313232 + ], + [ + 2.9213730101673718e-08, + 5.8937730251784615e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3381118101580344, + 0.3415046516156085, + 0.34530735709430677 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8517812412801739, + 0.8688820370743783, + 0.8962433103451054 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5890.552911865506, + "intensity": 0.87572235539206 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6206494598009822, + 0.6280329867109465, + 0.6398466297668897 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5734.03125454088, + "intensity": 0.6309863974749323 + }, + "point_color_scale": [ + 1.0890365238831492, + 1.0819634467681554, + 1.0698381717138803 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a80bb09e2758a9d5906ec890dd665c9011449fc1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0385941036912254, + "K": [ + [ + 434.0342171127255, + 0.0, + 344.66784370636293 + ], + [ + 0.0, + 419.852874701564, + 228.35165405049568 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.037797133958613, + -4.929400296578316, + 1.0686563892408238 + ], + "camera_target": [ + -4.397016437154476, + -5.353629470441087, + 0.9293794570503351 + ], + "camera_roll_rad": -0.029791834552137048, + "camera_pose_world_cv": [ + [ + -0.771156907081604, + 0.11132979393005371, + -0.6268355250358582, + -4.037796974182129 + ], + [ + 0.6340193748474121, + 0.22362780570983887, + -0.7402770519256592, + -4.929400444030762 + ], + [ + 0.057762980461120605, + -0.9682955741882324, + -0.24303734302520752, + 1.0686564445495605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25156136689961095, + 0.2343244777025573, + 0.2387078915410933 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9941257250605051, + 1.0149281257225307, + 1.0482119667817718 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5906.595049961919, + "intensity": 1.0232490859873409 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8399996997245122, + 0.8562407947483212, + 0.8822265467864152 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5876.501544320563, + "intensity": 0.8627372327578446 + }, + "point_color_scale": [ + 0.930948987797187, + 0.9223402506188929, + 0.9075824154561031 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b16f5bd41b2f2981e1306e075b051c8f6d98b6c3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8515615559052789, + "K": [ + [ + 547.931341821946, + 0.0, + 308.57508987242204 + ], + [ + 0.0, + 529.1889710559817, + 240.4729505748752 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6786716627067713, + -4.713741661376354, + 1.0846288045173291 + ], + "camera_target": [ + -4.440823108811532, + -5.320436319460232, + 0.9236665519328691 + ], + "camera_roll_rad": -0.04802333848798856, + "camera_pose_world_cv": [ + [ + -0.6321600675582886, + 0.06723371148109436, + -0.7719153761863708, + -3.6786715984344482 + ], + [ + 0.7690393924713135, + 0.1760932207107544, + -0.6144670248031616, + -4.713741779327393 + ], + [ + 0.0946161150932312, + -0.9820747375488281, + -0.1630244255065918, + 1.0846288204193115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3134876532233092, + 0.2879227694929183, + 0.3041817373115974 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9875540135646018, + 1.0251772659064184, + 1.0853744696533254 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6223.36649612776, + "intensity": 1.0402265668431452 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8299436874445825, + 0.8221930129361128, + 0.8089061423501647 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5365.33098699761, + "intensity": 0.8221930129361128 + }, + "point_color_scale": [ + 1.148690769849519, + 1.1631361519370755, + 1.1862487632771659 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cefcaf663db61d289d062a2ed2b14ce781e8656f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0029268552062447, + "K": [ + [ + 426.43872389888725, + 0.0, + 300.5804730068539 + ], + [ + 0.0, + 437.79307542352467, + 218.57802902117538 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.727286745774431, + -4.954070317871388, + 0.9715253848547901 + ], + "camera_target": [ + -4.371697874363474, + -5.340189779455329, + 1.0262252006350132 + ], + "camera_roll_rad": 0.0028889148980758422, + "camera_pose_world_cv": [ + [ + -0.5143313407897949, + -0.05932369828224182, + -0.8555371761322021, + -3.7272868156433105 + ], + [ + 0.8575721979141235, + -0.042281389236450195, + -0.5126229524612427, + -4.954070091247559 + ], + [ + -0.005762547254562378, + -0.9973429441452026, + 0.07262098789215088, + 0.9715253710746765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.3877128064632416, + 2.9213730101673718e-08, + -4.409404754638672 + ], + [ + 0.3877128064632416, + -0.9217803478240967, + -5.8937730251784615e-09, + -5.307406902313232 + ], + [ + 2.9213730101673718e-08, + 5.8937730251784615e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21003761917339464, + 0.22927593209874667, + 0.22749465299623026 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0101510723191396, + 1.052870937816001, + 1.1212227226109794 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6298.532843366207, + "intensity": 1.0699588840147456 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7038202773312886, + 0.6834993549875912, + 0.6486634881126813 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5075.275545608203, + "intensity": 0.6834993549875912 + }, + "point_color_scale": [ + 0.985646979826569, + 0.9809739718547891, + 0.9729631010460233 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..278ab9765b4e5d73573ec30757a5237188b7e8e5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9257932448009015, + "K": [ + [ + 502.188263127149, + 0.0, + 337.0438109135151 + ], + [ + 0.0, + 480.9025396805108, + 231.23587330409634 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.829924015438185, + -5.669262186039579, + 1.090516228162721 + ], + "camera_target": [ + -4.4057708517123215, + -5.279645791839975, + 0.9970315009653387 + ], + "camera_roll_rad": -0.027570011778541053, + "camera_pose_world_cv": [ + [ + 0.6819625496864319, + -0.08053252100944519, + 0.7269399166107178, + -4.8299241065979 + ], + [ + -0.7293611764907837, + -0.14880943298339844, + 0.6677485704421997, + -5.669262409210205 + ], + [ + 0.054400086402893066, + -0.9855812788009644, + -0.1602197289466858, + 1.090516209602356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.3877128064632416, + 2.9213730101673718e-08, + -4.409404754638672 + ], + [ + 0.3877128064632416, + -0.9217803478240967, + -5.8937730251784615e-09, + -5.307406902313232 + ], + [ + 2.9213730101673718e-08, + 5.8937730251784615e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2919173592514955, + 0.27362745475478956, + 0.2924267180135497 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.061153997604015, + 1.0194811909553447, + 0.9480420938433388 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4916.050227754725, + "intensity": 1.0194811909553447 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7133486965749102, + 0.739312242696552, + 0.7808539164911795 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6192.64044606945, + "intensity": 0.749697661145209 + }, + "point_color_scale": [ + 1.1716040516902297, + 1.1211091953318233, + 1.0345465844316977 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d933cdc47a189664229749e2ef0b7df6a748207 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1326405245181739, + "K": [ + [ + 369.35863782903004, + 0.0, + 342.0476620370605 + ], + [ + 0.0, + 377.4835939871594, + 234.57733106546578 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.007489232314029, + -4.882946685138639, + 1.000381584340777 + ], + "camera_target": [ + -4.416578599391659, + -5.3383937954069305, + 0.9777389914598777 + ], + "camera_roll_rad": -0.03333561971094187, + "camera_pose_world_cv": [ + [ + -0.7439466714859009, + -0.024920344352722168, + -0.6677742004394531, + -4.007489204406738 + ], + [ + 0.6649142503738403, + 0.07195460796356201, + -0.7434457540512085, + -4.882946491241455 + ], + [ + 0.06657633185386658, + -0.9970965385437012, + -0.036960482597351074, + 1.000381588935852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.3877128064632416, + 2.9213730101673718e-08, + -4.409404754638672 + ], + [ + 0.3877128064632416, + -0.9217803478240967, + -5.8937730251784615e-09, + -5.307406902313232 + ], + [ + 2.9213730101673718e-08, + 5.8937730251784615e-09, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2733488275821485, + 0.2811981439737514, + 0.27417074073749925 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.200157546511888, + 1.132917614402679, + 1.0176491593583201 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4652.126821499336, + "intensity": 1.132917614402679 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.5979641292494958, + 0.6167514237173165, + 0.6468110948658298 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6101.899965407216, + "intensity": 0.6242663415044448 + }, + "point_color_scale": [ + 0.9286727024189751, + 0.9503395034910124, + 0.985006385206272 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b57f2bd0e62118f1da64c5ac07064c385389760 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1783293889283242, + "K": [ + [ + 348.9991690063583, + 0.0, + 323.017520463757 + ], + [ + 0.0, + 359.09514596172266, + 223.120082587397 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.697139658034932, + -5.717044492813059, + 1.0404319163465978 + ], + "camera_target": [ + -4.42102786034352, + -5.338311546699648, + 0.9605822755952221 + ], + "camera_roll_rad": -0.017661375175942226, + "camera_pose_world_cv": [ + [ + 0.8110453486442566, + -0.07033920288085938, + 0.5807390809059143, + -4.697139739990234 + ], + [ + -0.5839464664459229, + -0.1564289927482605, + 0.7965781092643738, + -5.717044353485107 + ], + [ + 0.03481382131576538, + -0.9851815104484558, + -0.1679452657699585, + 1.0404318571090698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9217803478240967, + -0.387712687253952, + -1.168548990904128e-07, + -4.409404754638672 + ], + [ + 0.387712687253952, + -0.9217803478240967, + 2.357508144257281e-08, + -5.307406902313232 + ], + [ + -1.168548990904128e-07, + -2.357508144257281e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23015173023373336, + 0.2516775209708605, + 0.25744389130480566 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1842773240485074, + 1.1543531987677547, + 1.1030546982864644 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5129.6735657101435, + "intensity": 1.1543531987677547 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7867148961247301, + 0.7777841750346229, + 0.7624743674515818 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5335.967696497558, + "intensity": 0.7777841750346229 + }, + "point_color_scale": [ + 0.8197195967867683, + 0.852529021648673, + 0.9050241014277208 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_001/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce93bbce3145ff9f2fde98dc306948c3ededd3b8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2553504716734354, + "K": [ + [ + 346.85198587316836, + 0.0, + 328.746367603763 + ], + [ + 0.0, + 330.7789298424487, + 259.31357755094336 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.390167404546989, + -4.841726576775724, + 0.8703568946666047 + ], + "camera_target": [ + -4.9704849152801955, + -5.367055622824684, + 1.0164821614013042 + ], + "camera_roll_rad": -0.006405304420827394, + "camera_pose_world_cv": [ + [ + -0.7829238176345825, + 0.12253288924694061, + 0.609931468963623, + -5.390167236328125 + ], + [ + -0.6219919323921204, + -0.1739014983177185, + -0.7634686827659607, + -4.841726779937744 + ], + [ + 0.0125180184841156, + -0.9771100878715515, + 0.2123662233352661, + 0.8703569173812866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3471050381767239, + 0.3627508007893127, + 0.3551495038944717 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9993608435981876, + 1.0438340252326699, + 1.1149911158478423 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6337.833565314969, + "intensity": 1.061623297886463 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.831574372696564, + 0.8046763930864793, + 0.758565570897763 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5022.470331087072, + "intensity": 0.8046763930864793 + }, + "point_color_scale": [ + 0.7851822216536007, + 0.7979078871311905, + 0.8182689518953342 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_002/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6182f48d9d9b47f29bfa3d40ab3e4c1b2e2117f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8739136777033051, + "K": [ + [ + 532.3098501977942, + 0.0, + 322.35672267496943 + ], + [ + 0.0, + 513.8435838895288, + 261.3839731768493 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.480050326450548, + -5.91559885615839, + 0.9153808244638878 + ], + "camera_target": [ + -4.971278659881146, + -5.4328575629730365, + 0.9652298921261357 + ], + "camera_roll_rad": -0.035659763606728526, + "camera_pose_world_cv": [ + [ + 0.6828910708427429, + 0.10034763813018799, + 0.7235952615737915, + -5.480050563812256 + ], + [ + -0.7270539999008179, + -0.003017902374267578, + 0.6865736842155457, + -5.9155988693237305 + ], + [ + 0.07107976078987122, + -0.9949478507041931, + 0.07089722156524658, + 0.9153808355331421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30767052695564234, + 0.3349323458943093, + 0.33406872091819106 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8530052243369864, + 0.8684453645335841, + 0.8931495888481401 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5853.070250344193, + "intensity": 0.874621420612223 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8506918706132246, + 0.8639566632675116, + 0.8851803315143709 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5805.196449368916, + "intensity": 0.8692625803292264 + }, + "point_color_scale": [ + 0.8272820488205493, + 0.8016125900883904, + 0.7576078036904037 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_003/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb7b7448c41092daff8cb4d0c4046fb71b9334e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1773756514780382, + "K": [ + [ + 360.5179707966052, + 0.0, + 299.2737450430392 + ], + [ + 0.0, + 359.46607539258764, + 248.41864481971496 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.196074041672788, + -4.831643545251344, + 0.7714484490638234 + ], + "camera_target": [ + -4.943441250452939, + -5.3927600324187805, + 1.011438608223541 + ], + "camera_roll_rad": -0.02432825057960456, + "camera_pose_world_cv": [ + [ + -0.9180183410644531, + 0.10464078187942505, + 0.3824825882911682, + -5.19607400894165 + ], + [ + -0.393940806388855, + -0.3508862853050232, + -0.84952312707901, + -4.831643581390381 + ], + [ + 0.045313164591789246, + -0.930553138256073, + 0.36334240436553955, + 0.7714484333992004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2627318252247831, + 0.25632604343024923, + 0.25923661657919506 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8708412362187784, + 0.904906929810746, + 0.9594120395578947 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6241.741143884143, + "intensity": 0.9185332072475332 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8015474840835447, + 0.818153583971538, + 0.8447233437923272 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5902.671676542135, + "intensity": 0.8247960239267353 + }, + "point_color_scale": [ + 1.0802012552170717, + 1.1256172099006725, + 1.198282737394434 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_004/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80e8df2f23c647aa9cc1463552057ea88dab2291 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1053541199069339, + "K": [ + [ + 404.98785491222156, + 0.0, + 293.82674796654254 + ], + [ + 0.0, + 389.10844030945054, + 235.22252847339004 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.261651091621961, + -4.901256987944082, + 0.7438095732758752 + ], + "camera_target": [ + -4.954716962565981, + -5.424038794784138, + 1.0256108221092488 + ], + "camera_roll_rad": -0.03403097424875179, + "camera_pose_world_cv": [ + [ + -0.8748737573623657, + 0.1542789787054062, + 0.4591234028339386, + -5.261651039123535 + ], + [ + -0.48040902614593506, + -0.3970995545387268, + -0.7819969058036804, + -4.901257038116455 + ], + [ + 0.061672061681747437, + -0.9047154784202576, + 0.42152905464172363, + 0.7438095808029175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2964580933523128, + 0.2912275736749214, + 0.31135542465172855 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8686284407108592, + 0.9038402746374463, + 0.9601792089199859 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6267.2050246310555, + "intensity": 0.9179250082080812 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.5550998595651653, + 0.5747837264374733, + 0.6062779134331664 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6175.658496963826, + "intensity": 0.5826572731863966 + }, + "point_color_scale": [ + 0.953441728895852, + 0.9695064267706609, + 0.9952099433703552 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_005/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9893c576fdd7148e803aec64b208ac0a3ccec9e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2661592771746415, + "K": [ + [ + 332.0801096048603, + 0.0, + 299.6392409404828 + ], + [ + 0.0, + 327.04580541546824, + 241.25255772789498 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.117059233142851, + -4.700770267987124, + 1.1326456342594717 + ], + "camera_target": [ + -4.909882995874349, + -5.382779797461668, + 0.971711043133679 + ], + "camera_roll_rad": -0.04029177215423503, + "camera_pose_world_cv": [ + [ + -0.9485690593719482, + -0.1408279687166214, + 0.28352150321006775, + -5.117059230804443 + ], + [ + -0.30667829513549805, + 0.18665063381195068, + -0.9333328008651733, + -4.700770378112793 + ], + [ + 0.07851991057395935, + -0.9722803831100464, + -0.2202397584915161, + 1.132645606994629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3190409277163123, + 0.3145981468566257, + 0.3103431487035603 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9629151302765896, + 0.934683252922477, + 0.8862857488868556 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5068.503519915287, + "intensity": 0.934683252922477 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.578638162124642, + 0.5522807615090057, + 0.5070966461679149 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4818.21942614789, + "intensity": 0.5522807615090057 + }, + "point_color_scale": [ + 0.7816404559731396, + 0.8036374238776394, + 0.8388325725248394 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_006/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6bd267edcba8384d7bcf621883e246cc29e93239 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.215406188548902, + "K": [ + [ + 331.4565084502789, + 0.0, + 332.5347950638853 + ], + [ + 0.0, + 345.0727959222491, + 225.6738209556459 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.49946202787408, + -5.114000072840177, + 0.9646452572935289 + ], + "camera_target": [ + -4.90460693419691, + -5.364901502446699, + 0.9352002268435695 + ], + "camera_roll_rad": 0.04295234968203315, + "camera_pose_world_cv": [ + [ + -0.390799880027771, + -0.008480817079544067, + 0.9204367995262146, + -5.499462127685547 + ], + [ + -0.9164767265319824, + 0.09669613838195801, + -0.3882273733615875, + -5.113999843597412 + ], + [ + -0.08570998907089233, + -0.995278000831604, + -0.04556107521057129, + 0.964645266532898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3314566956372805, + 0.34335254416270145, + 0.3459302396382182 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1122720920953473, + 1.0852737687803318, + 1.0389909288117334 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5144.614709977644, + "intensity": 1.0852737687803318 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7839928982196096, + 0.7986535631627175, + 0.82211062707169 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5864.458422475988, + "intensity": 0.8045178291399606 + }, + "point_color_scale": [ + 0.9643312228983486, + 0.9253107832434109, + 0.8584186009778032 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_007/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d78552358386abbb811e7a032b822e263841f3a9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.270291501893484, + "K": [ + [ + 332.477468296894, + 0.0, + 322.6720243202011 + ], + [ + 0.0, + 325.63312535575204, + 245.6572607982314 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.645993231530223, + -4.460430569284759, + 0.741179430527674 + ], + "camera_target": [ + -4.884520046782399, + -5.395541675488195, + 1.0095597514768406 + ], + "camera_roll_rad": -0.014649216663735039, + "camera_pose_world_cv": [ + [ + -0.9666178226470947, + -0.0945800170302391, + -0.23812761902809143, + -4.645993232727051 + ], + [ + 0.2546636760234833, + -0.25226616859436035, + -0.9335460662841797, + -4.46043062210083 + ], + [ + 0.02822323888540268, + -0.9630246162414551, + 0.2679312229156494, + 0.7411794066429138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2810437138598409, + 0.3077421529800437, + 0.2895831151592725 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0185924169314362, + 1.0357249558078807, + 1.0631370180101922 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5828.657219835965, + "intensity": 1.0425779713584586 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.9063058537064126, + 0.9216325061054572, + 0.9461551499439286 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5830.400105180496, + "intensity": 0.927763167065075 + }, + "point_color_scale": [ + 0.9497797135564223, + 0.929911649527155, + 0.8958521111912682 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_008/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef04fc504da0aa779f6d9f28f872bf7bf08bf36 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.113744967580126, + "K": [ + [ + 372.6312791756697, + 0.0, + 308.97042749351687 + ], + [ + 0.0, + 385.47949408922364, + 245.91369862976754 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.329471981351855, + -4.940733354971167, + 1.0273272290897344 + ], + "camera_target": [ + -4.9216629997711845, + -5.385382396745102, + 0.9868919242134033 + ], + "camera_roll_rad": -0.022579654450780556, + "camera_pose_world_cv": [ + [ + -0.7341854572296143, + -0.07842192053794861, + 0.674405038356781, + -5.329472064971924 + ], + [ + -0.6774535179138184, + 0.018717050552368164, + -0.7353275418281555, + -4.940733432769775 + ], + [ + 0.04504293203353882, + -0.996744692325592, + -0.06686878204345703, + 1.0273271799087524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3404493807065038, + 0.3465663990861246, + 0.3457757056692508 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8289252695554917, + 0.8710152671072925, + 0.938359263190174 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6448.131723354038, + "intensity": 0.8878512661280129 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6645892354890702, + 0.649291555163102, + 0.6230669603185852 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5163.4204023859875, + "intensity": 0.649291555163102 + }, + "point_color_scale": [ + 0.9210303061838223, + 0.9517496460226598, + 1.0009005897647996 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_009/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96ea5194fd6337ec29716a367aafda41d1381e1f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1798034045387398, + "K": [ + [ + 358.1246619965275, + 0.0, + 320.469554833194 + ], + [ + 0.0, + 358.5229089338802, + 224.41779295557248 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.509380336103322, + -4.892739697369147, + 0.9523373418372688 + ], + "camera_target": [ + -4.945325600242744, + -5.425796432740553, + 0.9026804313186285 + ], + "camera_roll_rad": -0.050162666037417356, + "camera_pose_world_cv": [ + [ + -0.6787519454956055, + -0.11496827006340027, + 0.7253125905990601, + -5.509380340576172 + ], + [ + -0.7275338172912598, + -0.02915632724761963, + -0.6854521036148071, + -4.892739772796631 + ], + [ + 0.09995275735855103, + -0.9929412603378296, + -0.0638532042503357, + 0.9523373246192932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23870977802552884, + 0.2169653579817273, + 0.22426319252987476 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1720813935101524, + 1.1813629865936826, + 1.1962135355273313 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5656.64136358752, + "intensity": 1.1850756238270947 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8534862472261348, + 0.8671692665601485, + 0.8890620974945704 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5813.599663942271, + "intensity": 0.872642474293754 + }, + "point_color_scale": [ + 0.814087061644607, + 0.8035440987393965, + 0.7854704480447501 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_010/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..281699e42445348a7b44a23d5dda6f114cf64b15 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8614656430697544, + "K": [ + [ + 505.97483798820025, + 0.0, + 290.6752484290621 + ], + [ + 0.0, + 522.2974435740435, + 233.72802444035395 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.144123465077541, + -4.924484317866753, + 0.8277101665012085 + ], + "camera_target": [ + -4.974264774616748, + -5.433549500099389, + 0.9110651901984772 + ], + "camera_roll_rad": 0.051841603389287616, + "camera_pose_world_cv": [ + [ + -0.5274803638458252, + -0.018209338188171387, + -0.8493722677230835, + -4.144123554229736 + ], + [ + 0.8432857990264893, + -0.13257426023483276, + -0.5208582878112793, + -4.9244842529296875 + ], + [ + -0.10312050580978394, + -0.9910058975219727, + 0.08528614044189453, + 0.8277101516723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3376787401398678, + 0.35111846065522534, + 0.3451651452653729 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.9308137575470048, + 0.922082652996824, + 0.9071150451965142 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5364.730060155452, + "intensity": 0.922082652996824 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.9136741991524591, + 0.8735216624810386, + 0.8046887424728891 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4843.338933226479, + "intensity": 0.8735216624810386 + }, + "point_color_scale": [ + 0.8390388799103012, + 0.8679644511159494, + 0.9142453650449867 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_011/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fe7094508ccb539a0776dff98e6389604ff2a72 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0889261008016726, + "K": [ + [ + 378.9458371103524, + 0.0, + 304.79679609658405 + ], + [ + 0.0, + 396.3583698911393, + 228.2906144034868 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.221293213568495, + -4.777023588172399, + 0.8010141722034074 + ], + "camera_target": [ + -4.913211991878731, + -5.364491167076873, + 0.9478048689926262 + ], + "camera_roll_rad": -0.03055046683629126, + "camera_pose_world_cv": [ + [ + -0.8900830745697021, + 0.04608066380023956, + 0.4534636437892914, + -5.2212934494018555 + ], + [ + -0.45188283920288086, + -0.21934747695922852, + -0.8646900057792664, + -4.777023792266846 + ], + [ + 0.05962064862251282, + -0.9745580554008484, + 0.21606075763702393, + 0.8010141849517822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21855179861802532, + 0.2188114423016284, + 0.22700803276504752 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.048547707439528, + 1.0425263295506682, + 1.0322039674554797 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5417.489197453992, + "intensity": 1.0425263295506682 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.7127582056498275, + 0.7107665151581759, + 0.7073521886010591 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5459.968962095836, + "intensity": 0.7107665151581759 + }, + "point_color_scale": [ + 0.9949071992361567, + 0.954311904608275, + 0.8847199709604778 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_012/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6fc8f317353b1ca2cff0e6e4314b5dbb0e44de99 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9673550157485241, + "K": [ + [ + 446.8891574271862, + 0.0, + 343.2368436480744 + ], + [ + 0.0, + 456.88693501484715, + 223.10136098140163 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.496870631293598, + -4.5863922897090506, + 1.160314028997122 + ], + "camera_target": [ + -4.969626600667567, + -5.4081748529277425, + 0.9770375959929993 + ], + "camera_roll_rad": 0.029253913902131806, + "camera_pose_world_cv": [ + [ + -0.8460502624511719, + -0.050237491726875305, + 0.5307309627532959, + -5.496870517730713 + ], + [ + -0.5299965143203735, + 0.18658804893493652, + -0.8272174596786499, + -4.586392402648926 + ], + [ + -0.057470738887786865, + -0.9811530113220215, + -0.1844884753227234, + 1.1603140830993652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2545277012277955, + 0.2505440594525763, + 0.27227945442307466 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.1517262829753183, + 1.1301000660379288, + 1.0930265512881183 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5226.6207077293875, + "intensity": 1.1301000660379288 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6310590152610529, + 0.6392322327468816, + 0.6523093807242074 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5754.418619558149, + "intensity": 0.6425015197412131 + }, + "point_color_scale": [ + 1.085154451856066, + 1.0622735227306457, + 1.0230490728013535 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_013/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a622fd9f9df0dacf851a3e504cc59330496605 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0559167369036293, + "K": [ + [ + 395.5921493794016, + 0.0, + 332.1471115388037 + ], + [ + 0.0, + 411.53832437990087, + 254.90669867436918 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.153035761428553, + -4.9926911679102375, + 1.1507113771638853 + ], + "camera_target": [ + -4.971075837198418, + -5.3587681164896335, + 1.023640205385407 + ], + "camera_roll_rad": 0.0397599991579526, + "camera_pose_world_cv": [ + [ + -0.9031455516815186, + -0.060566872358322144, + 0.42504096031188965, + -5.153035640716553 + ], + [ + -0.42258018255233765, + 0.3003199100494385, + -0.8551222085952759, + -4.9926910400390625 + ], + [ + -0.07585614919662476, + -0.9519137144088745, + -0.2968268394470215, + 1.1507114171981812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38104812982277547, + 0.39296873997848913, + 0.3980249206554374 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8649429234379177, + 0.8720454783625515, + 0.8834095662419658 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5662.365173583896, + "intensity": 0.8748865003324052 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8806128067658187, + 0.8967223202280918, + 0.9224975417677292 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5856.734226526474, + "intensity": 0.9031661256130012 + }, + "point_color_scale": [ + 1.0641882602809, + 1.0284001982717799, + 0.9670492348275738 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_014/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ab03f8dace26a8f79bd2bdde5ecf6774a6c8d2d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8310369462310084, + "K": [ + [ + 518.1414236624387, + 0.0, + 345.6020093497324 + ], + [ + 0.0, + 543.961146986261, + 229.92900985148856 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.354476029807796, + -4.500929635383338, + 0.9791357638491603 + ], + "camera_target": [ + -4.903396901772572, + -5.387956116710925, + 0.9575783432740442 + ], + "camera_roll_rad": 0.01984699521626404, + "camera_pose_world_cv": [ + [ + -0.8910531997680664, + 0.025563165545463562, + 0.45317912101745605, + -5.354475975036621 + ], + [ + -0.4521622657775879, + 0.037277817726135254, + -0.8911564946174622, + -4.500929832458496 + ], + [ + -0.03967423737049103, + -0.9989780783653259, + -0.02165752649307251, + 0.9791357517242432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23928367188273125, + 0.23698001627151757, + 0.256034373684663 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 0.8175684169037949, + 0.8612691746995532, + 0.9311903871727667 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 6494.612432755641, + "intensity": 0.8787494778178566 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6773020016962387, + 0.6861317212004863, + 0.7002592724072826 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 5756.058733243085, + "intensity": 0.6896636090021854 + }, + "point_color_scale": [ + 1.1838942991668562, + 1.1495692953219392, + 1.0907264315877956 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_015/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..900ba02c47a49ec15fde6086c4b55d205232da13 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1228031910152747, + "K": [ + [ + 392.51624947958766, + 0.0, + 293.99014489993266 + ], + [ + 0.0, + 381.61641275536175, + 232.68361897590432 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.254215384446878, + -4.8777731243431495, + 1.0065840482486956 + ], + "camera_target": [ + -4.9789133773678165, + -5.384833139311081, + 0.9987135989969209 + ], + "camera_roll_rad": -0.02149298782005312, + "camera_pose_world_cv": [ + [ + -0.8777322769165039, + -0.04426752030849457, + 0.4771019220352173, + -5.254215240478516 + ], + [ + -0.47722065448760986, + -0.008528649806976318, + -0.8787420392036438, + -4.877773284912109 + ], + [ + 0.042968735098838806, + -0.9989832043647766, + -0.013639628887176514, + 1.0065840482711792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3437817836016669, + 0.33411060060115017, + 0.3466508228344499 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0468439291089549, + 0.98135955235518, + 0.8691006207772803 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 4546.739704894707, + "intensity": 0.98135955235518 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.8850357284330288, + 0.8502258250175703, + 0.7905517048767844 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 4915.114996658362, + "intensity": 0.8502258250175703 + }, + "point_color_scale": [ + 0.8778787537988607, + 0.9099969230670428, + 0.9613859938961342 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000703/scene_b04_016/scene_meta.json b/so100/ProcTHOR/test/bg_000703/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f24f7c9df66d30e68f3aa60cc149c04d7f33a18b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000703/scene_b04_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 703, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9110369667286335, + "K": [ + [ + 507.4560053364792, + 0.0, + 313.04429858496087 + ], + [ + 0.0, + 489.91639239801844, + 245.36153981829702 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.458895999174976, + -5.065706032798103, + 0.9218105741851035 + ], + "camera_target": [ + -4.919612913248782, + -5.414363579529357, + 0.9775547580796066 + ], + "camera_roll_rad": 0.0289413439508404, + "camera_pose_world_cv": [ + [ + -0.5378212928771973, + 0.1039111316204071, + 0.8366305828094482, + -5.458896160125732 + ], + [ + -0.8410866260528564, + 0.001707315444946289, + -0.5408978462219238, + -5.065706253051758 + ], + [ + -0.057633668184280396, + -0.9945851564407349, + 0.08648014068603516, + 0.9218105673789978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.558772087097168, + -0.8293212056159973, + 1.130832032458784e-07, + -4.93070125579834 + ], + [ + 0.8293212056159973, + 0.558772087097168, + 9.527563626932078e-09, + -5.3974289894104 + ], + [ + -7.108913990805377e-08, + 8.845857024653014e-08, + 1.0, + 0.7811591625213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24726182053089202, + 0.2289036647670521, + 0.23146626310973906 + ], + "directional_primary": { + "direction": [ + 0.3134991513451671, + -0.34873204547411846, + -0.883235099260269 + ], + "color": [ + 1.0019797112547832, + 0.9938771193861572, + 0.9799869618970839 + ], + "azimuth_rad": -0.8385513632467694, + "elevation_rad": 1.0827168955328723, + "color_temp_k": 5383.535589912327, + "intensity": 0.9938771193861572 + }, + "directional_fill": { + "direction": [ + -0.44409941802507086, + 0.269768962070868, + -0.8544006156440899 + ], + "color": [ + 0.6470056501149937, + 0.6641489766641706, + 0.6915782991428537 + ], + "azimuth_rad": 2.5957119446374666, + "elevation_rad": 1.024396228322306, + "color_temp_k": 6010.973633573467, + "intensity": 0.6710063072838414 + }, + "point_color_scale": [ + 1.023743369758182, + 1.03929217330739, + 1.0641702589861237 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58e2efdb352aed835cd1e5bfa3162831d331129a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.25478641419284, + "K": [ + [ + 320.64067294887354, + 0.0, + 328.71340908153445 + ], + [ + 0.0, + 330.9752684386398, + 258.2916485562282 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9974941038161305, + -7.464160330995641, + 0.8119691080265022 + ], + "camera_target": [ + -3.7440902234602813, + -8.363446404932352, + 0.8841122525790177 + ], + "camera_roll_rad": 0.007166779949162164, + "camera_pose_world_cv": [ + [ + -0.9621187448501587, + 0.03467412292957306, + 0.2704164981842041, + -3.9974942207336426 + ], + [ + -0.27225565910339355, + -0.07020598649978638, + -0.9596602916717529, + -7.464160442352295 + ], + [ + -0.014290541410446167, + -0.9969296455383301, + 0.07698667049407959, + 0.8119691014289856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3015324059700201, + 0.3334481301740521, + 0.334861369798402 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9251151318878417, + 0.8853677510251761, + 0.8172293838320349 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4858.662289255481, + "intensity": 0.8853677510251761 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.8927386400705428, + 0.8765121435410197, + 0.8486952923475514 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5235.534647195616, + "intensity": 0.8765121435410197 + }, + "point_color_scale": [ + 0.9536231458773634, + 0.9609373899923789, + 0.9726401805764038 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b18785dbe60e1b9ea5601cd732b9529cb6d349cf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2068772794513556, + "K": [ + [ + 341.1840201994809, + 0.0, + 298.9480547531067 + ], + [ + 0.0, + 348.23144678356266, + 223.03961470428305 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.6051850562773105, + -8.032208357205793, + 0.7007664535960985 + ], + "camera_target": [ + -3.7337190720419704, + -8.365433066447046, + 0.9641248702123453 + ], + "camera_roll_rad": -0.026214581556509256, + "camera_pose_world_cv": [ + [ + -0.36995959281921387, + 0.23467323184013367, + 0.8989206552505493, + -4.605185031890869 + ], + [ + -0.9276778697967529, + -0.14583808183670044, + -0.34372225403785706, + -8.032208442687988 + ], + [ + 0.05043447017669678, + -0.9610722064971924, + 0.2716553211212158, + 0.7007664442062378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2516612337103625, + 0.25606965542916965, + 0.2424107338970285 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.8433406865289254, + 0.873940826163182, + 0.9229010495779928 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6190.607081583908, + "intensity": 0.8861808820168847 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6872969417262431, + 0.7136345219418133, + 0.7557746502867256 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6227.387117259293, + "intensity": 0.7241695540280414 + }, + "point_color_scale": [ + 1.225457838569309, + 1.1777628910741926, + 1.0960001239397077 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13920c68514ed94323ef105cccfd4f5fb1aec63c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0434607047071711, + "K": [ + [ + 421.80947413689313, + 0.0, + 347.6531998603745 + ], + [ + 0.0, + 417.4917058133953, + 235.98465565137897 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9405510534670127, + -8.441758693145156, + 0.6830218966671718 + ], + "camera_target": [ + -3.7477753653596304, + -8.299657989556508, + 0.9371807164202296 + ], + "camera_roll_rad": 0.03728749699364013, + "camera_pose_world_cv": [ + [ + 0.15115654468536377, + -0.3037962019443512, + -0.9406698346138, + -2.9405510425567627 + ], + [ + 0.9859451055526733, + -0.022172093391418457, + 0.16559267044067383, + -8.44175910949707 + ], + [ + -0.0711631178855896, + -0.9524791240692139, + 0.2961750030517578, + 0.6830219030380249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3511460941841019, + 0.3525080465398163, + 0.3610641323408516 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0457465260305374, + 1.0328489532591092, + 1.0107388285080896 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5321.608920636039, + "intensity": 1.0328489532591092 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6551164248998089, + 0.6609172572615767, + 0.6701985890404052 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5674.924716192989, + "intensity": 0.6632375902062838 + }, + "point_color_scale": [ + 1.1509075504285995, + 1.1620292532649807, + 1.1798239778031907 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..234577945c0d84f6edf2f5a3901b9839fb00feba --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9086901620150664, + "K": [ + [ + 492.9641907292372, + 0.0, + 326.4354177156629 + ], + [ + 0.0, + 491.3749941155787, + 222.3426589946317 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.748207320120759, + -8.197951623436188, + 0.9640325511423671 + ], + "camera_target": [ + -3.7289611839017494, + -8.330218724555436, + 0.9398819377210896 + ], + "camera_roll_rad": -0.036859044531972744, + "camera_pose_world_cv": [ + [ + -0.1350703239440918, + 0.014268100261688232, + -0.99073326587677, + -2.7482073307037354 + ], + [ + 0.9880965352058411, + 0.07624232769012451, + -0.13361287117004395, + -8.197951316833496 + ], + [ + 0.07362937927246094, + -0.9969872236251831, + -0.024396300315856934, + 0.9640325307846069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2676424589939569, + 0.26899994860529575, + 0.263089538396299 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.1199795572835842, + 1.134014316541654, + 1.1564699313545659 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5746.304171987846, + "intensity": 1.139628220244882 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6107440675561517, + 0.5833029834711444, + 0.5362611250397032 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 4827.938484737634, + "intensity": 0.5833029834711444 + }, + "point_color_scale": [ + 0.997236653597508, + 1.0244575240438931, + 1.068010916758109 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28363e61964cea625e3ddfa0b34e921be8f57e68 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2768434603210428, + "K": [ + [ + 335.39866996744485, + 0.0, + 293.0875566914382 + ], + [ + 0.0, + 323.409371729138, + 232.43638901599692 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0336271778826323, + -8.77666788826446, + 0.683935681138313 + ], + "camera_target": [ + -3.6990887030617032, + -8.335225218729574, + 0.8929904127988549 + ], + "camera_roll_rad": -0.0460873601342652, + "camera_pose_world_cv": [ + [ + 0.5698710680007935, + -0.15926304459571838, + -0.8061528205871582, + -3.0336272716522217 + ], + [ + 0.8168954849243164, + 0.21610426902770996, + 0.534771740436554, + -8.776667594909668 + ], + [ + 0.08904364705085754, + -0.9632934927940369, + 0.25325286388397217, + 0.6839357018470764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24604078824531866, + 0.24370170036004093, + 0.2547518375231034 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9496228726853218, + 0.9639759789776499, + 0.9869409490453749 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5796.026634861786, + "intensity": 0.9697172214945812 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.741243653217965, + 0.7672967768927645, + 0.8089817747724438 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6169.988936649639, + "intensity": 0.7777180263626844 + }, + "point_color_scale": [ + 1.0465914682839665, + 1.0019386693440437, + 0.9253910140184616 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a8d07bc97271de5eca287ea1b6ad1995c9fad1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9494484870891265, + "K": [ + [ + 445.2156447256574, + 0.0, + 339.6284555824672 + ], + [ + 0.0, + 466.9955967431232, + 263.0592863471996 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.143002958001988, + -8.626237830060232, + 0.7596389763766456 + ], + "camera_target": [ + -3.673870256029185, + -8.2869711316843, + 0.9403625892400879 + ], + "camera_roll_rad": 0.024132822002022505, + "camera_pose_world_cv": [ + [ + 0.5266668200492859, + -0.25805091857910156, + -0.8099578619003296, + -3.143002986907959 + ], + [ + 0.8488057851791382, + 0.10765731334686279, + 0.5176278352737427, + -8.626237869262695 + ], + [ + -0.04637652635574341, + -0.9601143598556519, + 0.27573466300964355, + 0.7596389651298523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27544630960862926, + 0.29912170200039834, + 0.2765801418584669 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9975597011705856, + 1.034034046021464, + 1.0923929977828695 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6195.661216324396, + "intensity": 1.0486237839618153 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.9383015044992347, + 0.9425671564055451, + 0.9493921994556417 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5590.347813011687, + "intensity": 0.9442734171680691 + }, + "point_color_scale": [ + 1.1506789732565608, + 1.1607487214589423, + 1.1768603185827526 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba99c734ae0ae4dee5113128102f6b62d41611d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8989811678796014, + "K": [ + [ + 497.9781689488794, + 0.0, + 351.85290604911506 + ], + [ + 0.0, + 497.4846597202516, + 219.990698270858 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0943380554010957, + -8.666062048684644, + 0.667167467614388 + ], + "camera_target": [ + -3.684914994514695, + -8.27100552595857, + 0.997488343411307 + ], + "camera_roll_rad": 0.008564543766727405, + "camera_pose_world_cv": [ + [ + 0.5499205589294434, + -0.359868586063385, + -0.7537122368812561, + -3.0943379402160645 + ], + [ + 0.8350725769996643, + 0.22012102603912354, + 0.504183292388916, + -8.666062355041504 + ], + [ + -0.01553189754486084, + -0.9066650867462158, + 0.42156553268432617, + 0.6671674847602844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25419652381363167, + 0.25982055019690653, + 0.246221986058622 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0666002472369038, + 1.0091230155257986, + 0.9105906183067614 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4686.319905972206, + "intensity": 1.0091230155257986 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5931846496388407, + 0.6119672263945484, + 0.6420193492036806 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6106.39791310643, + "intensity": 0.6194802570968314 + }, + "point_color_scale": [ + 0.8789398984073329, + 0.9093536182165403, + 0.9580155699112722 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d93ea1340f5bb2abf700f4fcfa576312f4b9a703 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1461340773042445, + "K": [ + [ + 379.19796541529615, + 0.0, + 300.2758936269837 + ], + [ + 0.0, + 371.9176214023747, + 240.29152302518096 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.559363264465055, + -7.969676691634761, + 0.787822221868095 + ], + "camera_target": [ + -3.748387179632918, + -8.334963400120142, + 0.8825769001476029 + ], + "camera_roll_rad": 0.045034431648241446, + "camera_pose_world_cv": [ + [ + -0.40033769607543945, + 0.13313543796539307, + 0.9066448211669922, + -4.55936336517334 + ], + [ + -0.9119924306869507, + 0.03868246078491211, + -0.4083791971206665, + -7.969676494598389 + ], + [ + -0.08944106101989746, + -0.9903427362442017, + 0.10593247413635254, + 0.7878222465515137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24768489620618497, + 0.24674745690529437, + 0.24383064681776062 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0852243872826592, + 1.131685939243853, + 1.2060244223817636 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6307.836931165997, + "intensity": 1.1502705600283307 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.9529724701896886, + 0.9458922530592302, + 0.9337547379784448 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5393.068202346074, + "intensity": 0.9458922530592302 + }, + "point_color_scale": [ + 0.888361979491625, + 0.8928581759383304, + 0.9000520902530591 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3a08f86b4dbcab7382da2f01a21531e1f1c1813 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8246586506917006, + "K": [ + [ + 525.9178076321278, + 0.0, + 292.53326117233104 + ], + [ + 0.0, + 548.6926287904483, + 242.07940993417213 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.540536979777219, + -7.85212273769724, + 1.0508021055245917 + ], + "camera_target": [ + -3.7136118623726637, + -8.289876812802754, + 0.9315250430999515 + ], + "camera_roll_rad": 0.03386833374546208, + "camera_pose_world_cv": [ + [ + -0.4743548631668091, + -0.07983982563018799, + 0.8767059445381165, + -4.540536880493164 + ], + [ + -0.8777697682380676, + 0.11884915828704834, + -0.46410706639289856, + -7.852122783660889 + ], + [ + -0.06714147329330444, + -0.9896973371505737, + -0.1264575719833374, + 1.0508021116256714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2939936499885231, + 0.30219982317007754, + 0.29537397704414947 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.911756125914499, + 0.9456152979823836, + 0.999789973290999 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6206.017943626401, + "intensity": 0.9591589668095375 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.8476611995343994, + 0.8795546851175567, + 0.9305842620506083 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6214.850472636448, + "intensity": 0.8923120793508196 + }, + "point_color_scale": [ + 0.8231983387712327, + 0.8455274994463963, + 0.881254156526658 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f0cf26476f11b9e1521e21a0d0fcc97bbad3857 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9721213562934328, + "K": [ + [ + 473.58841656671706, + 0.0, + 349.1197396996745 + ], + [ + 0.0, + 454.2540952526003, + 232.75392541760243 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.434426440825253, + -7.5878522273336175, + 1.1398163181597596 + ], + "camera_target": [ + -3.7080514321306524, + -8.326689493308194, + 0.9045154611168852 + ], + "camera_roll_rad": -0.05131324857510563, + "camera_pose_world_cv": [ + [ + -0.9430038928985596, + 0.002789527177810669, + -0.33277007937431335, + -3.4344265460968018 + ], + [ + 0.31797465682029724, + 0.3025174140930176, + -0.8985406756401062, + -7.5878520011901855 + ], + [ + 0.0981622263789177, + -0.9531398415565491, + -0.28616201877593994, + 1.1398162841796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3113171848920679, + 0.3162462282081529, + 0.32138983355951295 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.065225324655721, + 1.0736307371760916, + 1.0870793972086847 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5656.090397686441, + "intensity": 1.07699290218424 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6670987495537555, + 0.6506767935670306, + 0.6225248690183594 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5139.453299152033, + "intensity": 0.6506767935670306 + }, + "point_color_scale": [ + 1.0317430340547455, + 1.0170676943908963, + 0.9919099692528689 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92bd73efce2c7306c841298e689e2a2e649bc584 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8204817981529385, + "K": [ + [ + 536.0678700524322, + 0.0, + 316.8694128361175 + ], + [ + 0.0, + 551.8286167975185, + 260.34944602045425 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1826527346163704, + -7.898573114201467, + 0.7584632134275874 + ], + "camera_target": [ + -3.6945267898685175, + -8.304169353086523, + 0.8775408523189164 + ], + "camera_roll_rad": -0.033778475536963476, + "camera_pose_world_cv": [ + [ + -0.6101377010345459, + -0.18219143152236938, + -0.7710632085800171, + -3.182652711868286 + ], + [ + 0.7895073294639587, + -0.058235347270965576, + -0.6109720468521118, + -7.89857292175293 + ], + [ + 0.06641069054603577, + -0.9815371036529541, + 0.1793731451034546, + 0.7584632039070129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30102015555464934, + 0.2969192031106789, + 0.2957700280616539 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.2011757574926336, + 1.1389400434090056, + 1.032250247837072 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4719.378021774555, + "intensity": 1.1389400434090056 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5524270476090161, + 0.5604894831184898, + 0.573389379933648 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5786.046788573474, + "intensity": 0.5637144573222794 + }, + "point_color_scale": [ + 1.1585583282440635, + 1.1520303890702024, + 1.1408396362007263 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..891febe5a74cd3557672b7ad96ba0300e1d64151 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9117536635994912, + "K": [ + [ + 513.5683736538379, + 0.0, + 296.8946803420492 + ], + [ + 0.0, + 489.4723381632308, + 243.06362861294903 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.118456528257932, + -7.8807810649429495, + 0.6616125434321481 + ], + "camera_target": [ + -3.7178862450329038, + -8.2723015214477, + 0.8754449535737265 + ], + "camera_roll_rad": 0.02056277557939422, + "camera_pose_world_cv": [ + [ + -0.6879053115844727, + 0.2835768461227417, + 0.6681098937988281, + -4.1184563636779785 + ], + [ + -0.7247836589813232, + -0.21967941522598267, + -0.6530159115791321, + -7.880781173706055 + ], + [ + -0.03841015696525574, + -0.9334480166435242, + 0.35665059089660645, + 0.6616125702857971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2740285899469861, + 0.26147928595614034, + 0.27291395003515156 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.8771764757792131, + 0.8931629574960548, + 0.9187413282430016 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5855.429882470406, + "intensity": 0.8995575501827916 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5813060882643758, + 0.558683290901541, + 0.5199013525652528 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 4921.527679935529, + "intensity": 0.558683290901541 + }, + "point_color_scale": [ + 1.0835130527431296, + 1.0670118046246204, + 1.0387239507071762 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2114cdf78291506ddf4285decc06599f729ff6d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8957849569603634, + "K": [ + [ + 499.86440427399407, + 0.0, + 334.8272565728887 + ], + [ + 0.0, + 499.52294510338766, + 231.87278135606786 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9805866439354887, + -7.913678965650505, + 1.0970554223542104 + ], + "camera_target": [ + -3.7218069580730164, + -8.301910237856125, + 0.9017809936798359 + ], + "camera_roll_rad": -0.007328483871184656, + "camera_pose_world_cv": [ + [ + -0.8288633823394775, + -0.22630684077739716, + 0.511635422706604, + -3.980586528778076 + ], + [ + -0.5592877268791199, + 0.31308937072753906, + -0.7675756216049194, + -7.913679122924805 + ], + [ + 0.01352006196975708, + -0.922366738319397, + -0.3860788941383362, + 1.097055435180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33826053126917394, + 0.3213960389295745, + 0.33095475863392865 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0060059105023138, + 1.01528670707893, + 1.0301359816015152 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5682.155160946367, + "intensity": 1.0189990257095762 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7026727183986219, + 0.7011733591810667, + 0.6986030290938293 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5469.4520376263845, + "intensity": 0.7011733591810667 + }, + "point_color_scale": [ + 1.0339462976727063, + 1.0374445963678443, + 1.0430418742800653 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..779f25bfc9170d5535dc60990186f11a11afc370 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9894338584009457, + "K": [ + [ + 447.9465301066202, + 0.0, + 314.03737730074147 + ], + [ + 0.0, + 444.88736813271595, + 245.78382142530413 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0570837487645433, + -8.795029135741293, + 0.9910007384128657 + ], + "camera_target": [ + -3.711728366442155, + -8.364853091898206, + 0.9989220703128694 + ], + "camera_roll_rad": 0.02718561193428619, + "camera_pose_world_cv": [ + [ + 0.5478899478912354, + -0.03828206658363342, + -0.8356740474700928, + -3.05708384513855 + ], + [ + 0.8347835540771484, + -0.0398716926574707, + 0.5491327047348022, + -8.795028686523438 + ], + [ + -0.054341673851013184, + -0.9984712600708008, + 0.01011204719543457, + 0.9910007119178772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3790235918366367, + 0.37197450255955683, + 0.38958382288863425 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9694490024246056, + 0.9994267343374347, + 1.0473911053979612 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6092.786306697935, + "intensity": 1.0114178271025662 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7673275827208261, + 0.7956040549353895, + 0.8408464104786911 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6200.854109690159, + "intensity": 0.8069146438212149 + }, + "point_color_scale": [ + 0.981101509752601, + 1.0095368740822674, + 1.055033457009734 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8363b760151c8f4de129b5060a19956c27ae64 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2359745903720345, + "K": [ + [ + 334.87521927602415, + 0.0, + 350.58309771633776 + ], + [ + 0.0, + 337.6121689393786, + 259.25048773932684 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.957073892570712, + -7.813291587822405, + 0.8509452776691971 + ], + "camera_target": [ + -3.6862293551742544, + -8.321665717670108, + 0.952984899698004 + ], + "camera_roll_rad": -0.00937323175260453, + "camera_pose_world_cv": [ + [ + -0.5700711011886597, + -0.10425743460655212, + -0.8149536848068237, + -2.957073926925659 + ], + [ + 0.8213844299316406, + -0.049837470054626465, + -0.5681936740875244, + -7.813291549682617 + ], + [ + 0.01862311363220215, + -0.9933009147644043, + 0.11404645442962646, + 0.8509452939033508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28745149598964925, + 0.31460053104696956, + 0.28488457174268544 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.1447900721985536, + 1.1556932306130365, + 1.173138284076209 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5687.976659218593, + "intensity": 1.1600544939788295 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6153934212226732, + 0.5943522445484948, + 0.558281655964189 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 4994.259101467863, + "intensity": 0.5943522445484948 + }, + "point_color_scale": [ + 1.0080996988623891, + 0.9894725845176918, + 0.9575403884982105 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af54408ca072cad5ca95535bafcb59b380927a5a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2397718298037774, + "K": [ + [ + 334.2761711928851, + 0.0, + 337.2340738610874 + ], + [ + 0.0, + 336.2584124390863, + 217.2081232284657 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.203722980761946, + -7.7868105729627235, + 1.0621946348952007 + ], + "camera_target": [ + -3.721155107396344, + -8.33955796902076, + 0.8834503772775542 + ], + "camera_roll_rad": 0.05168636623173942, + "camera_pose_world_cv": [ + [ + -0.7099436521530151, + 0.23151326179504395, + -0.6651178598403931, + -3.2037229537963867 + ], + [ + 0.6970611810684204, + 0.09632110595703125, + -0.7105125188827515, + -7.786810398101807 + ], + [ + -0.10042813420295715, + -0.968051552772522, + -0.22976142168045044, + 1.062194585800171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.6413536071777344, + 0.767245352268219, + -7.92370897784167e-08, + -3.713174819946289 + ], + [ + -0.767245352268219, + -0.6413536071777344, + 2.8756051762002244e-08, + -8.319425582885742 + ], + [ + -2.8756051762002244e-08, + 7.92370897784167e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2314709299865568, + 0.22650135532442228, + 0.24628471977489405 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.034898604601919, + 0.9968429453127841, + 0.9316046722456954 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4954.625948736099, + "intensity": 0.9968429453127841 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5915465296898761, + 0.5922850208832089, + 0.5934666067925415 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5524.924589868231, + "intensity": 0.592580417360542 + }, + "point_color_scale": [ + 1.024761824099803, + 1.0251487874140812, + 1.025767928716926 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..755603d03abaf7f71ae485cf57aab9924a21aca0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8948564224247734, + "K": [ + [ + 514.9483372944967, + 0.0, + 346.71679254582483 + ], + [ + 0.0, + 500.11763327808904, + 234.79926110266985 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.622122718907036, + -9.430053166754133, + 1.0356558979796167 + ], + "camera_target": [ + -3.629548327966569, + -9.342652818031626, + 0.9741828911901474 + ], + "camera_roll_rad": 0.03121750380299948, + "camera_pose_world_cv": [ + [ + 0.08371567726135254, + -0.06669315695762634, + 0.9942554831504822, + -4.622122764587402 + ], + [ + -0.9945418834686279, + 0.056763410568237305, + 0.08754748106002808, + -9.430052757263184 + ], + [ + -0.06227606534957886, + -0.996157705783844, + -0.0615769624710083, + 1.0356558561325073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33103167992399857, + 0.3493124544976333, + 0.34261801219483284 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0763557843775944, + 1.0921909335956226, + 1.1175271723444677 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5788.298387653548, + "intensity": 1.0985249932828338 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7521543550143464, + 0.7438422860210512, + 0.729593024889688 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5340.364221027899, + "intensity": 0.7438422860210512 + }, + "point_color_scale": [ + 1.0417317798199308, + 0.9965273444447597, + 0.919034026658752 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..831fd200ef6d68752256534641f8005893a745ea --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7921798931873619, + "K": [ + [ + 594.8402322061166, + 0.0, + 348.24885308569503 + ], + [ + 0.0, + 573.8993302413691, + 263.4006157067024 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1973037287158266, + -9.028357612639008, + 0.8695460420146729 + ], + "camera_target": [ + -3.628780195960033, + -9.366398338395923, + 0.9831274491538163 + ], + "camera_roll_rad": 0.01564641534681202, + "camera_pose_world_cv": [ + [ + -0.6214157342910767, + -0.14035052061080933, + -0.7708075642585754, + -3.1973037719726562 + ], + [ + 0.7828817963600159, + -0.14970451593399048, + -0.6038912534713745, + -9.02835750579834 + ], + [ + -0.030636906623840332, + -0.9787187576293945, + 0.20290660858154297, + 0.8695460557937622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22097032882704765, + 0.22666153868738578, + 0.2344169396046416 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9504648587562994, + 0.9086631572932362, + 0.8370030976422705 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4842.806892779813, + "intensity": 0.9086631572932362 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.9214908328549749, + 0.8891015465665983, + 0.8335770557865244 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 4979.582403583986, + "intensity": 0.8891015465665983 + }, + "point_color_scale": [ + 1.1865178873383575, + 1.1624391851922584, + 1.1211614100846603 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83b6213c8e469a020c9d9a9e46efbe22cd2b9eb7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2936090706398928, + "K": [ + [ + 325.7594233558025, + 0.0, + 313.0479358174029 + ], + [ + 0.0, + 317.8073652833331, + 260.0096336584648 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.8763736472075094, + -8.891628371262218, + 0.6598170631692655 + ], + "camera_target": [ + -3.6594140621954017, + -9.338040150797802, + 0.9612498010446502 + ], + "camera_roll_rad": -0.015910642937408827, + "camera_pose_world_cv": [ + [ + -0.4862523078918457, + -0.2911452054977417, + -0.8238891363143921, + -2.876373529434204 + ], + [ + 0.8732974529266357, + -0.1293589472770691, + -0.469699889421463, + -8.89162826538086 + ], + [ + 0.03017336130142212, + -0.9478929042816162, + 0.317157506942749, + 0.6598170399665833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2574198341534766, + 0.26737500213374116, + 0.2843223037536816 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0295119864833966, + 0.9798377546213574, + 0.8946819285721472 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4775.76593125089, + "intensity": 0.9798377546213574 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.9384955891665052, + 0.9443881192774478, + 0.9538161674549559 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5624.479755237096, + "intensity": 0.9467451313218248 + }, + "point_color_scale": [ + 0.9164496424930437, + 0.9008888732972035, + 0.8742132689614774 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcaf9d65c4b621a96681ed4e7b520372515a7772 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2422601932208208, + "K": [ + [ + 319.31732396671646, + 0.0, + 331.12734413032035 + ], + [ + 0.0, + 335.3751843556665, + 249.24544464015185 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.583798503869359, + -8.590640739554676, + 1.0500588815092904 + ], + "camera_target": [ + -3.6594118125240516, + -9.356942833030777, + 0.8961135403719537 + ], + "camera_roll_rad": -0.05134491982381899, + "camera_pose_world_cv": [ + [ + -0.9918980598449707, + -0.08286473155021667, + -0.09629089385271072, + -3.583798408508301 + ], + [ + 0.07767988741397858, + 0.20413434505462646, + -0.9758561253547668, + -8.590641021728516 + ], + [ + 0.10052032023668289, + -0.9754295945167542, + -0.19604337215423584, + 1.0500588417053223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2714059480199154, + 0.2778555297961214, + 0.28043753655212633 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9397227810348783, + 0.9613149881372136, + 0.9958625195009501 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5945.222237275766, + "intensity": 0.9699518709781477 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6025599372367592, + 0.6192626574081812, + 0.6459870096824566 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6033.681190749832, + "intensity": 0.62594374547675 + }, + "point_color_scale": [ + 0.8115468318752087, + 0.8276294465800641, + 0.8533616301078327 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d24ee7f2711e78e0b649c61f810c933326f92d7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1219827441789219, + "K": [ + [ + 365.8502818642065, + 0.0, + 341.3068208216834 + ], + [ + 0.0, + 381.96401513915833, + 244.2258722292851 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9437069260617994, + -9.059239271261056, + 1.030210280432451 + ], + "camera_target": [ + -3.6393228823762738, + -9.386614933947783, + 0.9232356798320711 + ], + "camera_roll_rad": -0.03319198693942553, + "camera_pose_world_cv": [ + [ + -0.43315935134887695, + 0.09617552161216736, + -0.8961714506149292, + -2.94370698928833 + ], + [ + 0.8989194631576538, + 0.11857712268829346, + -0.421762079000473, + -9.059239387512207 + ], + [ + 0.06570222973823547, + -0.9882761240005493, + -0.13781678676605225, + 1.030210256576538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28338454294891247, + 0.2764872636050589, + 0.28642442838944127 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0202572566290833, + 1.0648448204398915, + 1.136184922537185 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6323.651866745508, + "intensity": 1.0826798459642148 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.8725998229180076, + 0.8988655330368962, + 0.9408906692271183 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6077.667124171486, + "intensity": 0.9093718170844517 + }, + "point_color_scale": [ + 1.0071952248180296, + 1.022470454315171, + 1.0469108215105973 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3542fefef3da902346305ccc084b0f2d9de2115c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9069115417521221, + "K": [ + [ + 500.3151754313281, + 0.0, + 351.29415019884084 + ], + [ + 0.0, + 492.4851309107888, + 240.2050927696794 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9771695275258425, + -9.44424235065638, + 1.1095753867675076 + ], + "camera_target": [ + -3.6118110943643122, + -9.399283772900409, + 0.989674337577939 + ], + "camera_roll_rad": 0.0193563764688454, + "camera_pose_world_cv": [ + [ + 0.07776129245758057, + 0.18185868859291077, + -0.9802452325820923, + -2.9771695137023926 + ], + [ + 0.996246337890625, + -0.05168318748474121, + 0.06944224238395691, + -9.444242477416992 + ], + [ + -0.03803360462188721, + -0.9819655418395996, + -0.1851949691772461, + 1.1095753908157349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3197053518864736, + 0.31886602058349617, + 0.33609774515361956 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.1598280506911596, + 1.1423156058250772, + 1.112294271768936 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5280.990662715776, + "intensity": 1.1423156058250772 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7195165190032198, + 0.7458385416230598, + 0.787953777814804 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6196.011603263655, + "intensity": 0.7563673506709959 + }, + "point_color_scale": [ + 0.8499613982122388, + 0.8758224776631389, + 0.9172002047845793 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4865a7a57c38d906e6bd6c46968cc8383ee12b3c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8216294095508663, + "K": [ + [ + 536.2683242747939, + 0.0, + 289.8172616513743 + ], + [ + 0.0, + 550.963992652393, + 241.35665204918925 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.081743580276953, + -9.182907870281294, + 0.8653589233083574 + ], + "camera_target": [ + -3.6652605557679716, + -9.347638341201037, + 0.926804186725765 + ], + "camera_roll_rad": 0.004141230569453681, + "camera_pose_world_cv": [ + [ + -0.27248120307922363, + -0.09477826952934265, + -0.9574817419052124, + -3.0817434787750244 + ], + [ + 0.9621258974075317, + -0.0353623628616333, + -0.2703023850917816, + -9.182908058166504 + ], + [ + -0.008240163326263428, + -0.9948701858520508, + 0.10082435607910156, + 0.8653589487075806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25451206301860035, + 0.24698712246711996, + 0.25997388208508443 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9077603980012054, + 0.9489617700416583, + 1.014883965306383 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6353.523224239765, + "intensity": 0.9654423188578395 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6675419514329308, + 0.648034000930096, + 0.6145918000680934 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5069.9531092761035, + "intensity": 0.648034000930096 + }, + "point_color_scale": [ + 0.9179464922479255, + 0.9501497537717672, + 1.0016749722099143 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a702a35c299a33601782e5c2de2f156f6503fff3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2916841756704216, + "K": [ + [ + 330.8863850776762, + 0.0, + 317.07013854972627 + ], + [ + 0.0, + 318.4442005884474, + 253.19764345438193 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7272515084678175, + -8.582644406999364, + 0.9643965531000273 + ], + "camera_target": [ + -3.5900750665947365, + -9.385921616123833, + 0.9290452511602705 + ], + "camera_roll_rad": -0.002884021625166877, + "camera_pose_world_cv": [ + [ + -0.9856717586517334, + -0.012981146574020386, + 0.16817623376846313, + -3.7272515296936035 + ], + [ + -0.16857802867889404, + 0.04174995422363281, + -0.9848038554191589, + -8.58264446258545 + ], + [ + 0.005762554705142975, + -0.999043881893158, + -0.04333978891372681, + 0.9643965363502502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23239321246193453, + 0.2436896661695292, + 0.24652948548223386 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.039079592013498, + 0.983389099565308, + 0.8879196839398391 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4690.983036219084, + "intensity": 0.983389099565308 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5889968300517499, + 0.6050694244480425, + 0.6307855754821106 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6025.678980067929, + "intensity": 0.6114984622065595 + }, + "point_color_scale": [ + 0.9750117219025015, + 0.9899642763323414, + 1.0138883634200855 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..951182881dc25bb58597c7ec930ca36fe668cb27 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9148094031053691, + "K": [ + [ + 501.96859317192167, + 0.0, + 296.3105941996661 + ], + [ + 0.0, + 487.58630874067995, + 236.9360224890769 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.277295806576221, + -9.574185770158405, + 1.0326824619099275 + ], + "camera_target": [ + -3.6856869716956555, + -9.350695765779944, + 0.8714435243551171 + ], + "camera_roll_rad": -0.015560803110648704, + "camera_pose_world_cv": [ + [ + 0.36041152477264404, + -0.22000503540039062, + 0.9064774513244629, + -4.2772955894470215 + ], + [ + -0.9323059320449829, + -0.11637330055236816, + 0.34243661165237427, + -9.574185371398926 + ], + [ + 0.03015199303627014, + -0.968532383441925, + -0.2470543384552002, + 1.0326824188232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32881395467975033, + 0.310753779943161, + 0.32950354497636375 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0981220916802321, + 1.1361906474609713, + 1.197100336710154 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6161.246453918091, + "intensity": 1.151418069773267 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6475761451561479, + 0.6694539786763434, + 0.7044585123086562 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6145.168640883738, + "intensity": 0.6782051120844216 + }, + "point_color_scale": [ + 0.9767747482813358, + 0.9930604584032143, + 1.0191175945982198 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1199e8b177a0245b5e1eb975b3a9860427a6832 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1419606825162936, + "K": [ + [ + 385.61047808261674, + 0.0, + 292.04637180229224 + ], + [ + 0.0, + 373.62661445679316, + 243.3125014455621 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5097170490150376, + -8.897497847616252, + 1.0662334084300529 + ], + "camera_target": [ + -3.658356010344587, + -9.436121999212762, + 0.9921604065829763 + ], + "camera_roll_rad": 0.03893993284399164, + "camera_pose_world_cv": [ + [ + -0.9583264589309692, + 0.10985131561756134, + -0.26371023058891296, + -3.5097169876098633 + ], + [ + 0.2750670909881592, + 0.10560214519500732, + -0.9556077718734741, + -8.89749813079834 + ], + [ + -0.0771264135837555, + -0.9883222579956055, + -0.13141781091690063, + 1.0662333965301514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34517125256079106, + 0.3692015050393365, + 0.3872654724103741 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.8765896445336343, + 0.8706630527878707, + 0.8605031812237043 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5402.757334083543, + "intensity": 0.8706630527878707 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7840163145377463, + 0.7803016197066961, + 0.7739335714248957 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5431.991594436327, + "intensity": 0.7803016197066961 + }, + "point_color_scale": [ + 0.9123460350337325, + 0.9253485990849154, + 0.9461527015668082 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb3d85bd1657878210d5cf894d7a18ea4ccb77f1 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2022378935053573, + "K": [ + [ + 346.1683592850473, + 0.0, + 288.25748739422653 + ], + [ + 0.0, + 349.9660892135767, + 261.5712137625136 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.254382697806784, + -9.154168793598279, + 0.9946236213633414 + ], + "camera_target": [ + -3.616730486608891, + -9.414708954027887, + 0.9227044301110034 + ], + "camera_roll_rad": -0.018898882675654552, + "camera_pose_world_cv": [ + [ + -0.5882518291473389, + 0.10701781511306763, + -0.8015655279159546, + -3.254382610321045 + ], + [ + 0.8078169822692871, + 0.12349271774291992, + -0.5763518810272217, + -9.154169082641602 + ], + [ + 0.03730747103691101, + -0.986558198928833, + -0.1590954065322876, + 0.994623601436615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27314341162710204, + 0.2757809964051801, + 0.2888602793322865 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0567584295686026, + 1.074588788865542, + 1.1031173637406457 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5829.6665296906385, + "intensity": 1.081720932584318 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6358072707442507, + 0.6526952486767056, + 0.6797160133686334 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6012.183385192806, + "intensity": 0.6594504398496875 + }, + "point_color_scale": [ + 1.233208472251143, + 1.1831127668230177, + 1.0972344146605173 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9985b950f1f060e4490f57a0c46b10b7c635fbbb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8502188949532438, + "K": [ + [ + 538.6720384332709, + 0.0, + 334.1402165457367 + ], + [ + 0.0, + 530.134824096224, + 257.5079589467167 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.397991896806886, + -8.948359313871851, + 0.8992735035811271 + ], + "camera_target": [ + -3.6256261462989507, + -9.405169333496316, + 0.9597761211015503 + ], + "camera_roll_rad": -0.0010795820950823959, + "camera_pose_world_cv": [ + [ + -0.8949151039123535, + -0.05443558096885681, + -0.442903995513916, + -3.397991895675659 + ], + [ + 0.44623151421546936, + -0.10439878702163696, + -0.8888072371482849, + -8.948359489440918 + ], + [ + 0.0021441131830215454, + -0.9930446743965149, + 0.11771893501281738, + 0.8992735147476196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3162551310951416, + 0.33886689825805383, + 0.3281052067228189 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.8870827797951791, + 0.870565862721315, + 0.8422511477375476 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5228.962542293489, + "intensity": 0.870565862721315 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7379615218205655, + 0.7315100279125833, + 0.7204503240703283 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5374.008290838533, + "intensity": 0.7315100279125833 + }, + "point_color_scale": [ + 1.0230940594268285, + 0.9818555996631951, + 0.911161097211252 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bda54a23a10243d179c31172caaf8bf007bd0842 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0537287232940074, + "K": [ + [ + 417.91107473268016, + 0.0, + 317.1707356299939 + ], + [ + 0.0, + 412.57485231388574, + 259.02964317985095 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.649810430478569, + -9.267301390143986, + 1.0042017671247159 + ], + "camera_target": [ + -3.651274933461639, + -9.420232850440579, + 0.8700159123006521 + ], + "camera_roll_rad": -0.012424076521765734, + "camera_pose_world_cv": [ + [ + -0.15413618087768555, + 0.12601181864738464, + -0.9799813032150269, + -2.649810314178467 + ], + [ + 0.9877426624298096, + 0.04437673091888428, + -0.14965057373046875, + -9.267301559448242 + ], + [ + 0.024630457162857056, + -0.9910358190536499, + -0.13130712509155273, + 1.0042017698287964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30055942787714585, + 0.3225334346954144, + 0.3332295987624065 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0908264745921439, + 1.1370783707481236, + 1.2110814045976912 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6300.497256948191, + "intensity": 1.1555791292105155 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.705135436495927, + 0.7235381165897437, + 0.7529824047398503 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6003.562745181848, + "intensity": 0.7308991886272703 + }, + "point_color_scale": [ + 0.8234791386087493, + 0.8504109515892156, + 0.8935018523579621 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d9163bbcc76e09c6e5364934d82356e8923ae4db --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0147828145381013, + "K": [ + [ + 416.1808445479722, + 0.0, + 292.67302525473514 + ], + [ + 0.0, + 431.70209908499993, + 248.18081598865214 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7716710446410415, + -8.432532771920389, + 1.0103167375909847 + ], + "camera_target": [ + -3.6527775769707684, + -9.354953979256617, + 0.9082168382060324 + ], + "camera_roll_rad": -0.04609999529538448, + "camera_pose_world_cv": [ + [ + -0.9862985610961914, + -0.10520453751087189, + 0.1270718276500702, + -3.7716710567474365 + ], + [ + -0.13725672662258148, + 0.09599828720092773, + -0.9858726859092712, + -8.43253231048584 + ], + [ + 0.09151958674192429, + -0.9898062348365784, + -0.10912305116653442, + 1.0103167295455933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21572756886697536, + 0.2378030878851471, + 0.24043040699768542 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.8993048362394007, + 0.9426222896191409, + 1.0119302150267253 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6402.494635699289, + "intensity": 0.959949270971037 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5683266364519471, + 0.5901574795456712, + 0.6250868284956299 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6229.043723300721, + "intensity": 0.5988898167831609 + }, + "point_color_scale": [ + 0.8712497186525153, + 0.8824757530592441, + 0.9004374081100103 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7779559a05324975cbd288a2d2704e625971adc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8962350462130746, + "K": [ + [ + 490.4494128142951, + 0.0, + 330.0695924045001 + ], + [ + 0.0, + 499.23509484449403, + 238.526493708254 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.001916396682071, + -9.187409444106201, + 1.0192768817034459 + ], + "camera_target": [ + -3.681725087370908, + -9.393949461782542, + 0.8680383551647677 + ], + "camera_roll_rad": -0.04474722913770662, + "camera_pose_world_cv": [ + [ + -0.30734097957611084, + 0.17243000864982605, + -0.9358468055725098, + -3.0019164085388184 + ], + [ + 0.9475756883621216, + 0.1457967758178711, + -0.284329891204834, + -9.187409400939941 + ], + [ + 0.08741649985313416, + -0.9741719961166382, + -0.2081998586654663, + 1.0192768573760986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2296812602978287, + 0.21846336637523042, + 0.2326081554902617 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.1283744844322379, + 1.1302465268525181, + 1.1332417947249667 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5533.104334699669, + "intensity": 1.1309953438206302 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.9068205148600359, + 0.9132775492406069, + 0.9236088042495203 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5641.004778489829, + "intensity": 0.9158603629928352 + }, + "point_color_scale": [ + 1.1764220710068387, + 1.187561532350606, + 1.2053846705006335 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42fdc2c39715ab8d8aac9fb702ca40b37b4c8545 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8021747511703374, + "K": [ + [ + 580.9334547332738, + 0.0, + 300.9763371453442 + ], + [ + 0.0, + 565.9368853420922, + 233.22409784719918 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0760492232740906, + -9.615896077937215, + 0.9925893552115714 + ], + "camera_target": [ + -3.6162591251231784, + -9.378710715343422, + 0.9312781455337736 + ], + "camera_roll_rad": -0.00507201403736765, + "camera_pose_world_cv": [ + [ + 0.4010380506515503, + 0.09871569275856018, + -0.9107271432876587, + -3.076049327850342 + ], + [ + 0.9160059690475464, + -0.03226357698440552, + 0.3998655378818512, + -9.615896224975586 + ], + [ + 0.01008954644203186, + -0.9945926666259766, + -0.10336291790008545, + 0.9925893545150757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.018899083137512207, + -0.9998214244842529, + 6.369876182077405e-09, + -3.639719009399414 + ], + [ + 0.9998214244842529, + -0.018899083137512207, + 5.7685412002683734e-08, + -9.386853218078613 + ], + [ + -5.755472543000906e-08, + 7.458941020388465e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.281229509407012, + 0.25614881712473747, + 0.26745752448105325 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.1838620714610617, + 1.1734249275033877, + 1.1555326807188038 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5372.934302788818, + "intensity": 1.1734249275033877 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6794303198025485, + 0.672741029056474, + 0.6612736734917749 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5357.952328986805, + "intensity": 0.672741029056474 + }, + "point_color_scale": [ + 0.8976255722822694, + 0.9341955155687607, + 0.9927074248271468 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..875cc5c34a153501a3b5b39b2aafb70b10340611 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.861035221244309, + "K": [ + [ + 520.9737036930593, + 0.0, + 344.17612955384914 + ], + [ + 0.0, + 522.5938512664436, + 234.67174262732385 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.771337814007614, + -7.942985541834936, + 0.8414623643921102 + ], + "camera_target": [ + -4.186326735293961, + -8.353947719648517, + 0.9971685663812596 + ], + "camera_roll_rad": 0.03282936928427006, + "camera_pose_world_cv": [ + [ + -0.5621628761291504, + 0.21147149801254272, + 0.7995327711105347, + -4.771337985992432 + ], + [ + -0.8245380520820618, + -0.06837290525436401, + -0.5616602301597595, + -7.942985534667969 + ], + [ + -0.0641086995601654, + -0.9749897122383118, + 0.21280300617218018, + 0.8414623737335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23643459725222296, + 0.23474180138128814, + 0.22659363152250983 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.8988286173223426, + 0.9001833503298099, + 0.9023509231417575 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5530.080937937384, + "intensity": 0.9007252435327968 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6516862936887693, + 0.6708327490659118, + 0.7014670776693399 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6064.383198317548, + "intensity": 0.6784913312167689 + }, + "point_color_scale": [ + 0.9322771258245599, + 0.9220234285097715, + 0.9044456616844199 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b95ed89f2fb861394078bbc73f664e8d006a2b99 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0666150030745707, + "K": [ + [ + 419.7375653639225, + 0.0, + 307.2291738901907 + ], + [ + 0.0, + 406.5256731748111, + 219.72588729091862 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.622825384858155, + -8.773684784795785, + 0.9959414152008328 + ], + "camera_target": [ + -4.147541421171589, + -8.37975090861728, + 0.8824362608911955 + ], + "camera_roll_rad": 0.040890348283840125, + "camera_pose_world_cv": [ + [ + 0.6095154881477356, + 0.08681714534759521, + -0.7880061864852905, + -3.6228253841400146 + ], + [ + 0.7886771559715271, + -0.16732728481292725, + 0.5915995836257935, + -8.77368450164795 + ], + [ + -0.08049401640892029, + -0.9820715188980103, + -0.17045921087265015, + 0.9959414005279541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2634072988838912, + 0.2923894932178838, + 0.2790531515314672 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9396468561632669, + 0.953488398477353, + 0.9756348661798907 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5788.658629165575, + "intensity": 0.9590250154029873 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6558567914202887, + 0.6788568948797684, + 0.7156570604149357 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6168.552331857299, + "intensity": 0.6880569362635602 + }, + "point_color_scale": [ + 0.9972051590065973, + 1.0074642058046754, + 1.0238786806816 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9e9a2d31bbac53fddd05f89ad02f03edec3d880 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.953538602419402, + "K": [ + [ + 458.5857962192845, + 0.0, + 297.5215223890401 + ], + [ + 0.0, + 464.6557731332527, + 225.06701231308008 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.665951169333459, + -7.9828526606611385, + 1.0232598233907524 + ], + "camera_target": [ + -4.165885859468754, + -8.41486998826644, + 0.9610062536234826 + ], + "camera_roll_rad": -0.011635873620708392, + "camera_pose_world_cv": [ + [ + -0.6553163528442383, + 0.055740416049957275, + -0.7532951831817627, + -3.6659512519836426 + ], + [ + 0.7549992799758911, + 0.07892239093780518, + -0.6509588360786438, + -7.982852458953857 + ], + [ + 0.023167073726654053, + -0.9953212141990662, + -0.0938030481338501, + 1.0232598781585693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27046012639192574, + 0.2773544670517605, + 0.2820057612412649 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.2263079402524515, + 1.17753848399927, + 1.093933701850959 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4908.336519468671, + "intensity": 1.17753848399927 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7511535878732783, + 0.7377399200320192, + 0.7147450608755745 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5240.255581810745, + "intensity": 0.7377399200320192 + }, + "point_color_scale": [ + 0.9293458525771143, + 0.8931400951305045, + 0.8310730823648876 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25f6f6aac1029c469383ed2fb67b2a6594854b47 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.20810822448776, + "K": [ + [ + 359.4859043734302, + 0.0, + 309.64695103423037 + ], + [ + 0.0, + 347.77316191031883, + 217.21628752124363 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.690409619471978, + -8.365178394439027, + 0.8241139794318945 + ], + "camera_target": [ + -4.176166389272581, + -8.330499853153297, + 0.9817460929766753 + ], + "camera_roll_rad": 0.031629471385851454, + "camera_pose_world_cv": [ + [ + 0.08559525012969971, + 0.2869654893875122, + 0.954109251499176, + -4.6904096603393555 + ], + [ + -0.9944944381713867, + 0.08271217346191406, + 0.06434124708175659, + -8.365178108215332 + ], + [ + -0.06045264005661011, + -0.9543635249137878, + 0.2924654483795166, + 0.8241139650344849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26836575777415705, + 0.24982907442167232, + 0.2605019918002844 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.0233441323562045, + 0.9796904056415653, + 0.9048554455593268 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4863.447203564685, + "intensity": 0.9796904056415653 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6733138951533636, + 0.6979011630429014, + 0.7372407916661619 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6194.814604620455, + "intensity": 0.7077360701987164 + }, + "point_color_scale": [ + 0.9081383310196678, + 0.8778625851547548, + 0.8259613065291899 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98faccf40e818626a88e3dcbe9ed18f8f6fb024a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9740425818225045, + "K": [ + [ + 468.10420772102407, + 0.0, + 292.2227412279367 + ], + [ + 0.0, + 453.19955123770336, + 217.0476509309198 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.629147859636254, + -7.996548335256738, + 1.0178504137083217 + ], + "camera_target": [ + -4.207136610928795, + -8.382002311810336, + 0.9420389412980084 + ], + "camera_roll_rad": 0.005273498337432299, + "camera_pose_world_cv": [ + [ + -0.6753885746002197, + -0.08996966481208801, + 0.731953501701355, + -4.629148006439209 + ], + [ + -0.737388014793396, + 0.09645998477935791, + -0.6685465574264526, + -7.996548175811768 + ], + [ + -0.010455310344696045, + -0.9912623167037964, + -0.13149046897888184, + 1.017850399017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29997475559619674, + 0.284863826523508, + 0.28468395599841545 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9981732867384597, + 1.0498498332123465, + 1.132532307570565 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6465.447159592416, + "intensity": 1.0705204518019011 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.574154772235818, + 0.551736685278861, + 0.5133056790669348 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 4919.544877757187, + "intensity": 0.551736685278861 + }, + "point_color_scale": [ + 1.159335191204962, + 1.1683002311954893, + 1.1826442951803324 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d59400337e316dc7858df3ee0c0e80469c40ae5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.963400444617738, + "K": [ + [ + 474.80653447214615, + 0.0, + 289.17402757293286 + ], + [ + 0.0, + 459.08956830793244, + 235.26630512119957 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.422499859848011, + -7.9633551375279, + 1.1360525407634505 + ], + "camera_target": [ + -4.155509794935582, + -8.3391628766511, + 0.8936735300224468 + ], + "camera_roll_rad": -0.04346923632686082, + "camera_pose_world_cv": [ + [ + -0.47631311416625977, + 0.21062734723091125, + -0.8536756038665771, + -3.422499895095825 + ], + [ + 0.8753213882446289, + 0.20556247234344482, + -0.4376719295978546, + -7.96335506439209 + ], + [ + 0.08329793810844421, + -0.9557093381881714, + -0.2822785973548889, + 1.1360524892807007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3714662258388342, + 0.38796517899064137, + 0.35470273613021186 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.127219024538761, + 1.123073302239097, + 1.1159663497253876 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5447.265593294012, + "intensity": 1.123073302239097 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7331333934030396, + 0.7097586495716702, + 0.6696876601464655 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5029.523293476979, + "intensity": 0.7097586495716702 + }, + "point_color_scale": [ + 1.0531555782923936, + 1.008705851155115, + 0.9325063189197806 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf968aff4c96af13d07fd6796a78553156946a07 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.25828452258417, + "K": [ + [ + 333.4927538223967, + 0.0, + 309.68652393535154 + ], + [ + 0.0, + 329.7600940467204, + 240.7134520038203 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5689585747524366, + -8.545095566433478, + 1.1150565542934197 + ], + "camera_target": [ + -4.157424820815391, + -8.349781442648277, + 0.9981278716399764 + ], + "camera_roll_rad": -0.00013485677959220593, + "camera_pose_world_cv": [ + [ + 0.31495916843414307, + 0.17596840858459473, + -0.9326499700546265, + -3.5689585208892822 + ], + [ + 0.9491052627563477, + -0.05812036991119385, + 0.30955037474632263, + -8.545095443725586 + ], + [ + 0.0002650320529937744, + -0.9826786518096924, + -0.1853179931640625, + 1.1150565147399902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21905068543134634, + 0.22208585580741258, + 0.21402663152596058 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.068579088573103, + 1.0824377636655453, + 1.1046116438134532 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5754.759451048247, + "intensity": 1.0879812337025223 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5382868457652045, + 0.5583679200139896, + 0.5904976388120461 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6209.077042729321, + "intensity": 0.5664003497135037 + }, + "point_color_scale": [ + 0.9325756153516402, + 0.9343748945533653, + 0.9372537412761255 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dee2f20b0d128c8b93348f18383d508020c3f05a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.915341102697501, + "K": [ + [ + 480.54120599426085, + 0.0, + 305.7618295535651 + ], + [ + 0.0, + 487.2593345520424, + 252.325148853078 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9932254385155734, + -7.879251837612454, + 0.9495355201768971 + ], + "camera_target": [ + -4.190616066911208, + -8.349263963323063, + 0.8850422233012389 + ], + "camera_roll_rad": 0.039534008595606365, + "camera_pose_world_cv": [ + [ + -0.9152729511260986, + 0.12127159535884857, + -0.38414663076400757, + -3.993225336074829 + ], + [ + 0.3951391577720642, + 0.08477532863616943, + -0.9147011637687683, + -7.879251956939697 + ], + [ + -0.07836107909679413, + -0.9889926314353943, + -0.1255117654800415, + 0.9495355486869812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3647576589598425, + 0.37205640309036936, + 0.3739245741321607 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.957695020867591, + 0.9608735168403518, + 0.9659591103967693 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5566.071044443505, + "intensity": 0.9621449152294562 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.8619547810657563, + 0.8362721012815593, + 0.7922446502229358 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5061.272670789479, + "intensity": 0.8362721012815593 + }, + "point_color_scale": [ + 0.7651870650455809, + 0.7948395465803476, + 0.8422835170359746 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7539af8370e9eb4ca967e5c8f51bc69d58483ac6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.880771360603988, + "K": [ + [ + 504.29391224400524, + 0.0, + 303.8064226238609 + ], + [ + 0.0, + 509.2819033744676, + 245.199250893168 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.181429535180425, + -7.91015870758, + 1.0093000790289368 + ], + "camera_target": [ + -4.168818935112475, + -8.331018442280012, + 0.984005502818645 + ], + "camera_roll_rad": -0.044690168924274215, + "camera_pose_world_cv": [ + [ + -0.9954012632369995, + -0.09101025760173798, + 0.02989613264799118, + -4.181429386138916 + ], + [ + -0.035180818289518356, + 0.057027578353881836, + -0.9977526664733887, + -7.910158634185791 + ], + [ + 0.08910082280635834, + -0.9942158460617065, + -0.05996692180633545, + 1.0093001127243042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3052182048117956, + 0.30879300582274877, + 0.32398842701399466 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.2515971714787821, + 1.1716332037773403, + 1.0345521162891542 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4524.99998117843, + "intensity": 1.1716332037773403 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7704629325647552, + 0.7714938519508135, + 0.7731433229685072 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5526.711000889516, + "intensity": 0.771906219705237 + }, + "point_color_scale": [ + 1.0668778272815835, + 1.1108134918295622, + 1.181110555106329 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..508549db725da005669c8b1af74eaa0f2d1121f7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0704188988276164, + "K": [ + [ + 410.4616309362311, + 0.0, + 312.22115230556756 + ], + [ + 0.0, + 404.7652007908641, + 257.4667166040525 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.7369759567590175, + -7.946014205260619, + 1.1392803500396638 + ], + "camera_target": [ + -4.162311129409711, + -8.365590061470536, + 0.9173239160929765 + ], + "camera_roll_rad": 0.0244249679142422, + "camera_pose_world_cv": [ + [ + -0.6893267631530762, + 0.2819174826145172, + -0.667346715927124, + -3.736975908279419 + ], + [ + 0.7230033874511719, + 0.20950937271118164, + -0.6583102941513062, + -7.946014404296875 + ], + [ + -0.04577392339706421, + -0.9362845420837402, + -0.3482472896575928, + 1.1392803192138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34886115609484036, + 0.3464623014249269, + 0.34455544252170306 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9211737851216955, + 0.9220250576498287, + 0.9233870936948421 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5518.458462867709, + "intensity": 0.922365566661082 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5841418654140788, + 0.6009069800018813, + 0.6277311633423652 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6051.835259446853, + "intensity": 0.6076130258370023 + }, + "point_color_scale": [ + 0.966624200388951, + 0.9824890558692351, + 1.0078728246376898 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..829e8ece723015aed0b8a3e37dc6aae0c201a0a0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0695115376960185, + "K": [ + [ + 408.438501103289, + 0.0, + 301.548210750036 + ], + [ + 0.0, + 405.1841075765668, + 229.2697819199913 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.1213217797276345, + -7.461019511731868, + 1.0561023831680365 + ], + "camera_target": [ + -4.190398099861754, + -8.320462229849081, + 0.9352258466227197 + ], + "camera_roll_rad": 0.023191415228884946, + "camera_pose_world_cv": [ + [ + -0.9951978921890259, + 0.05732806399464607, + -0.07933948934078217, + -4.121321678161621 + ], + [ + 0.08644579350948334, + 0.13452565670013428, + -0.98713219165802, + -7.461019515991211 + ], + [ + -0.04591717943549156, + -0.9892504215240479, + -0.1388353705406189, + 1.0561023950576782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25925619970379793, + 0.2666755746248654, + 0.2717744979507804 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9850640554684038, + 1.0137873377682378, + 1.0597445894479725 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6060.303061238248, + "intensity": 1.0252766506881714 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.7649814134256999, + 0.7350595792895188, + 0.683765006484637 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 4918.476018247151, + "intensity": 0.7350595792895188 + }, + "point_color_scale": [ + 0.8354316275412133, + 0.8470063311830053, + 0.8655258570098726 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d38bad2831c0e4cb8d8c8eff8d84f3a441941e79 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.182229846741576, + "K": [ + [ + 343.46764707446226, + 0.0, + 315.37316592961514 + ], + [ + 0.0, + 357.58366335456856, + 239.2969052105096 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.600185262350782, + -7.7098616561393465, + 0.7164792314383034 + ], + "camera_target": [ + -4.1552864114928445, + -8.376330847238103, + 0.8579433651074877 + ], + "camera_roll_rad": 0.03490936505112685, + "camera_pose_world_cv": [ + [ + -0.7737002372741699, + -0.049163609743118286, + -0.6316415667533875, + -3.6001851558685303 + ], + [ + 0.6297996044158936, + -0.16803228855133057, + -0.7583651542663574, + -7.709861755371094 + ], + [ + -0.0688522458076477, + -0.9845547676086426, + 0.16096985340118408, + 0.7164792418479919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2991360326410674, + 0.2971810604174613, + 0.3107262682188311 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9738973038877302, + 0.9204710874002846, + 0.8288832877075205 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4670.824945450501, + "intensity": 0.9204710874002846 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.8054378906118568, + 0.7739625972047454, + 0.7200049513639831 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 4919.032585945405, + "intensity": 0.7739625972047454 + }, + "point_color_scale": [ + 1.0796430828938468, + 1.046019307797002, + 0.9883785504881252 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..034f04b53c3e7c31735b9a491dea765cafe24829 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7885652426489771, + "K": [ + [ + 564.2221736728421, + 0.0, + 334.372031165247 + ], + [ + 0.0, + 576.8259958773835, + 262.1280428801288 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6001849636666607, + -7.742260227680396, + 0.7102370463923124 + ], + "camera_target": [ + -4.135534724498072, + -8.357611613168046, + 0.9181893240048079 + ], + "camera_roll_rad": 0.035723365011259306, + "camera_pose_world_cv": [ + [ + -0.7640975713729858, + -0.10788682103157043, + -0.6360151767730713, + -3.600184917449951 + ], + [ + 0.6413812637329102, + -0.23276937007904053, + -0.7310597896575928, + -7.742260456085205 + ], + [ + -0.06917309761047363, + -0.9665292501449585, + 0.2470550537109375, + 0.7102370262145996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2933754328686698, + 0.31574885874273767, + 0.32211299079296196 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 1.2102930258995712, + 1.1639566856441632, + 1.084522959492035 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 4931.2952310866585, + "intensity": 1.1639566856441632 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.8804387889875525, + 0.8820220691599451, + 0.8845553174357735 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5535.8753870664295, + "intensity": 0.8826553812289022 + }, + "point_color_scale": [ + 0.8695741476467876, + 0.875716477396991, + 0.8855442049973163 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5734c3b6e4b627699b952718006813f7abdc1be9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7941129587284629, + "K": [ + [ + 592.0361985699831, + 0.0, + 306.0334969924324 + ], + [ + 0.0, + 572.3445484174493, + 237.91254359170992 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6165762105417834, + -8.481411475945436, + 1.0679450542012021 + ], + "camera_target": [ + -4.16687094915064, + -8.346088855221184, + 0.8992261046620883 + ], + "camera_roll_rad": -0.011291783336342627, + "camera_pose_world_cv": [ + [ + 0.23247838020324707, + 0.28241539001464844, + -0.9306962490081787, + -3.6165761947631836 + ], + [ + 0.9723608493804932, + -0.04619455337524414, + 0.228868305683136, + -8.481411933898926 + ], + [ + 0.0216427743434906, + -0.9581794142723083, + -0.2853487730026245, + 1.0679450035095215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31978018356843146, + 0.3262123496845434, + 0.34834194148893366 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.9572342691898301, + 0.9667112807051803, + 0.9818744991297407 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 5695.301208699828, + "intensity": 0.9705020853113204 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.5941589486403759, + 0.6100267001391377, + 0.635415102537157 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6014.874301268047, + "intensity": 0.6163738007386426 + }, + "point_color_scale": [ + 1.1046196139938154, + 1.0868490198441236, + 1.0563851441589378 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14dcc291372492d0c996ac27683d4aae32cfe0f0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0701527500695749, + "K": [ + [ + 396.1894494703553, + 0.0, + 345.25960701912237 + ], + [ + 0.0, + 404.888008801747, + 259.22037532112824 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.645808169158553, + -8.850327297481448, + 1.0745780813884398 + ], + "camera_target": [ + -4.1891538309304215, + -8.381345449431603, + 0.942932393450243 + ], + "camera_roll_rad": 0.0199777939599019, + "camera_pose_world_cv": [ + [ + 0.7103939056396484, + -0.16605794429779053, + 0.6839336156845093, + -4.645808219909668 + ], + [ + -0.7027139663696289, + -0.11328232288360596, + 0.702396035194397, + -8.850327491760254 + ], + [ + -0.03916087746620178, + -0.9795875549316406, + -0.1971663236618042, + 1.074578046798706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24197018659861888, + 0.26287592052894593, + 0.2644420524551588 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.8269343375540115, + 0.8487243343373825, + 0.8835883291907765 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6008.256865077559, + "intensity": 0.857440333050731 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.6325955335931049, + 0.6536090252244452, + 0.6872306118345894 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 6134.834859692679, + "intensity": 0.6620144218769812 + }, + "point_color_scale": [ + 0.8364310053273091, + 0.8246336343181996, + 0.8044095697311545 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000740/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000740/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2149380cdb368e700d7c0299d58ea3b166fa0e87 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000740/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 740, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.855814272646891, + "K": [ + [ + 531.6113383451993, + 0.0, + 350.9528780377499 + ], + [ + 0.0, + 526.2114861704842, + 222.54248218202758 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.798681720155132, + -7.644783034920587, + 1.0517862409085317 + ], + "camera_target": [ + -4.135046164702972, + -8.352775402787683, + 0.9728904150497668 + ], + "camera_roll_rad": -0.018651505599652646, + "camera_pose_world_cv": [ + [ + -0.9042184352874756, + 0.009260356426239014, + -0.42697012424468994, + -3.7986817359924316 + ], + [ + 0.4254554510116577, + 0.1063990592956543, + -0.8987029194831848, + -7.644783020019531 + ], + [ + 0.037106871604919434, + -0.9942803978919983, + -0.10014772415161133, + 1.051786184310913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8072289228439331, + -0.5902385115623474, + 5.608698927517253e-08, + -4.162966251373291 + ], + [ + 0.5902385115623474, + -0.8072289228439331, + 7.573660809612193e-08, + -8.367536544799805 + ], + [ + 5.723759244347093e-10, + 9.424148572634294e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37440827626320317, + 0.37820479765173537, + 0.3686635482244652 + ], + "directional_primary": { + "direction": [ + 0.34359267353103096, + -0.6631486784615809, + -0.664964587741676 + ], + "color": [ + 0.842120141179301, + 0.8821139841808736, + 0.94610413298339 + ], + "azimuth_rad": -1.0927555492017413, + "elevation_rad": 0.7274464039813963, + "color_temp_k": 6390.620864991309, + "intensity": 0.8981115213815027 + }, + "directional_fill": { + "direction": [ + 0.25275118088365417, + 0.11591908454687194, + -0.960562129380361 + ], + "color": [ + 0.8437385876563396, + 0.8171880506059592, + 0.7716728442338785 + ], + "azimuth_rad": 0.43000679694972943, + "elevation_rad": 1.2890167847027625, + "color_temp_k": 5035.855442143637, + "intensity": 0.8171880506059592 + }, + "point_color_scale": [ + 0.9437042941312858, + 0.9047282983255927, + 0.8379123055158328 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_001/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97c5a094bdf7cbd5a8cd4d45ece27657084fbbf5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9283549804694803, + "K": [ + [ + 490.16131500875485, + 0.0, + 295.4195944532092 + ], + [ + 0.0, + 479.364815604414, + 257.8906303757725 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4663852898041885, + -2.497803594189951, + 1.0870835114535642 + ], + "camera_target": [ + -3.209380133742187, + -3.1945037849805797, + 0.9959462011985551 + ], + "camera_roll_rad": 0.046150051482298726, + "camera_pose_world_cv": [ + [ + -0.6751120090484619, + 0.12777993083000183, + -0.7265647053718567, + -2.4663853645324707 + ], + [ + 0.7319810390472412, + -0.0065329670906066895, + -0.6812936663627625, + -2.4978036880493164 + ], + [ + -0.09180229902267456, + -0.9917810559272766, + -0.08912193775177002, + 1.0870834589004517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923650741577148, + -0.6100472807884216, + -2.8212941316496654e-08, + -3.177654504776001 + ], + [ + 0.6100472807884216, + -0.7923650741577148, + 9.60252410919793e-09, + -3.1458280086517334 + ], + [ + -2.8212941316496654e-08, + -9.60252410919793e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3823314129602675, + 0.3814528534053685, + 0.3674765997686094 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1547641107385318, + 1.1215583369245326, + 1.064634153243391 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5077.045453878369, + "intensity": 1.1215583369245326 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7184000493856397, + 0.7364590326036733, + 0.7653534057525272 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5985.663711624298, + "intensity": 0.7436826258908867 + }, + "point_color_scale": [ + 0.819085024640725, + 0.8396568226340547, + 0.8725716994233822 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_002/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d39f51f75378be53d0e0b8b026d8fde46b2f7de --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1716151395539374, + "K": [ + [ + 367.55945639480063, + 0.0, + 299.40837219393774 + ], + [ + 0.0, + 361.7177849940387, + 221.42520704758635 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9537744543487605, + -2.7110979060378284, + 1.0659678903743575 + ], + "camera_target": [ + -3.145762802238229, + -3.1463315699093535, + 0.9609238438475366 + ], + "camera_roll_rad": 0.019775179018878306, + "camera_pose_world_cv": [ + [ + -0.9107818603515625, + 0.12313427031040192, + -0.3940996825695038, + -2.9537744522094727 + ], + [ + 0.41107892990112305, + 0.18117260932922363, + -0.8934152126312256, + -2.7110979557037354 + ], + [ + -0.03860995173454285, + -0.9757122993469238, + -0.2156265377998352, + 1.0659679174423218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.342144325094971, + 0.3448855289265481, + 0.3391204035795326 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9461928801397812, + 0.9681367134021811, + 1.0032468466220208 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5949.247891232322, + "intensity": 0.976914246707141 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8536000466820748, + 0.8287243417535093, + 0.7860802761616824 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5071.1876731974635, + "intensity": 0.8287243417535093 + }, + "point_color_scale": [ + 0.912575919041556, + 0.940432565624157, + 0.985003200156319 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55ed7adf99e50c870d8a28812521a991c3a8a7da --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9019735364261906, + "K": [ + [ + 477.5136062137226, + 0.0, + 350.5706653239644 + ], + [ + 0.0, + 495.5885707110473, + 234.4485936804204 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3756590204947003, + -2.681329033743382, + 0.9429129908498891 + ], + "camera_target": [ + -3.1812460686386625, + -3.179959764344832, + 0.9546120682946047 + ], + "camera_roll_rad": 0.0040841900786671645, + "camera_pose_world_cv": [ + [ + -0.9315922260284424, + 0.015548810362815857, + 0.3631725311279297, + -3.3756589889526367 + ], + [ + -0.3634135127067566, + -0.01739358901977539, + -0.9314656257629395, + -2.6813290119171143 + ], + [ + -0.008166283369064331, + -0.9997278451919556, + 0.021854400634765625, + 0.9429129958152771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38067461884868425, + 0.3480854305571452, + 0.3825558579871779 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9551622167100414, + 0.9583276948232836, + 0.9633924598044712 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5565.975370606227, + "intensity": 0.9595938860685805 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6278480030883473, + 0.6228221810547099, + 0.6142064861399028 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5384.722381752995, + "intensity": 0.6228221810547099 + }, + "point_color_scale": [ + 0.8870765620318818, + 0.9165088325914681, + 0.9636004654868061 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc123cdc58a6103ffa2ffefd658714475f7ae0c6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1878966241283684, + "K": [ + [ + 356.4578324350466, + 0.0, + 297.83340931234187 + ], + [ + 0.0, + 355.40328924355447, + 235.63045103890354 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.752572790291596, + -2.663095305229633, + 0.8194295196257589 + ], + "camera_target": [ + -3.1473929425955296, + -3.1823868491252694, + 0.9845348549174688 + ], + "camera_roll_rad": -0.009191075217096951, + "camera_pose_world_cv": [ + [ + -0.7931810617446899, + -0.16310849785804749, + -0.5867364406585693, + -2.752572774887085 + ], + [ + 0.6087253093719482, + -0.18416011333465576, + -0.7717115879058838, + -2.663095235824585 + ], + [ + 0.017819255590438843, + -0.9692682027816772, + 0.2453606128692627, + 0.8194295167922974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34959289360889867, + 0.35185702783430717, + 0.3798903480265059 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.2589411427772184, + 1.1880290945184062, + 1.0664655832175858 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4647.302649813619, + "intensity": 1.1880290945184062 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.899380456857962, + 0.8690885508853428, + 0.8171595692179953 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5002.074312849102, + "intensity": 0.8690885508853428 + }, + "point_color_scale": [ + 0.9237963490482475, + 0.9090625839425774, + 0.8838047009042861 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_005/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..443982e264882da03f3927ace1b91e86d66ce31e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9410668395139832, + "K": [ + [ + 448.71172505565914, + 0.0, + 291.6112607910659 + ], + [ + 0.0, + 471.8491487086121, + 216.05908679521113 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0449936364205863, + -2.6786613625241205, + 1.031639954791578 + ], + "camera_target": [ + -3.181192321296467, + -3.112437945163372, + 0.8512661374109545 + ], + "camera_roll_rad": 0.02829150070013335, + "camera_pose_world_cv": [ + [ + -0.9463019371032715, + 0.16424784064292908, + -0.27845168113708496, + -3.0449936389923096 + ], + [ + 0.318981796503067, + 0.33432602882385254, + -0.8868352770805359, + -2.678661346435547 + ], + [ + -0.05256715416908264, + -0.9280349612236023, + -0.36876529455184937, + 1.0316399335861206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2594292498053351, + 0.2455479348345332, + 0.2475568282491837 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.898549062425726, + 0.9347158715397439, + 0.9925827661221727 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6262.06220589107, + "intensity": 0.9491825951853511 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7872081814909228, + 0.7749267726011939, + 0.7538729287902304 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5273.593190185225, + "intensity": 0.7749267726011939 + }, + "point_color_scale": [ + 1.074430977134999, + 1.115860381008821, + 1.1821474272069359 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_006/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1be8750268268b83165e90698b672b36a9cee668 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2519650182463877, + "K": [ + [ + 330.39334150212596, + 0.0, + 345.8889672327388 + ], + [ + 0.0, + 331.95964492425486, + 217.98145214387162 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.09099937619493, + -3.308135281591186, + 1.0924529243387644 + ], + "camera_target": [ + -3.195860491626549, + -3.1754470820865994, + 0.9541331093949749 + ], + "camera_roll_rad": -0.02022515139431498, + "camera_pose_world_cv": [ + [ + 0.15255415439605713, + -0.1434129774570465, + 0.9778343439102173, + -4.090999603271484 + ], + [ + -0.9874863624572754, + -0.06213945150375366, + 0.1449463665485382, + -3.3081352710723877 + ], + [ + 0.03997492790222168, + -0.9877102375030518, + -0.15109801292419434, + 1.092452883720398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923650741577148, + -0.6100472807884216, + -2.8212941316496654e-08, + -3.177654504776001 + ], + [ + 0.6100472807884216, + -0.7923650741577148, + 9.60252410919793e-09, + -3.1458280086517334 + ], + [ + -2.8212941316496654e-08, + -9.60252410919793e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3665898195177171, + 0.3628838791096544, + 0.3556387216287495 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8597705090881631, + 0.8811029127487907, + 0.9152347586057948 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5979.576066545157, + "intensity": 0.8896358742130418 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.689811676934005, + 0.6760035167901599, + 0.6523323851149966 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5208.197626599638, + "intensity": 0.6760035167901599 + }, + "point_color_scale": [ + 0.9388201317645234, + 0.9548768495273572, + 0.9805675979478913 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_007/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41ff63935925ffe430402deb01915647a6d48bfd --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8550991509063138, + "K": [ + [ + 507.30497003541956, + 0.0, + 309.78900985214415 + ], + [ + 0.0, + 526.7102254582289, + 234.4591697003564 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.584954361750837, + -2.341885742226183, + 0.828584235339691 + ], + "camera_target": [ + -3.2268894346346864, + -3.1599075401858627, + 0.9756341691148058 + ], + "camera_roll_rad": 0.045449067234253404, + "camera_pose_world_cv": [ + [ + -0.7912893295288086, + -0.014676660299301147, + -0.6112658977508545, + -2.584954261779785 + ], + [ + 0.6048002243041992, + -0.16573947668075562, + -0.7789398431777954, + -2.341885805130005 + ], + [ + -0.08987870812416077, + -0.986060380935669, + 0.14002442359924316, + 0.8285842537879944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923650741577148, + -0.6100472807884216, + -2.8212941316496654e-08, + -3.177654504776001 + ], + [ + 0.6100472807884216, + -0.7923650741577148, + 9.60252410919793e-09, + -3.1458280086517334 + ], + [ + -2.8212941316496654e-08, + -9.60252410919793e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2714853840187706, + 0.27210962068237243, + 0.25419239395159954 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.0673910445305617, + 1.108592972609819, + 1.1745160575366307 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6232.430710516359, + "intensity": 1.125073743841522 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6831797689120647, + 0.6788571522012528, + 0.671446952125575 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5409.035844879768, + "intensity": 0.6788571522012528 + }, + "point_color_scale": [ + 0.9961096338280422, + 0.9596861608282524, + 0.8972459214000416 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0a0d11425517b315f9500775cc5ee72c520e844 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9484058911177279, + "K": [ + [ + 485.95045449567124, + 0.0, + 348.49703148115543 + ], + [ + 0.0, + 467.5950130503354, + 218.78952490286545 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9331099529703812, + -2.645313734183877, + 1.0458185761610665 + ], + "camera_target": [ + -3.176624813073545, + -3.174767428026901, + 0.9055037880022614 + ], + "camera_roll_rad": 0.05158152795860439, + "camera_pose_world_cv": [ + [ + -0.5830267667770386, + -0.06338194012641907, + 0.8099770545959473, + -3.933109998703003 + ], + [ + -0.8060487508773804, + 0.17005681991577148, + -0.5668918490409851, + -2.6453137397766113 + ], + [ + -0.10181131958961487, + -0.9833939671516418, + -0.1502363681793213, + 1.045818567276001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23676458290419797, + 0.22433810658839418, + 0.21450512443502034 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1412454558374547, + 1.09558501311577, + 1.0173099684500246 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4904.617596012803, + "intensity": 1.09558501311577 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6842452882142114, + 0.6926683411546908, + 0.7061452258594578 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5742.028689149258, + "intensity": 0.6960375623308825 + }, + "point_color_scale": [ + 0.8165606612916649, + 0.8339574253305555, + 0.8617922477927806 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_009/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0a05b4c7fae1359621dad3143bbb4ba47eeb3de --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2979284862792062, + "K": [ + [ + 310.23790680498615, + 0.0, + 351.81243894489694 + ], + [ + 0.0, + 316.3842125074342, + 234.8870572635551 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.3545046847793314, + -3.2274924692220246, + 0.9727862622914878 + ], + "camera_target": [ + -3.2241136518221585, + -3.1179041899786393, + 0.9818821736647558 + ], + "camera_roll_rad": -0.0064079422759444615, + "camera_pose_world_cv": [ + [ + 0.12515294551849365, + -0.008692502975463867, + -0.9920995235443115, + -2.3545045852661133 + ], + [ + 0.99205482006073, + 0.014012455940246582, + 0.12502464652061462, + -3.227492570877075 + ], + [ + 0.012814879417419434, + -0.9998641014099121, + 0.010377287864685059, + 0.9727862477302551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923650741577148, + -0.6100472807884216, + -2.8212941316496654e-08, + -3.177654504776001 + ], + [ + 0.6100472807884216, + -0.7923650741577148, + 9.60252410919793e-09, + -3.1458280086517334 + ], + [ + -2.8212941316496654e-08, + -9.60252410919793e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2824637085847794, + 0.2828615016157775, + 0.27648041764110687 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8971464958727128, + 0.9316674492762762, + 0.986900974721978 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6230.234497486412, + "intensity": 0.9454758306377017 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8181941950831126, + 0.817174354874252, + 0.8154260573733482 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5482.171312946907, + "intensity": 0.817174354874252 + }, + "point_color_scale": [ + 0.8671822385839426, + 0.8524285500747136, + 0.827136512630321 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f06bb0ae7885d4f55828f85801d0d91b45e3fade --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1600555487039805, + "K": [ + [ + 357.75520471328826, + 0.0, + 306.49972518199155 + ], + [ + 0.0, + 366.2958122813173, + 236.83875522169086 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4761959065174173, + -3.203440312624264, + 0.809207453108222 + ], + "camera_target": [ + -3.1799452418418133, + -3.180162317021183, + 0.9595470291501997 + ], + "camera_roll_rad": -0.04112994010006288, + "camera_pose_world_cv": [ + [ + 0.05009472370147705, + -0.20526742935180664, + -0.9774230718612671, + -2.476195812225342 + ], + [ + 0.9955066442489624, + 0.08900177478790283, + 0.032330334186553955, + -3.2034404277801514 + ], + [ + 0.08035600185394287, + -0.9746506810188293, + 0.20880365371704102, + 0.8092074394226074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3508105732846847, + 0.338117327759839, + 0.3598586623790308 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1536484551920057, + 1.1135790745582828, + 1.0448887077576154 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4985.964008828063, + "intensity": 1.1135790745582828 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6694965849936052, + 0.6396995735138137, + 0.5886189824055997 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 4834.5757755781, + "intensity": 0.6396995735138137 + }, + "point_color_scale": [ + 1.1764632436546851, + 1.1794444323833728, + 1.1842143343492733 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_011/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d0e2c57a1dcc249a9cc800feaeeb3cd7f2a5cd7 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1022464236421239, + "K": [ + [ + 401.5753519087314, + 0.0, + 346.76185717812706 + ], + [ + 0.0, + 390.4650365503243, + 232.21399819554586 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.163332350360024, + -3.7794785793450556, + 1.0565000357653975 + ], + "camera_target": [ + -3.1307215748867683, + -3.120283942073758, + 0.886074836285979 + ], + "camera_roll_rad": -0.0479962367830392, + "camera_pose_world_cv": [ + [ + 0.9953644871711731, + 0.0834314227104187, + 0.0478411428630352, + -3.163332462310791 + ], + [ + -0.02524906024336815, + -0.2532995939254761, + 0.9670584797859192, + -3.7794785499572754 + ], + [ + 0.09280119836330414, + -0.9637835621833801, + -0.250018835067749, + 1.0565000772476196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35403770552912495, + 0.3380099904348784, + 0.3230226278568109 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.930801056148565, + 0.9466639323741426, + 0.9720445343350667 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5832.900840313085, + "intensity": 0.9530090828643736 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7624202576476377, + 0.7785307502407312, + 0.8043075383896807 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5910.471509924217, + "intensity": 0.7849749472779686 + }, + "point_color_scale": [ + 0.8550324289880062, + 0.8313827675505152, + 0.7908404908005306 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_012/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fed6864fb7ccf5ec26de4c8b77fc07eb7d319b44 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0284235521241423, + "K": [ + [ + 411.44904904870117, + 0.0, + 350.8900855224166 + ], + [ + 0.0, + 424.8529245649718, + 219.7365626322095 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.604851388833397, + -3.625201935718594, + 1.0458309687536271 + ], + "camera_target": [ + -3.191190208670458, + -3.111287921684422, + 0.9355554937069209 + ], + "camera_roll_rad": 0.03742972686818537, + "camera_pose_world_cv": [ + [ + 0.6651651859283447, + 0.05572456121444702, + -0.7446140646934509, + -2.604851484298706 + ], + [ + 0.7430151700973511, + -0.14829224348068237, + 0.6526391506195068, + -3.625201940536499 + ], + [ + -0.07405245304107666, + -0.9873723983764648, + -0.14004302024841309, + 1.0458309650421143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33917762090159054, + 0.33579679983745114, + 0.3273363757544124 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1109792586374312, + 1.1385742571225161, + 1.182726254698652 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5980.074883138436, + "intensity": 1.14961225651655 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7640792235312213, + 0.7953186207692308, + 0.8453016563500461 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 6273.430085534906, + "intensity": 0.8078143796644346 + }, + "point_color_scale": [ + 1.1679885031478847, + 1.1817655065309673, + 1.2038087119438994 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b82936b1c0697285140a920aca7f5a66af89e3c9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9876803806541405, + "K": [ + [ + 429.9871330087515, + 0.0, + 289.88271756844523 + ], + [ + 0.0, + 445.8223399767562, + 222.3997755663074 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.4409506414126136, + -2.6952104324069723, + 0.7416997847791087 + ], + "camera_target": [ + -3.1393328965934684, + -3.119167351173734, + 0.9429695226140473 + ], + "camera_roll_rad": 0.016090631602283856, + "camera_pose_world_cv": [ + [ + -0.5252339839935303, + -0.1876727044582367, + -0.8300049304962158, + -2.440950632095337 + ], + [ + 0.8503841161727905, + -0.15156805515289307, + -0.5038590431213379, + -2.6952104568481445 + ], + [ + -0.031241655349731445, + -0.9704668521881104, + 0.239202618598938, + 0.741699755191803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923650741577148, + -0.6100472807884216, + -2.8212941316496654e-08, + -3.177654504776001 + ], + [ + 0.6100472807884216, + -0.7923650741577148, + 9.60252410919793e-09, + -3.1458280086517334 + ], + [ + -2.8212941316496654e-08, + -9.60252410919793e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2397379247211976, + 0.23887439992535348, + 0.2376272722155333 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8755889775400042, + 0.9187159876375103, + 0.9877192037935201 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6421.550005428218, + "intensity": 0.9359667916765128 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7607698627800091, + 0.7550482792165898, + 0.745239850250728 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5391.746117038165, + "intensity": 0.7550482792165898 + }, + "point_color_scale": [ + 0.79948826494762, + 0.8005981478435059, + 0.8023739604769234 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_014/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d01b05ebfecca9475a358c89130c85217871e79 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1358867009783737, + "K": [ + [ + 364.0523197943899, + 0.0, + 341.0800527542424 + ], + [ + 0.0, + 376.1338302622681, + 223.44225549867815 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.098989925745996, + -3.2829827120695634, + 1.0849245906863985 + ], + "camera_target": [ + -3.167796510445427, + -3.145208242502556, + 0.9192801183900405 + ], + "camera_roll_rad": 0.014711863312901377, + "camera_pose_world_cv": [ + [ + 0.14125430583953857, + -0.17567119002342224, + 0.9742622375488281, + -4.098989963531494 + ], + [ + -0.9895492792129517, + 0.0037484169006347656, + 0.14414671063423157, + -3.28298282623291 + ], + [ + -0.028974264860153198, + -0.984441876411438, + -0.17330574989318848, + 1.084924578666687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2265551440281409, + 0.24277700523568185, + 0.24057197217143836 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.007922350883858, + 1.0502224396573532, + 1.1179025816949457 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6292.773031865037, + "intensity": 1.0671424751667513 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7650746616385296, + 0.7668806972781952, + 0.7697703543016602 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5547.056496059696, + "intensity": 0.7676031115340615 + }, + "point_color_scale": [ + 0.9890288323043919, + 0.9683330020926882, + 0.9328544360154817 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9890428840529d78259031fae8ded801e3b58948 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7932197707714198, + "K": [ + [ + 557.1611900476062, + 0.0, + 295.59640397710086 + ], + [ + 0.0, + 573.0620555497607, + 221.21172806313166 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.377763051588368, + -2.1835118715307043, + 1.100959910976669 + ], + "camera_target": [ + -3.1321660543253045, + -3.183606176611611, + 0.9247877828445357 + ], + "camera_roll_rad": 0.04920009564122953, + "camera_pose_world_cv": [ + [ + -0.9703985452651978, + 0.055386751890182495, + 0.23507285118103027, + -3.377763032913208 + ], + [ + -0.22124642133712769, + 0.1863948106765747, + -0.9572393298149109, + -2.183511972427368 + ], + [ + -0.0968347117304802, + -0.9809125065803528, + -0.1686229705810547, + 1.1009598970413208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923650741577148, + -0.6100472807884216, + -2.8212941316496654e-08, + -3.177654504776001 + ], + [ + 0.6100472807884216, + -0.7923650741577148, + 9.60252410919793e-09, + -3.1458280086517334 + ], + [ + -2.8212941316496654e-08, + -9.60252410919793e-09, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34886676483112494, + 0.35244043797233854, + 0.37443477245814927 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.055145477092134, + 1.0194462750378928, + 0.9582476429449078 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4999.739600543522, + "intensity": 1.0194462750378928 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.817640960843357, + 0.8493851486483847, + 0.900175849136429 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 6236.453318167079, + "intensity": 0.8620828237703957 + }, + "point_color_scale": [ + 1.0192610575732912, + 1.0573845925647938, + 1.118382248551198 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b00_016/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b00_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..280e4b7cdbdea7f7ae9f5b3e64c27e5b4fe959c3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b00_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 0, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8577641913439624, + "K": [ + [ + 543.154050683611, + 0.0, + 320.9261991158206 + ], + [ + 0.0, + 524.8555406580505, + 240.0454518785584 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.711632594220374, + -3.048264208781771, + 1.05310149078583 + ], + "camera_target": [ + -3.1628480943121713, + -3.1630526316810506, + 0.9376832910647604 + ], + "camera_roll_rad": -0.006727262831619132, + "camera_pose_world_cv": [ + [ + -0.20206356048583984, + -0.20009839534759521, + 0.9587132334709167, + -3.711632490158081 + ], + [ + -0.9792838096618652, + 0.028109073638916016, + -0.20053237676620483, + -3.048264265060425 + ], + [ + 0.013177752494812012, + -0.9793725609779358, + -0.20163285732269287, + 1.0531015396118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.7923649549484253, + -0.6100471615791321, + -6.60283916431581e-08, + -3.177654266357422 + ], + [ + 0.6100471615791321, + -0.7923649549484253, + -9.007896650814473e-09, + -3.1458280086517334 + ], + [ + -4.682335230654644e-08, + -4.741797710039464e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2787005694662587, + 0.2621631123680169, + 0.2642033097431447 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9835317174053605, + 0.9997127452733321, + 1.0256023898620865 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5821.631217966584, + "intensity": 1.0061851564205206 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8074915714227249, + 0.7853215663384625, + 0.74731584333687 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5096.707422892669, + "intensity": 0.7853215663384625 + }, + "point_color_scale": [ + 1.1256747269732408, + 1.1441443957660893, + 1.1736958658346472 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96b605cb77312278f62c9154c48d2b7388a9a054 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.249740649342587, + "K": [ + [ + 333.51379665467994, + 0.0, + 328.6100943419678 + ], + [ + 0.0, + 332.7384326292197, + 220.91693545701645 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.5134434227393685, + -2.582765722047314, + 0.97754504294117 + ], + "camera_target": [ + -3.726648592117381, + -3.0703511270138293, + 0.9443133043294084 + ], + "camera_roll_rad": 0.05200548212827773, + "camera_pose_world_cv": [ + [ + -0.9086916446685791, + 0.11996185779571533, + -0.39986106753349304, + -3.5134434700012207 + ], + [ + 0.40440356731414795, + 0.015200257301330566, + -0.9144544005393982, + -2.582765817642212 + ], + [ + -0.10362169146537781, + -0.992662250995636, + -0.06232517957687378, + 0.9775450229644775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3969574853162469, + 0.3747802274741517, + 0.357767397111323 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9246605767192978, + 0.9052566668779175, + 0.8719928214355512 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5193.789924822391, + "intensity": 0.9052566668779175 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.9599038968081676, + 0.9480045798879266, + 0.9276057508817993 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5320.686265315487, + "intensity": 0.9480045798879266 + }, + "point_color_scale": [ + 0.7965922316129952, + 0.8114180586587082, + 0.8351393819318491 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dca20bc4c19a5a9db302ec39df1a4f50ce02c1b3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2136339404761185, + "K": [ + [ + 336.2157596403421, + 0.0, + 315.37712819038666 + ], + [ + 0.0, + 345.7259456359869, + 244.9344857338065 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.610002181180475, + -3.1760983430760743, + 0.7350572815831555 + ], + "camera_target": [ + -3.727179738815419, + -3.0935503425991437, + 0.9125201633098812 + ], + "camera_roll_rad": -0.002170032601784118, + "camera_pose_world_cv": [ + [ + 0.09224951267242432, + 0.19580239057540894, + 0.9762948155403137, + -4.610002040863037 + ], + [ + -0.9957268834114075, + 0.01394951343536377, + 0.09128805994987488, + -3.176098346710205 + ], + [ + 0.00425565242767334, + -0.9805442094802856, + 0.19625258445739746, + 0.7350572943687439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3039844500589718, + 0.2931821902101931, + 0.31520797824811503 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9593894481822951, + 1.0040469019451423, + 1.0754988279656983 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6373.99984061354, + "intensity": 1.0219098834502813 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8599226142095591, + 0.8520213065655824, + 0.8384762077473367 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5367.519952123765, + "intensity": 0.8520213065655824 + }, + "point_color_scale": [ + 1.2007927462108248, + 1.1587441119647608, + 1.086660738971508 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5aa7ef7767f927e941c54cc5c2016fb0a004c53f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8579176072604285, + "K": [ + [ + 502.8406128606893, + 0.0, + 291.5740081057437 + ], + [ + 0.0, + 524.7491027807988, + 236.84853466378982 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.671644375723999, + -3.8393033987354332, + 0.9266966885410962 + ], + "camera_target": [ + -3.7267379380690526, + -3.098550209148615, + 0.9476146970827265 + ], + "camera_roll_rad": 0.011290630580931174, + "camera_pose_world_cv": [ + [ + 0.9969442486763, + -0.024604501202702522, + -0.07414069026708603, + -3.671644449234009 + ], + [ + 0.0747850313782692, + 0.026390552520751953, + 0.9968504905700684, + -3.839303493499756 + ], + [ + -0.022570399567484856, + -0.9993489980697632, + 0.028149962425231934, + 0.9266967177391052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2896392841331919, + 0.28777908726068113, + 0.2858071921961841 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8634063697083114, + 0.8650368812880298, + 0.8676456998155793 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5537.6696808643665, + "intensity": 0.8656890859199172 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.5601907685318415, + 0.5515869663914396, + 0.5368375912936076 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5277.167578935551, + "intensity": 0.5515869663914396 + }, + "point_color_scale": [ + 0.8688185921718428, + 0.8414617271250047, + 0.794564244187568 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f97a13c480621cb41c8920cb563ff665bf3816be --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2749438941378037, + "K": [ + [ + 339.821941822798, + 0.0, + 301.66166449805144 + ], + [ + 0.0, + 324.0520643163967, + 250.26640236576893 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.33241337766011, + -2.5594704441641074, + 0.6828438527011492 + ], + "camera_target": [ + -3.718085448003739, + -3.150141241698063, + 0.9143941623001359 + ], + "camera_roll_rad": 0.04010444250424659, + "camera_pose_world_cv": [ + [ + -0.6757194995880127, + 0.24392801523208618, + 0.6956310272216797, + -4.332413196563721 + ], + [ + -0.7330928444862366, + -0.12338399887084961, + -0.6688433289527893, + -2.5594704151153564 + ], + [ + -0.07731983065605164, + -0.9619124531745911, + 0.2621948719024658, + 0.6828438639640808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.321954079451193, + 0.3233847259891932, + 0.3399809235722168 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8672704197073478, + 0.8749356978219783, + 0.8872001428053872 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5674.607342159551, + "intensity": 0.8780018090678305 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7520310440655112, + 0.7650090587162715, + 0.7857738821574878 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5837.003640420586, + "intensity": 0.7702002645765755 + }, + "point_color_scale": [ + 1.0388899921483237, + 1.0699600723428597, + 1.1196722006541175 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a70552de00600492adba7717d6c61fad59be3d0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1978054893024255, + "K": [ + [ + 367.32137762876596, + 0.0, + 324.3586976301616 + ], + [ + 0.0, + 351.63433894871775, + 234.50450483928338 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.3580739927285004, + -2.6929517535145955, + 1.135604039657477 + ], + "camera_target": [ + -3.642539946450092, + -3.0868251075617086, + 0.9621291164884429 + ], + "camera_roll_rad": -0.0028408854500300493, + "camera_pose_world_cv": [ + [ + -0.8117830753326416, + 0.19226761162281036, + -0.5513997077941895, + -3.3580739498138428 + ], + [ + 0.5839348435401917, + 0.27591919898986816, + -0.7634716033935547, + -2.6929516792297363 + ], + [ + 0.005350857973098755, + -0.9417546987533569, + -0.3362581133842468, + 1.1356040239334106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21620913413293782, + 0.21612583708874775, + 0.2353310549677265 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8574577581977731, + 0.8688366940768788, + 0.8870429914834482 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5760.569927269113, + "intensity": 0.8733882684285212 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7400988258675334, + 0.75419891342167, + 0.7767590535082887 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5871.133582531493, + "intensity": 0.7598389484433248 + }, + "point_color_scale": [ + 1.1004288966559361, + 1.1451864813079446, + 1.2167986167511577 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d191d46819c563bb052a97f086a875a2a55e225 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9685681040480952, + "K": [ + [ + 433.81562094232356, + 0.0, + 317.1703548184619 + ], + [ + 0.0, + 456.2145845755762, + 222.85560836683624 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.219660402069317, + -3.2976444177106994, + 0.7766981457936073 + ], + "camera_target": [ + -3.6727851718664764, + -3.066143794616671, + 0.9858475360077821 + ], + "camera_roll_rad": -0.006096651558926726, + "camera_pose_world_cv": [ + [ + 0.386067271232605, + 0.3106393814086914, + 0.8685938119888306, + -4.21966028213501 + ], + [ + -0.9223989248275757, + 0.11825799942016602, + 0.3676891326904297, + -3.2976443767547607 + ], + [ + 0.011500567197799683, + -0.9431427717208862, + 0.3321889638900757, + 0.7766981720924377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2682545437636749, + 0.2731152110596197, + 0.27778904346974814 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.0453687166382004, + 1.0378122545041621, + 1.0248583194172394 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5395.9836342371345, + "intensity": 1.0378122545041621 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.9158442189895865, + 0.9144551796270595, + 0.912073969291299 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5478.300282062197, + "intensity": 0.9144551796270595 + }, + "point_color_scale": [ + 0.8949255760698565, + 0.9019586390220373, + 0.9132115397455269 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5dd5353c2344ed066b1ed49a929aa5eb4f2b276f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0440041540814473, + "K": [ + [ + 424.7708569259614, + 0.0, + 296.679624862727 + ], + [ + 0.0, + 417.22927663745725, + 243.49077658138395 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9070122030996335, + -3.7475629387848355, + 1.0574248549139587 + ], + "camera_target": [ + -3.642295004430138, + -3.0658667759290985, + 0.9067078449686639 + ], + "camera_roll_rad": 0.03384631916451945, + "camera_pose_world_cv": [ + [ + 0.9251059293746948, + -0.1359553337097168, + 0.3545352518558502, + -3.9070122241973877 + ], + [ + -0.37388527393341064, + -0.1632499098777771, + 0.9129947423934937, + -3.747562885284424 + ], + [ + -0.06624862551689148, + -0.9771723747253418, + -0.2018551230430603, + 1.0574249029159546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26757294741011173, + 0.2713108011874399, + 0.2634927546874865 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8558123341517648, + 0.8597859421164827, + 0.8661437148600317 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5592.261934402111, + "intensity": 0.86137538530237 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8478912484386858, + 0.8696016504133899, + 0.9043382935729166 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5994.381252612071, + "intensity": 0.8782858112032716 + }, + "point_color_scale": [ + 1.0191235087085893, + 0.9848815091497528, + 0.9261809384774619 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c74654b3aa8568c85c96a6fc8945734ae0c2e619 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1388507550010967, + "K": [ + [ + 356.2363796526405, + 0.0, + 323.27409299176526 + ], + [ + 0.0, + 374.9073572844125, + 263.0216712074296 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.0203392667971816, + -3.0325366475712183, + 1.0027154493021404 + ], + "camera_target": [ + -3.682279661467864, + -3.0741835702139233, + 0.9233455199190284 + ], + "camera_roll_rad": -0.00784996096412216, + "camera_pose_world_cv": [ + [ + -0.06464588642120361, + 0.11758577823638916, + -0.9909564256668091, + -3.020339250564575 + ], + [ + 0.9977865219116211, + 0.023128390312194824, + -0.06234702467918396, + -3.032536745071411 + ], + [ + 0.015588074922561646, + -0.9927933216094971, + -0.1188206672668457, + 1.0027154684066772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3513613409945188, + 0.3788170650249411, + 0.3543460956155596 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.0958308574813378, + 1.0395923195159238, + 0.9431833972895001 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4727.18966835548, + "intensity": 1.0395923195159238 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8750004703970141, + 0.8420777587573747, + 0.785638824517993 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 4941.471470890184, + "intensity": 0.8420777587573747 + }, + "point_color_scale": [ + 0.8825101270877275, + 0.890306962687714, + 0.9027818996476926 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c48779e7f996e613c2a5ed927a711be1307ca30a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.303632556050017, + "K": [ + [ + 300.9551207863881, + 0.0, + 292.63525870224794 + ], + [ + 0.0, + 314.51721453330106, + 239.7737299380998 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.899556637432503, + -2.685056999870558, + 1.037276982799599 + ], + "camera_target": [ + -3.7243778693891287, + -3.1284575909633783, + 0.9097707974840157 + ], + "camera_roll_rad": -0.03179598429403649, + "camera_pose_world_cv": [ + [ + -0.922133207321167, + -0.1538468897342682, + 0.35496681928634644, + -3.8995566368103027 + ], + [ + -0.38197043538093567, + 0.21645724773406982, + -0.8984681367874146, + -2.6850569248199463 + ], + [ + 0.06139138340950012, + -0.9640941619873047, + -0.2583673596382141, + 1.0372769832611084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23854622487877045, + 0.2243934579917848, + 0.2470516635843697 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.096374103981808, + 1.1155341212558199, + 1.1461901488942392 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5841.168967318473, + "intensity": 1.1231981281654246 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8694896396034562, + 0.883539555746322, + 0.9060194215749076 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5816.026894882669, + "intensity": 0.8891595222034685 + }, + "point_color_scale": [ + 1.0009758625021956, + 0.9764543470612639, + 0.9344174634482384 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09c254203050776449a2fc2cbf163f0181da2e57 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9403688122201669, + "K": [ + [ + 457.3663119234241, + 0.0, + 291.444112494883 + ], + [ + 0.0, + 472.2569625127483, + 250.8485956527725 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.83630723044204, + -3.571096535111319, + 1.0524638500244028 + ], + "camera_target": [ + -3.717865495138617, + -3.0777547891213506, + 0.8825495655903476 + ], + "camera_roll_rad": -0.027376317231194765, + "camera_pose_world_cv": [ + [ + 0.9749693274497986, + -0.02080998569726944, + 0.22136333584785461, + -3.8363072872161865 + ], + [ + -0.2161988615989685, + -0.32110166549682617, + 0.9220368266105652, + -3.571096420288086 + ], + [ + 0.05189257115125656, + -0.9468161463737488, + -0.31756335496902466, + 1.0524638891220093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3526173961766899, + 0.345994165405281, + 0.3396563751373681 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.2490993436220441, + 1.1956348227438933, + 1.1039813583813487 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4861.193856887628, + "intensity": 1.1956348227438933 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.5426779301675838, + 0.5494173201521175, + 0.5602003441273713 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5744.1307868155745, + "intensity": 0.552113076145931 + }, + "point_color_scale": [ + 0.8236356907761486, + 0.8476571053506741, + 0.8860913686699148 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10c3faf137df657fb09f6e66b8fa970e2d950035 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9150702956342994, + "K": [ + [ + 497.5713359635563, + 0.0, + 298.2980678300218 + ], + [ + 0.0, + 487.425826049271, + 254.02441228672217 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.384609705450143, + -2.4698497880980304, + 0.7172225892442308 + ], + "camera_target": [ + -3.6779183293027082, + -3.108817587957669, + 0.9253745843908305 + ], + "camera_roll_rad": -0.0009861160422183213, + "camera_pose_world_cv": [ + [ + -0.6709821224212646, + 0.15700078010559082, + 0.724661111831665, + -4.384609699249268 + ], + [ + -0.741470992565155, + -0.14461398124694824, + -0.6552156209945679, + -2.4698498249053955 + ], + [ + 0.0019267797470092773, + -0.9769531488418579, + 0.21344494819641113, + 0.7172225713729858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32816295956878105, + 0.33927630816957827, + 0.32023467519589555 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.0272716711627359, + 1.030881490665014, + 1.0366572018686593 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5569.9356896131185, + "intensity": 1.0323254184659254 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6517744528802194, + 0.6313498212868658, + 0.596336167126831 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5037.846624017579, + "intensity": 0.6313498212868658 + }, + "point_color_scale": [ + 0.9229343138737975, + 0.9243859312329433, + 0.9267085190075764 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38a89b670c0e5e0b4428d130033a79cd7b232c19 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.260463039139261, + "K": [ + [ + 343.63841372756195, + 0.0, + 323.4278313903103 + ], + [ + 0.0, + 329.006267394173, + 251.21960463117392 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.196929487261309, + -2.715742105918946, + 0.6780253208764454 + ], + "camera_target": [ + -3.7238559864256136, + -3.1269553456591677, + 0.9494061022109188 + ], + "camera_roll_rad": 0.0224587662137202, + "camera_pose_world_cv": [ + [ + -0.641911506652832, + 0.3290190100669861, + 0.6926009654998779, + -4.196929454803467 + ], + [ + -0.7656707167625427, + -0.2265007495880127, + -0.6020345687866211, + -2.7157421112060547 + ], + [ + -0.04120621085166931, + -0.9167572259902954, + 0.39731359481811523, + 0.6780253052711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3509629961179857, + 0.3368687002788666, + 0.3249488968551764 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9593814186774497, + 0.9912295812721553, + 1.0421866414236842 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6134.445236259264, + "intensity": 1.0039688463100376 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.5514186328471533, + 0.5554689606328574, + 0.5619494850899839 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5645.410414445613, + "intensity": 0.557089091747139 + }, + "point_color_scale": [ + 0.8832229378823345, + 0.887934620575784, + 0.8954733128853029 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cdd703a80f8a77919b9ddf23e8448e416868797 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8046282208554458, + "K": [ + [ + 537.4959572727204, + 0.0, + 292.2209162718262 + ], + [ + 0.0, + 564.0109383067886, + 219.11779846304324 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9934845958545484, + -2.61519155290012, + 0.8950416830102014 + ], + "camera_target": [ + -3.6985210847728704, + -3.1282711496686995, + 0.9987723710889088 + ], + "camera_roll_rad": -0.026896317028804732, + "camera_pose_world_cv": [ + [ + -0.5824294090270996, + -0.12701287865638733, + -0.8028970956802368, + -2.9934844970703125 + ], + [ + 0.8111259937286377, + -0.025934696197509766, + -0.5842960476875305, + -2.6151914596557617 + ], + [ + 0.05339023470878601, + -0.9915619492530823, + 0.11812853813171387, + 0.8950417041778564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31741435189345113, + 0.29090975844633765, + 0.3144385215928238 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9866415230927986, + 0.9884027728874157, + 0.9912207725588033 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5535.612917689341, + "intensity": 0.9891072728052626 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6881584872796688, + 0.6694552899456765, + 0.6373926659445468 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5100.886665090916, + "intensity": 0.6694552899456765 + }, + "point_color_scale": [ + 1.0899631644896695, + 1.0907830717098224, + 1.0920949232620667 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e1d08dd11e067ad91a042b041da4f05cff9f727 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8838927202155649, + "K": [ + [ + 504.8234630310859, + 0.0, + 301.5347456990947 + ], + [ + 0.0, + 507.22751518693383, + 237.40147214681852 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4551631266573177, + -2.2284758674968743, + 1.0266700539608138 + ], + "camera_target": [ + -3.6953024902929568, + -3.1315881129621124, + 0.8753069678816587 + ], + "camera_roll_rad": -0.038916766660680835, + "camera_pose_world_cv": [ + [ + -0.966687798500061, + -0.03418101370334625, + -0.25366657972335815, + -3.4551632404327393 + ], + [ + 0.244179829955101, + 0.174033522605896, + -0.9539857506752014, + -2.22847580909729 + ], + [ + 0.07675464451313019, + -0.9841464161872864, + -0.15988951921463013, + 1.0266700983047485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33110718296988495, + 0.33789742834877495, + 0.35632583060793654 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1642574201818197, + 1.153004432362095, + 1.1337135960997098 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5360.575584671538, + "intensity": 1.153004432362095 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7558315662333541, + 0.7732935795484946, + 0.8012328008527194 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5947.58418671172, + "intensity": 0.7802783848745507 + }, + "point_color_scale": [ + 0.8127808549726043, + 0.8229173552594695, + 0.8391357557184537 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73852194325ae1814d899632f23171161b0c37d3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8733155848735292, + "K": [ + [ + 495.3838348169687, + 0.0, + 292.70003438540033 + ], + [ + 0.0, + 514.244606753378, + 256.37551704925033 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.59898409474176, + -3.536651015893416, + 0.9089623251434894 + ], + "camera_target": [ + -3.645327641303437, + -3.1106227856895274, + 0.9041643577494834 + ], + "camera_roll_rad": 0.004603822182864779, + "camera_pose_world_cv": [ + [ + 0.9941043853759766, + -0.007942892611026764, + -0.10813574492931366, + -3.5989840030670166 + ], + [ + 0.10803546011447906, + -0.01212465763092041, + 0.994073212146759, + -3.536651134490967 + ], + [ + -0.00920693576335907, + -0.9998950362205505, + -0.011195063591003418, + 0.9089623093605042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3719344667265241, + 0.3773849806545295, + 0.3829834052870173 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8875369837759209, + 0.8905677253646594, + 0.895416911906641 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5567.970609656423, + "intensity": 0.8917800220001548 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8365415509710936, + 0.8628193888025467, + 0.9048639293328721 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 6101.7844816198185, + "intensity": 0.8733305239351281 + }, + "point_color_scale": [ + 1.0061290592525174, + 1.03910387637886, + 1.091863583781009 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10a962cf68c6e912077e2e2f91bcd961e1ac43dc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0078108831522248, + "K": [ + [ + 444.3900878317976, + 0.0, + 318.3308618247007 + ], + [ + 0.0, + 435.2680550173694, + 218.16947085400446 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.040948584502734, + -2.605339450417627, + 0.7510254218664091 + ], + "camera_target": [ + -3.700513552827448, + -3.0730751637677916, + 0.9080136837641555 + ], + "camera_roll_rad": 0.05199396606008265, + "camera_pose_world_cv": [ + [ + -0.5914781093597412, + -0.09458395838737488, + -0.8007545471191406, + -3.0409486293792725 + ], + [ + 0.7998567819595337, + -0.19432717561721802, + -0.5678611397743225, + -2.605339527130127 + ], + [ + -0.10189786553382874, + -0.9763662219047546, + 0.19059407711029053, + 0.7510254383087158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.5638906955718994, + 0.8258494734764099, + 0.0, + -3.6912505626678467 + ], + [ + -0.8258494734764099, + -0.5638906955718994, + -0.0, + -3.1117091178894043 + ], + [ + -0.0, + 0.0, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3032325556524585, + 0.3034012508142033, + 0.3127768387643541 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9410522614089493, + 0.8906843623973273, + 0.8043393926631182 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4692.147695829019, + "intensity": 0.8906843623973273 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7124543682461429, + 0.7177361640600323, + 0.7261870373622552 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5646.747350537945, + "intensity": 0.719848882385588 + }, + "point_color_scale": [ + 1.0157320387511541, + 1.029312487707427, + 1.0510412060374632 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25f925a3853f90879f5ddf9863e2638d4e1b8c5b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2863058335322468, + "K": [ + [ + 316.1161209335653, + 0.0, + 318.45732719668337 + ], + [ + 0.0, + 320.2322358443851, + 228.51089796462972 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.226977660106881, + -4.535851060671429, + 0.9706035183190479 + ], + "camera_target": [ + -3.696924846277539, + -4.178240805124412, + 0.9814341721731592 + ], + "camera_roll_rad": 0.05041125465343249, + "camera_pose_world_cv": [ + [ + 0.5578572750091553, + -0.04232463240623474, + 0.8288570642471313, + -4.226977825164795 + ], + [ + -0.82381272315979, + 0.09286189079284668, + 0.5592042207717896, + -4.535851001739502 + ], + [ + -0.10063734650611877, + -0.994779109954834, + 0.016936182975769043, + 0.9706035256385803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21407083223196907, + 0.2132222407105397, + 0.22973899284868746 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1408920384523173, + 1.1358629106421028, + 1.1272415486817347 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5436.748808038416, + "intensity": 1.1358629106421028 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6113126317400304, + 0.6241343393794121, + 0.6446490716024229 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5907.515051170921, + "intensity": 0.6292630224351647 + }, + "point_color_scale": [ + 0.7845024874366192, + 0.8004980800492857, + 0.826091028229552 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40de672b0294cad03d961cb6e5b2e61ffc642e94 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2917296803662377, + "K": [ + [ + 329.3566222618277, + 0.0, + 311.29324003716187 + ], + [ + 0.0, + 318.42912697700024, + 219.64072131768927 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.9394886848780057, + -3.6989579660159144, + 1.0063814308392633 + ], + "camera_target": [ + -3.7159397166984647, + -4.2230730022232885, + 0.8785825549167892 + ], + "camera_roll_rad": 0.04329764313822129, + "camera_pose_world_cv": [ + [ + -0.5476945638656616, + 0.16000300645828247, + -0.8212366104125977, + -2.939488649368286 + ], + [ + 0.832278311252594, + 0.0036574602127075195, + -0.5543459057807922, + -3.698957920074463 + ], + [ + -0.08569338917732239, + -0.9871097207069397, + -0.13517022132873535, + 1.0063813924789429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34196699035698125, + 0.33193102384313694, + 0.3446933788469138 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1347150513077628, + 1.0727679314116094, + 0.9665728687324895 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4675.069621539811, + "intensity": 1.0727679314116094 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6516150177937715, + 0.6360277556777122, + 0.609306734907325 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5149.897082165398, + "intensity": 0.6360277556777122 + }, + "point_color_scale": [ + 1.2044909528224137, + 1.182130167105019, + 1.1437973915894855 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d37fbf46184d50093d64b60defed6a7b4369aec --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9638780040224066, + "K": [ + [ + 441.51876202338394, + 0.0, + 307.7147553698136 + ], + [ + 0.0, + 458.8226914811397, + 234.68407191072058 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.24438513099636, + -4.074528330968709, + 0.9745486220727978 + ], + "camera_target": [ + -3.7036986020992284, + -4.19675757059259, + 0.9301198942849966 + ], + "camera_roll_rad": 0.002811407485486514, + "camera_pose_world_cv": [ + [ + -0.22093415260314941, + -0.07668492197990417, + 0.9722691774368286, + -4.244385242462158 + ], + [ + -0.975272536277771, + 0.02310037612915039, + -0.21979472041130066, + -4.074528217315674 + ], + [ + -0.005604803562164307, + -0.9967876672744751, + -0.07989239692687988, + 0.9745486378669739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3486557152448071, + 0.33855251093848915, + 0.35144859211151225 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.043645254252167, + 1.0800545584863495, + 1.1383094452610416 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6165.242028082969, + "intensity": 1.0946182801800224 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6640856162791444, + 0.6334608866913988, + 0.5809613502552635 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 4809.355721624961, + "intensity": 0.6334608866913988 + }, + "point_color_scale": [ + 1.1536593489682918, + 1.1152548248303118, + 1.049418497736632 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f42cdd368d3e48be907aaadcfb35aa4991db341a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.884583319239797, + "K": [ + [ + 519.4709931301649, + 0.0, + 351.9548622003151 + ], + [ + 0.0, + 506.7748129353002, + 255.25442660925927 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9663225417344052, + -3.586126912467644, + 1.019476017088988 + ], + "camera_target": [ + -3.7030349431856115, + -4.199386583434888, + 0.9831600310584426 + ], + "camera_roll_rad": 0.03190917815434012, + "camera_pose_world_cv": [ + [ + -0.9183907508850098, + 0.03721091151237488, + 0.39392155408859253, + -3.966322660446167 + ], + [ + -0.39051705598831177, + 0.07498586177825928, + -0.9175367951393127, + -3.5861268043518066 + ], + [ + -0.06368084251880646, + -0.9964901804924011, + -0.05433458089828491, + 1.019476056098938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24205708924074912, + 0.24105171749874837, + 0.21964553158139724 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8505434696447339, + 0.8795906056824836, + 0.926066023342883 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6151.858790515287, + "intensity": 0.8912094600975834 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.9653807508933443, + 0.9310672977626343, + 0.8722442352528454 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 4973.515836331583, + "intensity": 0.9310672977626343 + }, + "point_color_scale": [ + 0.8008072305211723, + 0.8071421268426101, + 0.8172779609569106 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4bab58b71bb0e1116c62633c80e41b52d41f5e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8624629358122515, + "K": [ + [ + 544.8070515136083, + 0.0, + 316.62000485433407 + ], + [ + 0.0, + 521.6117289779038, + 224.21682847447005 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.3982673382124995, + -4.513827779956518, + 0.7576335748932804 + ], + "camera_target": [ + -3.657828131370893, + -4.188630314532277, + 0.8559378347818472 + ], + "camera_roll_rad": -0.03176226053009167, + "camera_pose_world_cv": [ + [ + 0.3942968249320984, + 0.13578781485557556, + 0.9088959097862244, + -4.3982672691345215 + ], + [ + -0.9168199300765991, + -0.009697020053863525, + 0.3991831839084625, + -4.513827800750732 + ], + [ + 0.06301790475845337, + -0.9906905889511108, + 0.12066948413848877, + 0.7576335668563843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22797763841990337, + 0.24688973282126347, + 0.22324793341350702 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.0353740341692517, + 0.9851621480668684, + 0.8990846290342114 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4771.88365893572, + "intensity": 0.9851621480668684 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6386911826485827, + 0.6488080006485821, + 0.6649949094485811 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5809.925549083128, + "intensity": 0.6528547278485819 + }, + "point_color_scale": [ + 0.8617180007644466, + 0.8468472431638605, + 0.8213545158485702 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe36686623bb9635cc03b27235d47b3fac619955 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2633117823355442, + "K": [ + [ + 330.5821030971891, + 0.0, + 312.09924987581377 + ], + [ + 0.0, + 328.02391370211734, + 220.1592321677892 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.412399608384073, + -3.8932566279714527, + 0.9024049206834555 + ], + "camera_target": [ + -3.661589791275164, + -4.238904178856605, + 0.945918887676728 + ], + "camera_roll_rad": -0.045125093085855605, + "camera_pose_world_cv": [ + [ + -0.42078208923339844, + 0.009870827198028564, + 0.9071080088615417, + -4.412399768829346 + ], + [ + -0.9026858806610107, + -0.10376399755477905, + -0.41760173439979553, + -3.893256664276123 + ], + [ + 0.09000307321548462, + -0.9945529699325562, + 0.05257225036621094, + 0.9024049043655396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2605929773494934, + 0.2553338510548467, + 0.253980837563741 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.1266148657789614, + 1.1355551415715261, + 1.1498595828396294 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5656.966561627427, + "intensity": 1.139131251888552 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6433211197970977, + 0.6688674081234884, + 0.7097414694457137 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 6252.372783592813, + "intensity": 0.6790859234540447 + }, + "point_color_scale": [ + 0.8976905326881379, + 0.8807149376027557, + 0.8516139174563858 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6405f9ef734d73e656177ddc7e5f20558de9e59f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.24565617211604, + "K": [ + [ + 325.84520299425515, + 0.0, + 333.9041358614516 + ], + [ + 0.0, + 334.174747695124, + 217.8638510251027 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.664829782717727, + -3.6158073791094973, + 1.1078486175086795 + ], + "camera_target": [ + -3.695243222395738, + -4.172649000246973, + 0.9775593772264308 + ], + "camera_roll_rad": 0.025342419203308125, + "camera_pose_world_cv": [ + [ + -0.9966011047363281, + 0.06297909468412399, + -0.053106389939785004, + -3.664829730987549 + ], + [ + 0.06597539037466049, + 0.22411119937896729, + -0.9723280072212219, + -3.615807294845581 + ], + [ + -0.04933459311723709, + -0.9725267291069031, + -0.22750425338745117, + 1.1078486442565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25303355781545367, + 0.27161391130031975, + 0.25329270510114876 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9245371134740925, + 0.933202971141772, + 0.9470683434100595 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5685.03558376948, + "intensity": 0.9366693142088439 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6773463459741126, + 0.6635402406039529, + 0.6398726313979648 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5202.760941013843, + "intensity": 0.6635402406039529 + }, + "point_color_scale": [ + 1.161700518442677, + 1.1781344387368948, + 1.2044287112076433 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42163899d7494a04ad2c0d3b82a4ad0fb96c68a3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8561040185922343, + "K": [ + [ + 517.2745799210957, + 0.0, + 342.6346917474455 + ], + [ + 0.0, + 526.0096344682196, + 220.59475285063658 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.4263611123196935, + -3.3569715413566956, + 1.1408293443366744 + ], + "camera_target": [ + -3.7342262037793232, + -4.19694444399352, + 0.9937300621949364 + ], + "camera_roll_rad": -0.00889592715478564, + "camera_pose_world_cv": [ + [ + -0.9397664070129395, + 0.03912188112735748, + -0.3395717740058899, + -3.426361083984375 + ], + [ + 0.34136682748794556, + 0.15843749046325684, + -0.9264807105064392, + -3.356971502304077 + ], + [ + 0.017555177211761475, + -0.9865937829017639, + -0.16224884986877441, + 1.14082932472229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35630579607509427, + 0.377846206305567, + 0.3861395848432517 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9017669715522643, + 0.9110824258377248, + 0.9259871526944616 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5703.6590869075735, + "intensity": 0.914808607551909 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.620381275150255, + 0.6230223037316233, + 0.6272479494618125 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5584.637675254587, + "intensity": 0.6240787151641706 + }, + "point_color_scale": [ + 1.0167193003827373, + 1.0273313616664945, + 1.044310659720506 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04e360def77bb0f298a8e61ab1aa8d6d138cc03e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2647545826571935, + "K": [ + [ + 319.6614596709672, + 0.0, + 322.3050034413345 + ], + [ + 0.0, + 327.52783989817823, + 245.5862572868136 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.491037889451208, + -4.918933269379687, + 1.0842580228088545 + ], + "camera_target": [ + -3.6952911085977913, + -4.174268020833816, + 0.9655847458735485 + ], + "camera_roll_rad": 0.006149945999529609, + "camera_pose_world_cv": [ + [ + 0.9648017883300781, + 0.028317123651504517, + -0.26144924759864807, + -3.4910378456115723 + ], + [ + 0.26269713044166565, + -0.1497361660003662, + 0.9531891345977783, + -4.918933391571045 + ], + [ + -0.012156873941421509, + -0.9883204698562622, + -0.15190452337265015, + 1.0842580795288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29476497502584986, + 0.3037372303219979, + 0.3190662367678685 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9493807702112433, + 0.9434609568673529, + 0.9333127054206832 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5410.363262581231, + "intensity": 0.9434609568673529 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.731382644493124, + 0.7506151038390011, + 0.7813870387924048 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 6007.246583834315, + "intensity": 0.758308087577352 + }, + "point_color_scale": [ + 0.8331464152587441, + 0.8393260298269982, + 0.8492134131362051 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7e6cef9db4e99d1842c38663307a2d63b281f2b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1161588120271928, + "K": [ + [ + 391.34621554788873, + 0.0, + 337.02679015292176 + ], + [ + 0.0, + 384.44458039797547, + 254.9437395144913 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.371921881928573, + -4.195177500393904, + 0.6837740155770056 + ], + "camera_target": [ + -3.6891521753620498, + -4.166101038120982, + 0.964977142547566 + ], + "camera_roll_rad": 0.03972312908649424, + "camera_pose_world_cv": [ + [ + 0.07258564233779907, + 0.37560710310935974, + 0.9239322543144226, + -4.371922016143799 + ], + [ + -0.9946582317352295, + 0.09543037414550781, + 0.03934672474861145, + -4.1951775550842285 + ], + [ + -0.07339215278625488, + -0.9218528270721436, + 0.3805276155471802, + 0.6837739944458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.38352360508878575, + 0.3710354697933615, + 0.3758799268417065 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.0808060381291484, + 1.0425017545662176, + 0.9768372684583361 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4975.104911332544, + "intensity": 1.0425017545662176 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8218548567044046, + 0.7987105880510919, + 0.759034698931127 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5086.042285804918, + "intensity": 0.7987105880510919 + }, + "point_color_scale": [ + 0.9601703078289326, + 0.943803132516912, + 0.9157451176963051 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4e68132abbd35dc71a7fa980382cbfeff0123d8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2238268687901221, + "K": [ + [ + 349.173497902963, + 0.0, + 294.45802818826644 + ], + [ + 0.0, + 341.99199930421725, + 245.2276797055433 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.2088116659614245, + -4.520166739099276, + 1.1041964953863148 + ], + "camera_target": [ + -3.7008659131456034, + -4.205644111235811, + 0.9599408146246674 + ], + "camera_roll_rad": 0.03280725288603116, + "camera_pose_world_cv": [ + [ + 0.5122345089912415, + -0.23364177346229553, + 0.826454758644104, + -4.2088117599487305 + ], + [ + -0.8564774990081787, + -0.06755268573760986, + 0.5117452144622803, + -4.520166873931885 + ], + [ + -0.06373575329780579, + -0.9699733257293701, + -0.23471170663833618, + 1.104196548461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3489469317771028, + 0.32647576009903967, + 0.36221329443486805 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.0394004184880434, + 1.0874252995455544, + 1.1642651092375718 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6367.9441753202955, + "intensity": 1.1066352519685587 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8416575065082326, + 0.85447464288888, + 0.8749820610979159 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5798.21112268421, + "intensity": 0.859601497441139 + }, + "point_color_scale": [ + 0.8530881168611882, + 0.8293312633085976, + 0.7886052286470139 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f17c52c014c6778b3d60e6278f6fd219d4d4525 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0114875546318394, + "K": [ + [ + 420.0540359332347, + 0.0, + 304.239051558145 + ], + [ + 0.0, + 433.38194099356866, + 256.0690445775277 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -2.7343485038273867, + -4.156821511253275, + 1.1009382769650824 + ], + "camera_target": [ + -3.7183617874544255, + -4.245488793917407, + 0.8535472461052855 + ], + "camera_roll_rad": -0.002886373654158274, + "camera_pose_world_cv": [ + [ + -0.09113883972167969, + 0.2413947880268097, + -0.9661377668380737, + -2.7343485355377197 + ], + [ + 0.9958224296569824, + 0.027547597885131836, + -0.08705618977546692, + -4.1568217277526855 + ], + [ + 0.005599856376647949, + -0.9700359106063843, + -0.24289703369140625, + 1.100938320159912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34194572849890703, + 0.3347656245797661, + 0.3268820787116163 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8944007455346995, + 0.8567047152727437, + 0.792082949109391 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4871.411516211282, + "intensity": 0.8567047152727437 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.9338050667201951, + 0.9101190793623204, + 0.8695145296059638 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5128.21211460953, + "intensity": 0.9101190793623204 + }, + "point_color_scale": [ + 0.9386817443967681, + 0.9471785184658272, + 0.9607733569763216 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..514d876d1c89ac5200a466757a44da66c858ec07 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9451562395792027, + "K": [ + [ + 456.2769246116548, + 0.0, + 320.31286446185254 + ], + [ + 0.0, + 469.47116293230613, + 248.49613719282613 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.880667672102648, + -4.793058071592374, + 1.0733347488479024 + ], + "camera_target": [ + -3.6757115697932727, + -4.218860293647816, + 0.9979111527956592 + ], + "camera_roll_rad": 0.014445850260385001, + "camera_pose_world_cv": [ + [ + 0.940216064453125, + -0.06846219301223755, + 0.3336266279220581, + -3.8806676864624023 + ], + [ + -0.3393698036670685, + -0.1058695912361145, + 0.9346762299537659, + -4.793057918548584 + ], + [ + -0.028669103980064392, + -0.9920204281806946, + -0.12277430295944214, + 1.0733346939086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3130782979914405, + 0.3419103030716664, + 0.3257110333574901 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.8895831684236226, + 0.9199533840066685, + 0.968545728939542 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6151.650416884973, + "intensity": 0.9321014702398869 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8094690637549117, + 0.8326686312066105, + 0.8697879391293286 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 6051.092343625103, + "intensity": 0.84194845818729 + }, + "point_color_scale": [ + 0.8012081261958447, + 0.8309380856753976, + 0.8785060208426825 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e7736b1685fd7f2ee4abbde137c0bcf6f0387fa --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0814016306740566, + "K": [ + [ + 383.08198243274217, + 0.0, + 302.52388411436925 + ], + [ + 0.0, + 399.74506053022196, + 235.0528097419485 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2218247331901404, + -4.207926855927381, + 0.9397144938979315 + ], + "camera_target": [ + -3.7334059906921624, + -4.219788373819995, + 0.9046509217956423 + ], + "camera_roll_rad": -0.037050905700399116, + "camera_pose_world_cv": [ + [ + -0.028176426887512207, + 0.06643879413604736, + -0.9973926544189453, + -3.2218246459960938 + ], + [ + 0.9968705177307129, + 0.07559442520141602, + -0.02312612533569336, + -4.2079267501831055 + ], + [ + 0.07386085391044617, + -0.9949228763580322, + -0.06836074590682983, + 0.9397144913673401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30915789686022355, + 0.33557958626735845, + 0.33496406097745574 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.9900529854322018, + 1.04176638297146, + 1.1245078190342732 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 6473.47287402505, + "intensity": 1.0624517419871633 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.8444409813474245, + 0.8413780404744082, + 0.8361272846920949 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5447.99448514098, + "intensity": 0.8413780404744082 + }, + "point_color_scale": [ + 0.8212621024976323, + 0.8351562540453776, + 0.8573868965217704 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0b0debd950799927b718477d6ab78081b0d5ee3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2096803982719848, + "K": [ + [ + 349.97312799579294, + 0.0, + 338.63190259427506 + ], + [ + 0.0, + 347.18902381528244, + 218.92087833515012 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.1075002768814928, + -4.548873653162087, + 0.9668811169252916 + ], + "camera_target": [ + -3.6603153249094365, + -4.18821716041921, + 0.9223987160689479 + ], + "camera_roll_rad": 0.040390133480868354, + "camera_pose_world_cv": [ + [ + 0.5491626858711243, + 0.012040376663208008, + -0.8356287479400635, + -3.1075003147125244 + ], + [ + 0.8318284749984741, + -0.10420143604278564, + 0.5451638102531433, + -4.548873424530029 + ], + [ + -0.08050981163978577, + -0.9944834113121033, + -0.06723904609680176, + 0.9668810963630676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21487992853642682, + 0.23369021072344978, + 0.20942872880259786 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 1.205703549532903, + 1.1809730968624252, + 1.1385780351416066 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 5200.846546000549, + "intensity": 1.1809730968624252 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.6377827114144045, + 0.6531943541402453, + 0.6778529825015907 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5967.4734845005805, + "intensity": 0.6593590112305816 + }, + "point_color_scale": [ + 0.9840337568850355, + 0.9422799145737384, + 0.8707018991829437 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000891/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000891/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb3ae3a45c5fe06c988aed98f032ea0c30804b78 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000891/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 891, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7958298194481471, + "K": [ + [ + 563.9554345393542, + 0.0, + 318.9055613216762 + ], + [ + 0.0, + 570.9696596472484, + 222.54170681416645 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.377242597227374, + -4.743679517412235, + 0.6660659662615899 + ], + "camera_target": [ + -3.7174167324237137, + -4.204907126116658, + 0.9478926231821982 + ], + "camera_roll_rad": -0.00597301948726639, + "camera_pose_world_cv": [ + [ + 0.6295230984687805, + 0.25083208084106445, + 0.735380232334137, + -4.377242565155029 + ], + [ + -0.7768990993499756, + 0.18939173221588135, + 0.6004655957221985, + -4.743679523468018 + ], + [ + 0.0113411545753479, + -0.9493231177330017, + 0.31409764289855957, + 0.6660659909248352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8369171619415283, + 0.5473294854164124, + 1.7020376219534228e-08, + -3.698368549346924 + ], + [ + -0.5473294854164124, + -0.8369171619415283, + -5.712285400250039e-08, + -4.1961236000061035 + ], + [ + -1.7020376219534228e-08, + -5.712285400250039e-08, + 1.0, + 0.7489278316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2577115047201957, + 0.2567182627947206, + 0.26095473365279115 + ], + "directional_primary": { + "direction": [ + -0.26412717315111545, + -0.3626606440973533, + -0.8937080572681961 + ], + "color": [ + 0.921436335446439, + 0.8799282175839424, + 0.8087714441053769 + ], + "azimuth_rad": -2.200266746197788, + "elevation_rad": 1.1055432646729444, + "color_temp_k": 4826.111948143303, + "intensity": 0.8799282175839424 + }, + "directional_fill": { + "direction": [ + -0.2616271105483557, + 0.1093158114521029, + -0.9589584487310631 + ], + "color": [ + 0.7478003874442076, + 0.7570228526870766, + 0.771778797075667 + ], + "azimuth_rad": 2.7458101936820825, + "elevation_rad": 1.2833058096325427, + "color_temp_k": 5742.469349697735, + "intensity": 0.7607118387842242 + }, + "point_color_scale": [ + 0.865785671779578, + 0.8881017948489255, + 0.9238075917598814 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_001/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dffa1deff66df1f82b57e66c2e29ec953833e176 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.248591072964568, + "K": [ + [ + 319.8386499700372, + 0.0, + 288.87200719517557 + ], + [ + 0.0, + 333.14185997915007, + 251.32320930215116 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.2297666689986645, + -1.0345702587522074, + 1.1248423363364997 + ], + "camera_target": [ + -0.30576371220105086, + -1.442946750803433, + 0.9355580322470314 + ], + "camera_roll_rad": -0.04891017065431179, + "camera_pose_world_cv": [ + [ + -0.9858307838439941, + -0.020514920353889465, + -0.16648435592651367, + -0.22976666688919067 + ], + [ + 0.14226599037647247, + 0.4235793352127075, + -0.8946178555488586, + -1.0345702171325684 + ], + [ + 0.08887234330177307, + -0.9056268334388733, + -0.4146588444709778, + 1.1248422861099243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3223560110244309, + 0.3322412749228704, + 0.321764206948676 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9107155479442205, + 0.9287126657277079, + 0.9575080541812879 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5884.590157008635, + "intensity": 0.935911512841103 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7422977697579833, + 0.7158362365553349, + 0.6704736082079374 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4971.91566507718, + "intensity": 0.7158362365553349 + }, + "point_color_scale": [ + 0.9788697783865005, + 0.9481437184516169, + 0.8954704728489593 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_002/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41a286aadd751a0fe464e9f2bb18a6d13d605c4d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1967530980014918, + "K": [ + [ + 347.7341299903644, + 0.0, + 329.19167982543803 + ], + [ + 0.0, + 352.0320257060541, + 240.5493354409213 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3956949225503293, + -0.9265631738471236, + 0.9428545291836428 + ], + "camera_target": [ + -0.29177409232608226, + -1.4916619723491882, + 0.970525224799538 + ], + "camera_roll_rad": 0.009561042558335973, + "camera_pose_world_cv": [ + [ + -0.9831616878509521, + 0.02750416100025177, + 0.18065617978572845, + -0.39569491147994995 + ], + [ + -0.18173709511756897, + -0.04384249448776245, + -0.9823693633079529, + -0.9265632033348083 + ], + [ + -0.019098833203315735, + -0.9986597895622253, + 0.048102736473083496, + 0.9428545236587524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30972044246544056, + 0.3153868093697595, + 0.31463708597288054 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9040395693198611, + 0.936128483343482, + 0.9874707457812754 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6176.293565789499, + "intensity": 0.9489640489529303 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6694638033329359, + 0.6475867273095712, + 0.6100831684123746 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5017.393355520029, + "intensity": 0.6475867273095712 + }, + "point_color_scale": [ + 1.1234651802612279, + 1.1571791439324812, + 1.211121485806487 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95dc6aaf8c10b32cc553a03d96d809ca3e376e04 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1977027657612203, + "K": [ + [ + 354.5922220318428, + 0.0, + 344.5969525689611 + ], + [ + 0.0, + 351.67313000060113, + 219.4133966472668 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.9868150576547959, + -1.5095049129579112, + 1.1125154859576705 + ], + "camera_target": [ + -0.24574061342867384, + -1.525824746691096, + 0.926589648150129 + ], + "camera_roll_rad": -0.0269602274751716, + "camera_pose_world_cv": [ + [ + -0.008875608444213867, + -0.24406370520591736, + 0.9697185158729553, + -0.9868150353431702 + ], + [ + -0.9985932111740112, + -0.048532724380493164, + -0.021354973316192627, + -1.5095049142837524 + ], + [ + 0.052275002002716064, + -0.9685439467430115, + -0.24328970909118652, + 1.1125154495239258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.276014589965856, + 0.2664952116487299, + 0.27490671107775333 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0166913980807466, + 0.9553131781121155, + 0.8500933724516048 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4582.152603012994, + "intensity": 0.9553131781121155 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8551444169698825, + 0.8491683266166096, + 0.838923600296713 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5399.463137452822, + "intensity": 0.8491683266166096 + }, + "point_color_scale": [ + 1.0955991989258154, + 1.10156955961458, + 1.1111221367166033 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af2fd73b64770c31a67edd5db880f77c0295401c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2226901966031702, + "K": [ + [ + 337.0191311199645, + 0.0, + 293.25755964357325 + ], + [ + 0.0, + 342.4057006875083, + 259.8689028848391 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8006439896497212, + -1.3958600373068295, + 1.0535435341963901 + ], + "camera_target": [ + -0.2193889114306613, + -1.4722079708716573, + 0.9534962599331104 + ], + "camera_roll_rad": 0.015798586823917327, + "camera_pose_world_cv": [ + [ + -0.1354358196258545, + -0.16259467601776123, + 0.9773536920547485, + -0.8006439805030823 + ], + [ + -0.9902966022491455, + 0.05322003364562988, + -0.1283755600452423, + -1.3958600759506226 + ], + [ + -0.031141668558120728, + -0.9852566719055176, + -0.16822487115859985, + 1.0535435676574707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3633506476348517, + 0.35971468976654364, + 0.3535717378280343 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.900046752628413, + 0.948272356764012, + 1.0254333233809707 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6496.847216178821, + "intensity": 0.9675625984182517 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7989571865213533, + 0.8093283730338454, + 0.8259222714538329 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5754.984184063629, + "intensity": 0.8134768476388423 + }, + "point_color_scale": [ + 0.9286334512065466, + 0.8879859216040514, + 0.818304442285488 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba37aeafcbe5a721b48d8ef5fe91ee7245eb35bf --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.27546589229333, + "K": [ + [ + 323.28606818060126, + 0.0, + 319.9105927459633 + ], + [ + 0.0, + 323.8752891410859, + 241.10446238899496 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0034791783029011, + -1.7404633378978414, + 0.9155261435152139 + ], + "camera_target": [ + -0.2398516490074115, + -1.4782743628977864, + 0.9702450844342557 + ], + "camera_roll_rad": -0.05010980023580905, + "camera_pose_world_cv": [ + [ + 0.3167104721069336, + 0.09612306952476501, + 0.9436391592025757, + -1.0034791231155396 + ], + [ + -0.9432549476623535, + -0.072781503200531, + 0.3239954710006714, + -1.740463376045227 + ], + [ + 0.09982296824455261, + -0.9927051067352295, + 0.06761789321899414, + 0.9155261516571045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31287078688377107, + 0.3209637225718194, + 0.3138620691565296 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9641875071222117, + 0.9852784402493043, + 1.019023933252653 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5924.486640242478, + "intensity": 0.9937148135001415 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8427387263142704, + 0.8114010625478489, + 0.7576793532339838 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4948.261862582321, + "intensity": 0.8114010625478489 + }, + "point_color_scale": [ + 0.8806753284644689, + 0.8473527255889022, + 0.790228263516502 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_006/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09b0689b4aa4e5ccb6fafb7897bf3ce77f5f60ae --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.170867825447467, + "K": [ + [ + 353.13880823197076, + 0.0, + 289.05758906725833 + ], + [ + 0.0, + 362.01133300525134, + 235.47308515075204 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.30145052543515477, + -0.8306046758319127, + 0.9907709300570164 + ], + "camera_target": [ + -0.2231307663065875, + -1.5121709575793512, + 0.8443491976765182 + ], + "camera_roll_rad": -0.04974347073487942, + "camera_pose_world_cv": [ + [ + -0.9861831665039062, + -0.12238388508558273, + 0.11164562404155731, + -0.3014505207538605 + ], + [ + -0.13419131934642792, + 0.19499719142913818, + -0.9715805649757385, + -0.8306046724319458 + ], + [ + 0.09713521599769592, + -0.9731383919715881, + -0.20872581005096436, + 0.9907709360122681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.31473998123174635, + 0.32565604733497827, + 0.33390679938141954 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.8973699570151583, + 0.9185392341181049, + 0.9524100774828194 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5956.723160879368, + "intensity": 0.9270069449592835 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6425987742270919, + 0.642717061216659, + 0.6429063203999663 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5503.680570796439, + "intensity": 0.6427643760124858 + }, + "point_color_scale": [ + 0.9214431371592804, + 0.8947320451263837, + 0.8489416016414177 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_007/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf2ffd658dd69b0f4252bc3b073698574f09c618 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9940194135742556, + "K": [ + [ + 425.98981957395847, + 0.0, + 333.8950140688249 + ], + [ + 0.0, + 442.4566054535148, + 251.39596811735709 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.24690754332359754, + -1.0030893027616554, + 0.9252312393558237 + ], + "camera_target": [ + -0.2358818822607482, + -1.4887907720477016, + 0.9236442391703537 + ], + "camera_roll_rad": -0.01257964369309518, + "camera_pose_world_cv": [ + [ + -0.9994242191314697, + -0.025224266573786736, + 0.022694598883390427, + -0.2469075471162796 + ], + [ + -0.022769691422581673, + 0.002693772315979004, + -0.9997371435165405, + -1.0030893087387085 + ], + [ + 0.025156501680612564, + -0.9996782541275024, + -0.003266453742980957, + 0.9252312183380127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.39278621007816084, + 0.36826344910064646, + 0.3744937331149326 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.007351744604236, + 1.012320757250096, + 1.0202711774834727 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5597.978343283129, + "intensity": 1.0143083623084403 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7802745099817261, + 0.8089720587224288, + 0.8548881367075535 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6199.555390993168, + "intensity": 0.82045107821871 + }, + "point_color_scale": [ + 0.848385279895862, + 0.8253422733817306, + 0.7858399765003626 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_008/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0fbd59eab585763e0db1f745086dc01c7d291cc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0327081016479032, + "K": [ + [ + 416.8408170455677, + 0.0, + 330.6956431745552 + ], + [ + 0.0, + 422.7356355646633, + 232.00962695482295 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.05866985639179201, + -0.8782787381112457, + 1.0482866035488503 + ], + "camera_target": [ + -0.26386984143097636, + -1.5000179044053426, + 0.9698466196864757 + ], + "camera_roll_rad": 0.048003190960268075, + "camera_pose_world_cv": [ + [ + -0.9416701793670654, + 0.12813971936702728, + -0.31118807196617126, + -0.05866985768079758 + ], + [ + 0.32279855012893677, + 0.0823981761932373, + -0.9428743124008179, + -0.8782787322998047 + ], + [ + -0.09517833590507507, + -0.9883273839950562, + -0.11895489692687988, + 1.0482865571975708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23781711534083433, + 0.2321657223385705, + 0.23764780832947174 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9481764959971848, + 0.9394187066610854, + 0.9244053535134861 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5366.820539826518, + "intensity": 0.9394187066610854 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7193642906704201, + 0.7455955703035395, + 0.7875656177165309 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6193.868353493767, + "intensity": 0.7560880821567874 + }, + "point_color_scale": [ + 0.8867759163955393, + 0.9001080818748748, + 0.9214395466418119 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_009/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3cc4807a754d1f6d44262afa01c986f776e4b5f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8805320199946458, + "K": [ + [ + 488.5166271737528, + 0.0, + 300.4665232030235 + ], + [ + 0.0, + 509.4399921203426, + 228.24853949115197 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1710108151842737, + -1.5180845603015782, + 0.9151070915871073 + ], + "camera_target": [ + -0.21970800384665168, + -1.4639541882415754, + 0.9032327358876677 + ], + "camera_roll_rad": -0.007777038104627876, + "camera_pose_world_cv": [ + [ + 0.056995928287506104, + -0.011555880308151245, + 0.9983075857162476, + -1.1710108518600464 + ], + [ + -0.998253345489502, + -0.016236066818237305, + 0.056804925203323364, + -1.5180845260620117 + ], + [ + 0.015552252531051636, + -0.999801516532898, + -0.012460947036743164, + 0.9151070713996887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36518296735382866, + 0.36648458452906174, + 0.38116610624803887 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9623219294627803, + 0.9932671150871762, + 1.0427794120862102 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6115.429496456888, + "intensity": 1.0056451893369347 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.5697314318195059, + 0.5611822961491191, + 0.5465266349998845 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5282.369275696998, + "intensity": 0.5611822961491191 + }, + "point_color_scale": [ + 0.8645580535886455, + 0.8353750915495879, + 0.7853471566254893 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_010/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d88468673eaa8b9ad9d2f3a3294b49ccd830d16a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8829884564924932, + "K": [ + [ + 508.6782151369868, + 0.0, + 326.2977610343636 + ], + [ + 0.0, + 507.82127913823274, + 229.09863896190302 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.820671486520928, + -1.5568089950374973, + 0.9781211030360629 + ], + "camera_target": [ + -0.2548172418584958, + -1.4993506408808923, + 0.9007218970482873 + ], + "camera_roll_rad": -0.01563515243859511, + "camera_pose_world_cv": [ + [ + 0.10516774654388428, + -0.1309264600276947, + 0.9857982993125916, + -0.8206714987754822 + ], + [ + -0.9939719438552856, + -0.04472041130065918, + 0.10010045766830444, + -1.5568089485168457 + ], + [ + 0.030979692935943604, + -0.9903830885887146, + -0.1348402500152588, + 0.9781211018562317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3054526068063114, + 0.29521395322888366, + 0.31331917540206844 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1352087068989003, + 1.1683739172081666, + 1.2214382537029926 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6061.342037708344, + "intensity": 1.181640001331873 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7199811095395472, + 0.7151805832275604, + 0.7069511095498688 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5404.109606828803, + "intensity": 0.7151805832275604 + }, + "point_color_scale": [ + 0.9379960288352324, + 0.9085275259970852, + 0.8580100925602616 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_011/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..293810feeb9ac20bdab9442a6b63cf614c0b742c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0929279549504356, + "K": [ + [ + 409.00470750073583, + 0.0, + 292.2559793664711 + ], + [ + 0.0, + 394.574267451167, + 248.47343763916874 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.1154543741357463, + -1.5669392728378813, + 0.926143222981454 + ], + "camera_target": [ + -0.28748459948575783, + -1.5093533798915177, + 0.9018526609039149 + ], + "camera_roll_rad": 0.019374583906010323, + "camera_pose_world_cv": [ + [ + 0.06820034980773926, + -0.031849682331085205, + 0.9971632361412048, + -1.1154543161392212 + ], + [ + -0.9969199299812317, + 0.03661799430847168, + 0.0693533718585968, + -1.5669392347335815 + ], + [ + -0.0387229323387146, + -0.9988217353820801, + -0.029254138469696045, + 0.926143229007721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25929878132035655, + 0.26894077657150184, + 0.2773421610419622 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0872549726797662, + 1.1349709113707311, + 1.2113164132762755 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6326.924958315109, + "intensity": 1.1540572868471173 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9068670022366166, + 0.9191617751374592, + 0.9388334117788075 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5766.097677716731, + "intensity": 0.9240796842977964 + }, + "point_color_scale": [ + 1.0157823227446947, + 0.9828037289938846, + 0.9262689968496389 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_012/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a3431ccf043fe9cc050611a3536f4991667d9ae --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9836988466439497, + "K": [ + [ + 443.865845432509, + 0.0, + 333.68929782323283 + ], + [ + 0.0, + 447.9566863908293, + 217.28189676221362 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.24948667586497175, + -0.6556345817270048, + 1.1300945293900253 + ], + "camera_target": [ + -0.21998197276966813, + -1.449806628992558, + 0.8488212243925228 + ], + "camera_roll_rad": -0.0058363747291778414, + "camera_pose_world_cv": [ + [ + -0.9990980625152588, + -0.024050556123256683, + 0.034998562186956406, + -0.24948666989803314 + ], + [ + -0.041015222668647766, + 0.332960844039917, + -0.9420483112335205, + -0.6556345820426941 + ], + [ + 0.011003635823726654, + -0.9426339864730835, + -0.3336467742919922, + 1.1300945281982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2754001116746683, + 0.2522198478591468, + 0.26387390008671874 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0812165348899052, + 1.0181185829692647, + 0.9099506653910236 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4614.642117106687, + "intensity": 1.0181185829692647 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.723526253222083, + 0.6937203955575819, + 0.6426246395612946 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4886.210972947552, + "intensity": 0.6937203955575819 + }, + "point_color_scale": [ + 1.0716080862198252, + 1.0345923857252055, + 0.9711368991630002 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_013/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84ceb1d9f8212c3ac8feae9437a8ef3ad25b9921 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.966068993621904, + "K": [ + [ + 466.54302100698527, + 0.0, + 309.1922067752177 + ], + [ + 0.0, + 457.6014064181993, + 243.41578753510797 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6215006288818032, + -1.8158728374808988, + 0.9077716038269692 + ], + "camera_target": [ + -0.3080162483515875, + -1.4629911553262227, + 0.9315945938469868 + ], + "camera_roll_rad": -0.0345579730503142, + "camera_pose_world_cv": [ + [ + 0.7435101866722107, + 0.08502775430679321, + 0.6632970571517944, + -0.6215006113052368 + ], + [ + -0.6651581525802612, + -0.008271634578704834, + 0.7466568946838379, + -1.8158727884292603 + ], + [ + 0.06897318363189697, + -0.9963444471359253, + 0.05040693283081055, + 0.9077715873718262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24654492328803443, + 0.25653356871825206, + 0.24371293720225998 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9769406002267391, + 0.9172213599178369, + 0.8148455193882906 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4569.873378778152, + "intensity": 0.9172213599178369 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6256625876848957, + 0.6226088774944295, + 0.6173739457393446 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5429.932847299042, + "intensity": 0.6226088774944295 + }, + "point_color_scale": [ + 1.224054538886243, + 1.1973243340089885, + 1.1515011256479808 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_014/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed152cd393d91503e3ccf0f8ab810407fab8edc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1224046394685234, + "K": [ + [ + 364.7683756369035, + 0.0, + 307.1832096109456 + ], + [ + 0.0, + 381.7852122101351, + 235.91254444356488 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.43396841867306757, + -0.658037485044527, + 0.97647629639212 + ], + "camera_target": [ + -0.3104513173522541, + -1.5351663836407017, + 0.9588057151471627 + ], + "camera_roll_rad": -0.029057535002969967, + "camera_pose_world_cv": [ + [ + -0.9883968830108643, + -0.06029142439365387, + 0.13941621780395508, + -0.4339684247970581 + ], + [ + -0.1403556913137436, + 0.011617779731750488, + -0.9900330901145935, + -0.6580374836921692 + ], + [ + 0.05807080864906311, + -0.9981133341789246, + -0.019944965839385986, + 0.9764763116836548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383768796920776, + -0.5450912714004517, + 5.714554873748057e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383768796920776, + -1.694404438978836e-08, + -1.4872456789016724 + ], + [ + 5.714554873748057e-08, + 1.694404438978836e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2794242240926932, + 0.292659655210428, + 0.2993874496066434 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0186052601485285, + 0.990212991929684, + 0.9415405321259508 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5090.387285358321, + "intensity": 0.990212991929684 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8273708989826335, + 0.8156101887548115, + 0.7954489712214022 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5294.006808119644, + "intensity": 0.8156101887548115 + }, + "point_color_scale": [ + 1.2244405966824654, + 1.167859350090695, + 1.0708629273619459 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..036ff667d70ddfd98b11cd4437e99235c01bb50c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2530206644490582, + "K": [ + [ + 330.9599630554049, + 0.0, + 340.9490934668513 + ], + [ + 0.0, + 331.5908839367695, + 260.13149702611355 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.7602238601778029, + -1.5781413817121612, + 1.0589681462770169 + ], + "camera_target": [ + -0.2720413425207935, + -1.4411156159334713, + 0.9752151442948394 + ], + "camera_roll_rad": -0.012966442695952235, + "camera_pose_world_cv": [ + [ + 0.2742193937301636, + -0.14984557032585144, + 0.9499211311340332, + -0.7602238655090332 + ], + [ + -0.9613268375396729, + -0.06899142265319824, + 0.26662901043891907, + -1.5781413316726685 + ], + [ + 0.025583326816558838, + -0.9862995147705078, + -0.16296923160552979, + 1.058968186378479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34179422824877026, + 0.33721641492851473, + 0.32987310678845116 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0548419275253378, + 1.047178453095692, + 1.0340410683591565 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5395.454107354718, + "intensity": 1.047178453095692 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7704591989132903, + 0.7386255754583866, + 0.6840536495356946 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4884.307740666112, + "intensity": 0.7386255754583866 + }, + "point_color_scale": [ + 1.1757003781951618, + 1.173091239487019, + 1.1686184302730602 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b695f47c9e1387b075350beea049a3bcd9fba3 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1580206549110725, + "K": [ + [ + 374.34517378190594, + 0.0, + 303.23570639525354 + ], + [ + 0.0, + 367.1100705717821, + 247.51733426297696 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.38111165399435726, + -0.9783630966314634, + 0.9863857076335286 + ], + "camera_target": [ + -0.26709265819582795, + -1.5180777624430246, + 0.9327736130103699 + ], + "camera_roll_rad": -0.002386158734233604, + "camera_pose_world_cv": [ + [ + -0.9782990217208862, + -0.024663448333740234, + 0.2057265341281891, + -0.38111165165901184 + ], + [ + -0.20714519917964935, + 0.09365713596343994, + -0.973816990852356, + -0.9783630967140198 + ], + [ + 0.004749953746795654, + -0.9952991008758545, + -0.09673327207565308, + 0.986385703086853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8383766412734985, + -0.5450912714004517, + 2.8572767263312926e-08, + -0.2643805146217346 + ], + [ + 0.5450912714004517, + -0.8383766412734985, + -8.47202130671576e-09, + -1.4872456789016724 + ], + [ + 2.8572767263312926e-08, + 8.47202130671576e-09, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2567691994139464, + 0.23525684530457272, + 0.23347218075786025 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.99246362646584, + 0.9633989561092932, + 0.9135738069266416 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5069.015957626808, + "intensity": 0.9633989561092932 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7349380991242286, + 0.7328242684160852, + 0.7292005586306967 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5458.792874572545, + "intensity": 0.7328242684160852 + }, + "point_color_scale": [ + 1.1201200755443887, + 1.1362229859872397, + 1.1619876426958013 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_001/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e612c6746d06940e2db1b85fa361db47b82412 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8814642512194524, + "K": [ + [ + 523.4972368715611, + 0.0, + 325.8190873626659 + ], + [ + 0.0, + 508.8246890813398, + 225.19341364612538 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3377882218133889, + -0.3173813790859751, + 0.8252506376983889 + ], + "camera_target": [ + -0.7398428201494465, + -1.1295089757262755, + 0.9404399787834913 + ], + "camera_roll_rad": 0.05227442118851404, + "camera_pose_world_cv": [ + [ + -0.8971347808837891, + 0.03788454830646515, + -0.4401293396949768, + -0.3377882242202759 + ], + [ + 0.4294549226760864, + -0.15869140625, + -0.8890362977981567, + -0.3173813819885254 + ], + [ + -0.10352547466754913, + -0.9866011142730713, + 0.1260979175567627, + 0.8252506256103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35290785023273263, + 0.38959955235870375, + 0.3818436797196012 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.011152232550141, + 1.0001496712383156, + 0.9812881375609007 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5342.844074410202, + "intensity": 1.0001496712383156 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7448190395746552, + 0.748703373442609, + 0.7549183076313349 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5603.546739691373, + "intensity": 0.7502571069897904 + }, + "point_color_scale": [ + 1.0782473646738704, + 1.0320435223036428, + 0.9528369353832528 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_002/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e85f1aa90b97296612f742f77c191b0aba82f2a0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8712407425443116, + "K": [ + [ + 517.6087629854518, + 0.0, + 345.1336543197815 + ], + [ + 0.0, + 515.639787341821, + 233.71333216525443 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.181557545695915, + -1.6479653039954845, + 0.9871136345895581 + ], + "camera_target": [ + -0.7113367481843049, + -1.075068413781638, + 0.9683471536340206 + ], + "camera_roll_rad": 0.04705437725926939, + "camera_pose_world_cv": [ + [ + 0.7680436968803406, + -0.08862435817718506, + 0.6342354416847229, + -1.181557536125183 + ], + [ + -0.6334699392318726, + 0.040138959884643555, + 0.7727254629135132, + -1.6479653120040894 + ], + [ + -0.09393984079360962, + -0.9952560663223267, + -0.025312364101409912, + 0.9871136546134949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3401953731488055, + 0.3413574425380153, + 0.3239547330715224 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9778627541495588, + 0.9991890487951411, + 1.033311120228073 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5923.258520550647, + "intensity": 1.007719566653374 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8300615198272688, + 0.8390165339507013, + 0.8533445565481935 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5712.557076770698, + "intensity": 0.8425985396000744 + }, + "point_color_scale": [ + 0.921757213190158, + 0.9290427251993131, + 0.9406995444139613 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_003/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c0ffc0249e00e67ddf3c61606b3cb42386b9741 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3031039954510202, + "K": [ + [ + 301.70024958632126, + 0.0, + 339.5682275498679 + ], + [ + 0.0, + 314.6896302404376, + 238.6489494464122 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5380060850237567, + -0.3061102995189732, + 1.0493551149970484 + ], + "camera_target": [ + -0.719087383911896, + -1.158731673393214, + 0.8829287532085032 + ], + "camera_roll_rad": 0.029067689529850324, + "camera_pose_world_cv": [ + [ + -0.9742660522460938, + 0.09573173522949219, + -0.20406171679496765, + -0.538006067276001 + ], + [ + 0.2180563509464264, + 0.1710747480392456, + -0.9608250856399536, + -0.30611029267311096 + ], + [ + -0.057071663439273834, + -0.9805961847305298, + -0.1875472068786621, + 1.049355149269104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23118070063373072, + 0.23276891893105364, + 0.23156039221851396 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.871326568334021, + 0.8915465310992595, + 0.9238984715236411 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5949.515050857009, + "intensity": 0.899634516205355 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8723233454541487, + 0.8672779967584002, + 0.8586288275656885 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5416.893533320731, + "intensity": 0.8672779967584002 + }, + "point_color_scale": [ + 1.1332038999912173, + 1.1659448695067398, + 1.218330420731576 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_004/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06e8bc79f530ba84bb9c5c608a2bb8b5a75b529b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1437710580450555, + "K": [ + [ + 370.8984783722212, + 0.0, + 321.32186849313007 + ], + [ + 0.0, + 372.8839101337742, + 250.2157686829022 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.10883802670221088, + -1.1163849277861033, + 1.1026433544524763 + ], + "camera_target": [ + -0.7696407670772015, + -1.15963004874397, + 0.9382805693818876 + ], + "camera_roll_rad": -0.04965103823190012, + "camera_pose_world_cv": [ + [ + -0.08881270885467529, + 0.23271945118904114, + -0.9684802293777466, + -0.1088380292057991 + ], + [ + 0.9913899898529053, + 0.11458098888397217, + -0.06338050961494446, + -1.1163849830627441 + ], + [ + 0.09621953964233398, + -0.9657706022262573, + -0.24089199304580688, + 1.102643370628357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2295407773825045, + 0.22231836541562414, + 0.2324825512932962 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9795516776558081, + 1.0019806706268801, + 1.0378670593805954 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5943.720117855645, + "intensity": 1.010952267815309 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8635893599037333, + 0.8438133573884514, + 0.8099116387908254 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5165.193352092401, + "intensity": 0.8438133573884514 + }, + "point_color_scale": [ + 0.995670004336515, + 1.019192317156107, + 1.0568280176674543 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_005/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ae2230698b076b8a97da706da8fd5e3faeec06 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2723446094992412, + "K": [ + [ + 334.2561271571117, + 0.0, + 336.5538246862091 + ], + [ + 0.0, + 324.93417315404133, + 257.3242255412256 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2770243327548312, + -1.6126235272212415, + 0.9965796475408926 + ], + "camera_target": [ + -0.761257258974618, + -1.0739338075928768, + 0.9792843077524391 + ], + "camera_roll_rad": 0.03553980051348235, + "camera_pose_world_cv": [ + [ + 0.7193450331687927, + -0.06729134917259216, + 0.6913859844207764, + -1.2770243883132935 + ], + [ + -0.6910148859024048, + 0.03241133689880371, + 0.7221134901046753, + -1.6126235723495483 + ], + [ + -0.07100066542625427, + -0.9972068071365356, + -0.02318441867828369, + 0.996579647064209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2273300596720223, + 0.2353882583826499, + 0.23989756348925376 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0780235291855236, + 1.0889359785869828, + 1.1063958976293173 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5699.623887972299, + "intensity": 1.0933009583475664 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8629523378738462, + 0.8471562420226568, + 0.8200772205634751 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5233.628224681354, + "intensity": 0.8471562420226568 + }, + "point_color_scale": [ + 0.9965703573520426, + 1.0239491958633045, + 1.0677553374813238 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_006/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c1e8303dfbe200bb1d4fa00801012a46dd58283 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1649007586971092, + "K": [ + [ + 348.2190247520668, + 0.0, + 325.71456382728746 + ], + [ + 0.0, + 364.3671508519519, + 247.74965265864532 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.4754995833946717, + -1.6317724220938894, + 0.9154306789945136 + ], + "camera_target": [ + -0.7507661684165686, + -1.071434679731299, + 0.9703374732445706 + ], + "camera_roll_rad": 0.04812863500752182, + "camera_pose_world_cv": [ + [ + 0.8896785974502563, + -0.12471270561218262, + -0.43922513723373413, + -0.47549957036972046 + ], + [ + 0.4464370012283325, + 0.03589475154876709, + 0.8940947651863098, + -1.6317723989486694 + ], + [ + -0.09573908150196075, + -0.9915433526039124, + 0.08761119842529297, + 0.9154306650161743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2583083596671737, + 0.2609560814602432, + 0.257367989575504 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.111206290224292, + 1.1383617067167282, + 1.1818103731046259 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5972.587058501237, + "intensity": 1.1492238733137026 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9160000831170717, + 0.885720848625337, + 0.8338135894966491 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5011.62886883558, + "intensity": 0.885720848625337 + }, + "point_color_scale": [ + 0.8254285170946358, + 0.8565384838743422, + 0.9063144307218725 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_007/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f36c0ae461b9dcf5c430262adb54c5a1833025f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.3000371086398514, + "K": [ + [ + 301.7029468379126, + 0.0, + 291.5239259636163 + ], + [ + 0.0, + 315.6924079858043, + 227.62042785093507 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.558368020762569, + -1.2428453262949533, + 0.9642409524986485 + ], + "camera_target": [ + -0.7658790735310599, + -1.0983772773568325, + 0.8785219191065798 + ], + "camera_roll_rad": -0.048934300987581725, + "camera_pose_world_cv": [ + [ + 0.18865442276000977, + -0.08607572317123413, + 0.9782640933990479, + -1.5583679676055908 + ], + [ + -0.9772250056266785, + -0.11501407623291016, + 0.17833420634269714, + -1.2428452968597412 + ], + [ + 0.09716391563415527, + -0.9896275997161865, + -0.10581326484680176, + 0.9642409682273865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34851154827984576, + 0.3305120551402148, + 0.3175909082410584 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.8131091086348671, + 0.8560273501821615, + 0.9246965366578326 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6483.016597834722, + "intensity": 0.8731946468010793 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6235263864807178, + 0.6315273689657707, + 0.6443289409418554 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5752.107532222917, + "intensity": 0.6347277619597919 + }, + "point_color_scale": [ + 0.860824966647285, + 0.868553078124316, + 0.8809180564875658 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_008/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89c5d536ad8568d0df63ee623f72908af1eba9c5 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9009266400311704, + "K": [ + [ + 476.09243478083476, + 0.0, + 337.4511017767966 + ], + [ + 0.0, + 496.25059342193487, + 238.66944305057095 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.29462684992889093, + -1.1759311004991757, + 1.0808080272000347 + ], + "camera_target": [ + -0.731222990079397, + -1.0909437153877775, + 0.9859014404166735 + ], + "camera_roll_rad": -0.04959645739596709, + "camera_pose_world_cv": [ + [ + 0.16984891891479492, + 0.22274652123451233, + -0.9599663019180298, + -0.2946268618106842 + ], + [ + 0.9806994199752808, + 0.057529449462890625, + 0.1868661642074585, + -1.1759310960769653 + ], + [ + 0.09685018658638, + -0.973177433013916, + -0.20867609977722168, + 1.0808080434799194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3563202006679347, + 0.3518259889541756, + 0.344077400861503 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.2079582448834425, + 1.1827522545876472, + 1.139541985509141 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5195.552830901382, + "intensity": 1.1827522545876472 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7864933175668831, + 0.8191051315390347, + 0.8712840338944774 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6283.796660969429, + "intensity": 0.8321498571278954 + }, + "point_color_scale": [ + 1.1985517744317487, + 1.1589858198972236, + 1.0911584692666092 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_009/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4eddd71133ba6825fb10d621ab018fff3c81d936 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.153391646048924, + "K": [ + [ + 355.5212430785531, + 0.0, + 311.1106825793331 + ], + [ + 0.0, + 368.971834994664, + 247.97721285821558 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.183943636278047, + -0.3425360961115864, + 0.8474025539808248 + ], + "camera_target": [ + -0.7414701343712223, + -1.0757494147693882, + 0.9874966029634091 + ], + "camera_roll_rad": 0.021164649020368548, + "camera_pose_world_cv": [ + [ + -0.8518819808959961, + 0.11957022547721863, + 0.5099018216133118, + -1.1839436292648315 + ], + [ + -0.5220659971237183, + -0.11623615026473999, + -0.8449474573135376, + -0.3425360918045044 + ], + [ + -0.04176153242588043, + -0.9859980344772339, + 0.16144299507141113, + 0.8474025726318359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35329079783656797, + 0.35238800320940245, + 0.32281571566538475 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.000845223713471, + 1.0375848541389547, + 1.0963682628197287 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6198.285736975015, + "intensity": 1.0522807063091482 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6643366472800107, + 0.6754992301101578, + 0.6933593626383933 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5828.328514705216, + "intensity": 0.6799642632422167 + }, + "point_color_scale": [ + 0.7707075966003009, + 0.7990164242008648, + 0.8443105483617673 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_010/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9856788faf5d98c3858a17a096ea525959acb13 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1894094226252199, + "K": [ + [ + 359.4813084056889, + 0.0, + 315.68781620033633 + ], + [ + 0.0, + 354.82431049199397, + 258.8849401133813 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3336106395673364, + -1.1821451405683885, + 1.1030513322321807 + ], + "camera_target": [ + -0.7858664399550217, + -1.0841023533254281, + 0.9606701987492261 + ], + "camera_roll_rad": -0.03449332799431776, + "camera_pose_world_cv": [ + [ + 0.1915498971939087, + 0.30131790041923523, + -0.9340858459472656, + -0.3336106538772583 + ], + [ + 0.9792691469192505, + 0.0052117109298706055, + 0.202496737241745, + -1.182145118713379 + ], + [ + 0.06588393449783325, + -0.9535095691680908, + -0.29407286643981934, + 1.1030513048171997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27272172564347025, + 0.27963978526063615, + 0.3010386535014827 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1085909149612285, + 1.1103093820103864, + 1.1130589292890392 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5530.9355904062195, + "intensity": 1.1109967688300497 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8641212495726749, + 0.8428785425783313, + 0.8064624734451709 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5139.96325989265, + "intensity": 0.8428785425783313 + }, + "point_color_scale": [ + 1.0632915312382614, + 1.0395656729492475, + 0.9988927730252241 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_011/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..823788dc7ba6f1b16b2e04d4da700063181f5aff --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0055854342040427, + "K": [ + [ + 437.1133619227068, + 0.0, + 322.62529684685285 + ], + [ + 0.0, + 436.41582088997967, + 239.7609037436561 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.6241733919416259, + -0.4712305220203459, + 1.0447336515373231 + ], + "camera_target": [ + -0.7752789090446268, + -1.0858591791773267, + 0.9384954486598565 + ], + "camera_roll_rad": 0.028717622970355447, + "camera_pose_world_cv": [ + [ + -0.9672137498855591, + 0.09519843012094498, + -0.23544563353061676, + -0.6241734027862549 + ], + [ + 0.24757322669029236, + 0.14677917957305908, + -0.9576863646507263, + -0.47123053669929504 + ], + [ + -0.05661173164844513, + -0.9845775961875916, + -0.16553550958633423, + 1.0447336435317993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2960249817158703, + 0.3014717775322312, + 0.2966461014123535 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0640514487889263, + 1.0419557215921107, + 1.0040773321118552 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5197.0569486518325, + "intensity": 1.0419557215921107 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9032018479834865, + 0.9158075449547961, + 0.9359766601088917 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5773.783990533149, + "intensity": 0.92084982374332 + }, + "point_color_scale": [ + 0.9271591134389594, + 0.9451551384464126, + 0.9739487784583375 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_012/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..900cd45731cecec64bd1a1e1d0ec3934fa632719 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.921702973109744, + "K": [ + [ + 488.02033496303443, + 0.0, + 348.96491602024196 + ], + [ + 0.0, + 483.37422522245896, + 261.70125627324643 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.8188773890257409, + -0.31588127187809734, + 0.8109381819423381 + ], + "camera_target": [ + -0.7667443599322079, + -1.1120205563815075, + 0.9069631444819363 + ], + "camera_roll_rad": 0.017147185204197474, + "camera_pose_world_cv": [ + [ + -0.9970085620880127, + 0.04201776906847954, + 0.06487417966127396, + -0.8188773989677429 + ], + [ + -0.06939232349395752, + -0.1169271469116211, + -0.9907132983207703, + -0.31588128209114075 + ], + [ + -0.034042008221149445, + -0.9922513365745544, + 0.11949312686920166, + 0.8109381794929504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2456704185468575, + 0.24493832440521257, + 0.22998910789182814 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0722361685828976, + 1.0803388841838275, + 1.0933032291453155 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5649.55454737241, + "intensity": 1.0835799704241995 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.5901850893867363, + 0.5969366299801826, + 0.6077390949296967 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5725.18749914333, + "intensity": 0.5996372462175611 + }, + "point_color_scale": [ + 0.8461540815009656, + 0.8446773373305281, + 0.8421457758954926 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_013/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a8f2350d1708fa1787a07e8073b527f85fa9323 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2490045952551172, + "K": [ + [ + 333.11169041681035, + 0.0, + 340.54898701341665 + ], + [ + 0.0, + 332.99666615943323, + 233.86628768012065 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0286719854262973, + -0.2970764751388778, + 0.8969692435963235 + ], + "camera_target": [ + -0.7412528943258361, + -1.1051121185835189, + 0.8830784683542641 + ], + "camera_roll_rad": -0.035377692970559496, + "camera_pose_world_cv": [ + [ + -0.9394304752349854, + -0.07202185690402985, + 0.3350873589515686, + -1.0286719799041748 + ], + [ + -0.3353714942932129, + -0.008472681045532227, + -0.9420479536056519, + -0.2970764636993408 + ], + [ + 0.07068713009357452, + -0.9973671436309814, + -0.016194522380828857, + 0.8969692587852478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24687138786564422, + 0.2544336256689965, + 0.2657448845454986 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1589093748492603, + 1.0878233691477022, + 0.9659616450878886 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4566.471271010883, + "intensity": 1.0878233691477022 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7817885969630318, + 0.7857497008636701, + 0.7920874671046912 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5600.62065614082, + "intensity": 0.7873341424239254 + }, + "point_color_scale": [ + 1.14358351107332, + 1.1735103066568167, + 1.2213931795904118 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_014/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf69796493ee705ab5428820f0f96321b2eac69 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1152675544781132, + "K": [ + [ + 368.60914806055933, + 0.0, + 301.6332405706897 + ], + [ + 0.0, + 384.8262324274724, + 249.92507348651117 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0246260263721263, + -0.4320106900595826, + 1.1184000520591422 + ], + "camera_target": [ + -0.7641542615937824, + -1.1242036338122294, + 0.9244542501317807 + ], + "camera_roll_rad": 0.023763005962904343, + "camera_pose_world_cv": [ + [ + -0.939116358757019, + -0.04477168619632721, + 0.3406704068183899, + -1.0246260166168213 + ], + [ + -0.3405129313468933, + 0.25387275218963623, + -0.905317485332489, + -0.432010680437088 + ], + [ + -0.045954301953315735, + -0.9662010073661804, + -0.2536611557006836, + 1.1184000968933105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22112832343041464, + 0.22811382666267585, + 0.22926875730943855 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0351113247796446, + 1.027643435332216, + 1.0148413391366238 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5396.185650299242, + "intensity": 1.027643435332216 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7506512582056439, + 0.7172469285288374, + 0.6599823633685978 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4834.671658131086, + "intensity": 0.7172469285288374 + }, + "point_color_scale": [ + 0.9984561364203868, + 1.0013921380226523, + 1.0060897405862772 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_015/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..105ff5e92bd1b27772104044d1dc715c0be362a2 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0282907211103562, + "K": [ + [ + 422.54886197373236, + 0.0, + 339.39739204017724 + ], + [ + 0.0, + 424.9188220321821, + 247.72487330319535 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4841451469902767, + -1.1544921535386352, + 1.0419838957702479 + ], + "camera_target": [ + -0.7079816581920287, + -1.1549874513183183, + 0.8793936275058102 + ], + "camera_roll_rad": 0.014322788692958485, + "camera_pose_world_cv": [ + [ + -0.006510376930236816, + -0.20492666959762573, + 0.9787557721138, + -1.484145164489746 + ], + [ + -0.9995859265327454, + 0.028772592544555664, + -0.0006245672702789307, + -1.1544921398162842 + ], + [ + -0.028033196926116943, + -0.9783544540405273, + -0.20502901077270508, + 1.0419838428497314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34916583734200757, + 0.347562530136284, + 0.3817118831932384 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.172044572458687, + 1.1311553816210378, + 1.0610596258993534 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4983.597649649515, + "intensity": 1.1311553816210378 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8967022328234322, + 0.93408087059739, + 0.9938866910357226 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6287.7210662157995, + "intensity": 0.9490323257069732 + }, + "point_color_scale": [ + 1.069625642891554, + 1.0366427617151845, + 0.9801006796985513 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b02_016/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b02_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db7a141c95f0bfb1fbfda52429309118e950dd61 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b02_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 2, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1079298028446027, + "K": [ + [ + 401.10376707733167, + 0.0, + 327.88777764972764 + ], + [ + 0.0, + 387.9892523692223, + 227.3352248496188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3557212111788666, + -1.1612525550574901, + 1.0835795750704547 + ], + "camera_target": [ + -0.7169328938736395, + -1.1567168311757277, + 0.9359488665116409 + ], + "camera_roll_rad": 0.030088689735512333, + "camera_pose_world_cv": [ + [ + -0.0064544677734375, + -0.2251836359500885, + 0.9742951393127441, + -1.3557212352752686 + ], + [ + -0.9982610940933228, + 0.05854392051696777, + 0.006917834281921387, + -1.161252498626709 + ], + [ + -0.05859670042991638, + -0.9725560545921326, + -0.22516965866088867, + 1.0835795402526855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.966620683670044, + -0.25621217489242554, + 3.340270282592428e-08, + -0.7535364627838135 + ], + [ + 0.25621217489242554, + -0.966620683670044, + 2.5702458827936425e-08, + -1.1180726289749146 + ], + [ + 2.5702458827936425e-08, + 3.340270282592428e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28197249192177726, + 0.3000305960569659, + 0.3109018970001844 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1261143619841179, + 1.0706142480705891, + 0.9754711956473971 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4759.435626209795, + "intensity": 1.0706142480705891 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7043181299878613, + 0.6855042008291744, + 0.6532517508428539 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5107.923020416842, + "intensity": 0.6855042008291744 + }, + "point_color_scale": [ + 0.8072210079444001, + 0.8317836154097823, + 0.8710837873543937 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_001/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c44c0cd939617e32a4c72eff8639a6e640ce4fb --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9045476658204321, + "K": [ + [ + 474.4954842365847, + 0.0, + 345.1794523311175 + ], + [ + 0.0, + 493.96684511528446, + 219.78326642062487 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3870848410751426, + -1.2452024605909477, + 1.0717707378110752 + ], + "camera_target": [ + -0.7298590950718876, + -1.6792055161060246, + 0.9124925033067048 + ], + "camera_roll_rad": -0.029783663011071448, + "camera_pose_world_cv": [ + [ + -0.5402250289916992, + -0.1979217827320099, + 0.817914605140686, + -1.3870848417282104 + ], + [ + -0.8394954204559326, + 0.05935800075531006, + -0.5401151180267334, + -1.2452024221420288 + ], + [ + 0.058350831270217896, + -0.9784190654754639, + -0.19822090864181519, + 1.0717707872390747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3123083670786179, + 0.30021402230367544, + 0.29400241949274625 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.23069052086545, + 1.1912389519864415, + 1.1236076910509982 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5026.884307981302, + "intensity": 1.1912389519864415 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9399693368503156, + 0.9147382777414381, + 0.871485033554791 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5105.959747912423, + "intensity": 0.9147382777414381 + }, + "point_color_scale": [ + 1.1379202412996683, + 1.127461514178357, + 1.1095322676846806 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_002/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e22e6bc0ba9eb82abff554be5ad5c020cff57d6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0610153212405111, + "K": [ + [ + 429.3059244799204, + 0.0, + 297.42222182057435 + ], + [ + 0.0, + 409.1379910407809, + 225.66280685157028 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.32151858329009825, + -0.792209333451392, + 1.0642507703237194 + ], + "camera_target": [ + -0.6882113784981435, + -1.6408470580486427, + 0.9206321900537431 + ], + "camera_roll_rad": -0.013368159329990081, + "camera_pose_world_cv": [ + [ + -0.9192694425582886, + 0.03632815182209015, + -0.3919494152069092, + -0.32151857018470764 + ], + [ + 0.39274197816848755, + 0.15147149562835693, + -0.9070889353752136, + -0.7922093272209167 + ], + [ + 0.026416286826133728, + -0.9877939820289612, + -0.15351051092147827, + 1.0642508268356323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2892689961784054, + 0.3065848027175441, + 0.2978261421664512 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9900217570283987, + 0.9307082531336522, + 0.8290279607426586 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4589.579610933924, + "intensity": 0.9307082531336522 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8106501449331003, + 0.8376269101327645, + 0.8807897344522273 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6135.931283937494, + "intensity": 0.8484176162126302 + }, + "point_color_scale": [ + 0.9034821081800194, + 0.9332867027155575, + 0.9809740539724184 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_003/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6ff8a9f275c5b97a94c8a1953fe513196b2740 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9465289852282308, + "K": [ + [ + 466.94549164319886, + 0.0, + 302.9235608293284 + ], + [ + 0.0, + 468.67717125248845, + 216.73545026627926 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3796931507974768, + -1.3403748516825689, + 0.8896986069806186 + ], + "camera_target": [ + -0.7227742623364433, + -1.6340087265575338, + 0.9081931505670682 + ], + "camera_roll_rad": 0.04552264002932892, + "camera_pose_world_cv": [ + [ + -0.4042527675628662, + 0.06046229600906372, + 0.9126467704772949, + -1.3796931505203247 + ], + [ + -0.9101202487945557, + 0.0725630521774292, + -0.40794089436531067, + -1.3403748273849487 + ], + [ + -0.09088948369026184, + -0.9955295324325562, + 0.02569413185119629, + 0.8896986246109009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23493579899150552, + 0.22943527781096873, + 0.2370423603220422 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9369734419148955, + 0.9597845269898212, + 0.9962822631097024 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5970.861267521288, + "intensity": 0.9689089610197914 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.59403132585151, + 0.5937087711634816, + 0.5931558202697186 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5492.238746775356, + "intensity": 0.5937087711634816 + }, + "point_color_scale": [ + 1.00001328320029, + 0.9684184871497097, + 0.9142559796344292 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_004/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46e0832795bf8faa488407a2e209ff867bb557d9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1731680229581758, + "K": [ + [ + 378.0419786888074, + 0.0, + 324.0715782999761 + ], + [ + 0.0, + 361.1088620916927, + 259.2905885085332 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3981991895485989, + -1.4274371135768988, + 0.952484906837973 + ], + "camera_target": [ + -0.7624860742596621, + -1.6725738957652947, + 0.960479260941274 + ], + "camera_roll_rad": 0.045848357264645756, + "camera_pose_world_cv": [ + [ + -0.5573258399963379, + 0.03608214855194092, + -0.8295097351074219, + -0.398199200630188 + ], + [ + 0.82523113489151, + -0.08608955144882202, + -0.5581957101821899, + -1.4274370670318604 + ], + [ + -0.09155312180519104, + -0.9956339597702026, + 0.0182039737701416, + 0.9524849057197571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22872327513135765, + 0.2226570024616668, + 0.2106334962213503 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9628281178795988, + 1.0045673568887834, + 1.0713501393034792 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6317.404270277231, + "intensity": 1.0212630524924573 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.726700102642579, + 0.7143882556428995, + 0.6932822322148778 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5253.798404190498, + "intensity": 0.7143882556428995 + }, + "point_color_scale": [ + 1.0323195521862343, + 1.0421143816434435, + 1.0577861087749778 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_005/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..757a03a08e3fc74bdf81e016ba4eb76ecb0cc663 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0366192902435665, + "K": [ + [ + 419.58377851857966, + 0.0, + 295.5477188400963 + ], + [ + 0.0, + 420.81675316752256, + 239.60157582452715 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0890942883552608, + -1.3528895006292203, + 1.034834708195697 + ], + "camera_target": [ + -0.7084290765866595, + -1.6340199746311423, + 0.9218678171164115 + ], + "camera_roll_rad": 0.03436492532790385, + "camera_pose_world_cv": [ + [ + -0.6055002212524414, + -0.1455393135547638, + 0.7824242115020752, + -1.0890942811965942 + ], + [ + -0.7930368185043335, + 0.19285833835601807, + -0.5778392553329468, + -1.3528895378112793 + ], + [ + -0.06679877638816833, + -0.9703730344772339, + -0.23219388723373413, + 1.0348347425460815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.32489273949334496, + 0.32287458964660976, + 0.34540596986096617 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0768389814240322, + 1.0356671380163696, + 0.9650868350318051 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4932.08665221862, + "intensity": 1.0356671380163696 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8309549758096162, + 0.8236204869152002, + 0.8110470773819157 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5372.783139271087, + "intensity": 0.8236204869152002 + }, + "point_color_scale": [ + 0.9808830706127029, + 0.9878874854255916, + 0.9990945491262133 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_006/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..540b8e10250e3b2a8bdde9eb1842444cb89d6d54 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.260730961901997, + "K": [ + [ + 343.0879720643971, + 0.0, + 345.58477155459667 + ], + [ + 0.0, + 328.91371421569875, + 250.56451025929954 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.3633576421096157, + -1.4486558872875634, + 1.1411777201598254 + ], + "camera_target": [ + -0.6787286759153686, + -1.6403902616492338, + 0.9205353002473409 + ], + "camera_roll_rad": -0.018575484342060578, + "camera_pose_world_cv": [ + [ + -0.5354176759719849, + 0.418847918510437, + -0.7334129810333252, + -0.36335763335227966 + ], + [ + 0.8439856767654419, + 0.2981128692626953, + -0.4458891749382019, + -1.4486558437347412 + ], + [ + 0.03188002109527588, + -0.8577268719673157, + -0.5131163001060486, + 1.141177773475647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2936046318797475, + 0.2990469909924266, + 0.2949772900696072 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1617577905396415, + 1.1043813371386273, + 1.0060217027368885 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4757.807432586484, + "intensity": 1.1043813371386273 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.628178849559629, + 0.6279030756623218, + 0.6274303204097951 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5493.725740075037, + "intensity": 0.6279030756623218 + }, + "point_color_scale": [ + 0.8794991063055762, + 0.8994200553890004, + 0.9312935739224794 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_007/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26f5c9e26d4321912416051d913cb8aa538b06af --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8012105579297298, + "K": [ + [ + 558.8275519618057, + 0.0, + 351.1167111831405 + ], + [ + 0.0, + 566.6968195925798, + 242.85772598824752 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2821598730591202, + -1.5558062814457922, + 1.0176023151276135 + ], + "camera_target": [ + -0.7252369964318796, + -1.695075308949787, + 0.8483954180038561 + ], + "camera_roll_rad": -0.003418003040728472, + "camera_pose_world_cv": [ + [ + -0.24071764945983887, + -0.2759292721748352, + 0.9305471181869507, + -1.2821599245071411 + ], + [ + -0.9705730080604553, + 0.06195485591888428, + -0.23270070552825928, + -1.555806279182434 + ], + [ + 0.00655701756477356, + -0.959179162979126, + -0.28272318840026855, + 1.0176023244857788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3405013962663978, + 0.32579335017697064, + 0.3117743617136348 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1698677285503616, + 1.1223299896233596, + 1.0408367228913564 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4894.9100867135085, + "intensity": 1.1223299896233596 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6124215275438569, + 0.6301648790295731, + 0.6585542414067189 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6056.8618675115895, + "intensity": 0.6372622196238595 + }, + "point_color_scale": [ + 0.9936552582771139, + 0.9730711352108579, + 0.9377840670972759 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_008/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d26c6f0fde85fe91348d027662220e776908869 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0058579525857316, + "K": [ + [ + 447.6960691867581, + 0.0, + 310.4290650968266 + ], + [ + 0.0, + 436.27502124592746, + 222.05207254637432 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4007493519192984, + -0.9356674112826588, + 0.7576255153007014 + ], + "camera_target": [ + -0.706562305231641, + -1.6505298223664824, + 0.8745331043150204 + ], + "camera_roll_rad": -0.03744964044096774, + "camera_pose_world_cv": [ + [ + -0.7214682102203369, + 0.027266710996627808, + 0.6919105648994446, + -1.4007493257522583 + ], + [ + -0.6884477138519287, + -0.13549089431762695, + -0.712518036365509, + -0.9356673955917358 + ], + [ + 0.07431954145431519, + -0.9904033541679382, + 0.11652421951293945, + 0.7576255202293396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30251814400626037, + 0.32634046050336857, + 0.32359339702637 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.10590798082802, + 1.1154804245740297, + 1.1307963345676455 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5671.041960842749, + "intensity": 1.1193094020724337 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6358620997718134, + 0.6404832503191211, + 0.6478770911948136 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5643.886732399896, + "intensity": 0.6423317105380443 + }, + "point_color_scale": [ + 0.8367804207056236, + 0.8034806194054488, + 0.7463952457480062 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_009/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd4f7c06147e1566563fdec0b2ac096d6aa9222d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8069365670439734, + "K": [ + [ + 538.9855718693876, + 0.0, + 335.66003204069614 + ], + [ + 0.0, + 562.2090230499845, + 248.1434594789292 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4473203360091196, + -1.135174881170499, + 0.9524989184109703 + ], + "camera_target": [ + -0.7234159572994308, + -1.7070230108872722, + 0.9706318677603485 + ], + "camera_roll_rad": -0.014208518651880601, + "camera_pose_world_cv": [ + [ + -0.6200623512268066, + -0.002197861671447754, + 0.7845494747161865, + -1.4473203420639038 + ], + [ + -0.7840381264686584, + -0.03447270393371582, + -0.6197546720504761, + -1.1351748704910278 + ], + [ + 0.02840772271156311, + -0.9994032382965088, + 0.01965200901031494, + 0.9524989128112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28088148963785436, + 0.2743398492487721, + 0.276045317848641 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9029629630731709, + 0.9283537826249288, + 0.968979093907742 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6041.0878214130635, + "intensity": 0.9385101104456322 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.850575970232118, + 0.82010233409775, + 0.7678618150102623 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4969.1666625466405, + "intensity": 0.82010233409775 + }, + "point_color_scale": [ + 0.9738975142556175, + 0.950106379609416, + 0.909321577358785 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_010/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8926124a62c3691bd6c02f3874b2cb7d0ba8b51 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9160091924245966, + "K": [ + [ + 478.8549664608644, + 0.0, + 320.90785065948 + ], + [ + 0.0, + 486.8489858748981, + 222.6482838316756 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.3229719911774902, + -0.9725709116929384, + 1.1308260522566866 + ], + "camera_target": [ + -0.7503760910162737, + -1.6626486172619979, + 0.9861901075058166 + ], + "camera_roll_rad": 0.03658567102199027, + "camera_pose_world_cv": [ + [ + -0.7749481201171875, + -0.04515111446380615, + 0.6304100751876831, + -1.3229719400405884 + ], + [ + -0.6278905272483826, + 0.1689012050628662, + -0.7597538828849792, + -0.9725708961486816 + ], + [ + -0.07217326760292053, + -0.9845983386039734, + -0.1592395305633545, + 1.1308259963989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3892629385492681, + 0.35235908745690203, + 0.39158738230581286 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1810206677666912, + 1.1192089016472275, + 1.0132458740138612 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4711.02733459461, + "intensity": 1.1192089016472275 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8811122510547639, + 0.8473436742727078, + 0.789454685503469 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4930.681724085899, + "intensity": 0.8473436742727078 + }, + "point_color_scale": [ + 0.9255940451373311, + 0.9583771867653424, + 1.010830213370161 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_011/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f81fa8697cd75dc05e92023f3d63c5da563081ab --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8075440378837021, + "K": [ + [ + 542.3536272760176, + 0.0, + 319.06709672294426 + ], + [ + 0.0, + 561.7364445156411, + 223.06369078850736 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5559050817365598, + -1.5231051466125825, + 1.1014899594757521 + ], + "camera_target": [ + -0.7701797784214749, + -1.701112443824308, + 0.9648665895064584 + ], + "camera_roll_rad": -0.005269943481697334, + "camera_pose_world_cv": [ + [ + -0.2192213535308838, + -0.16538459062576294, + 0.961556077003479, + -1.5559051036834717 + ], + [ + -0.9756198525428772, + 0.026661396026611328, + -0.2178419828414917, + -1.5231051445007324 + ], + [ + 0.010391324758529663, + -0.9858686923980713, + -0.16719722747802734, + 1.1014899015426636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.37330002778748034, + 0.39882263105895843, + 0.40022377613768495 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.8590571409334885, + 0.8744313439163146, + 0.8990300686888366 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5849.183153950322, + "intensity": 0.8805810251094451 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9149034591482336, + 0.9298390836614829, + 0.9537360828826817 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5819.200934184584, + "intensity": 0.9358133334667826 + }, + "point_color_scale": [ + 0.9933310522923167, + 0.9876103444442228, + 0.9778034167046333 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_012/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27e02c27f02aca6e2574f59b60a814c7cf11f29b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0504506485316294, + "K": [ + [ + 433.29302800797075, + 0.0, + 294.4311962906813 + ], + [ + 0.0, + 414.1350924894939, + 217.31920638037832 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6870561470539112, + -1.4076526482817249, + 0.901226519021397 + ], + "camera_target": [ + -0.6928315798301817, + -1.6883718787220394, + 0.9148286383484159 + ], + "camera_roll_rad": -0.03767196371782369, + "camera_pose_world_cv": [ + [ + -0.27190935611724854, + -0.007819712162017822, + 0.9622911214828491, + -1.6870561838150024 + ], + [ + -0.9593750238418579, + -0.07600760459899902, + -0.27170291543006897, + -1.4076526165008545 + ], + [ + 0.07526609301567078, + -0.9970766305923462, + 0.013165116310119629, + 0.9012265205383301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.27041413661088953, + 0.2915130991742418, + 0.280620762041915 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1574569773577252, + 1.1834182696423665, + 1.2249563372977927 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5934.934355607129, + "intensity": 1.193802786556223 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7717588341457043, + 0.7448808684245741, + 0.6988043557597796 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4984.520337211254, + "intensity": 0.7448808684245741 + }, + "point_color_scale": [ + 0.826251319748657, + 0.8136996623397934, + 0.7921825353531703 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_013/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd8abb5016474ad09300a6dc76da4cddd8f24376 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8159666924217016, + "K": [ + [ + 555.2364808535096, + 0.0, + 340.03814732161743 + ], + [ + 0.0, + 555.2526180932473, + 225.86530350515682 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.0844300416434904, + -1.2417473550623441, + 0.9038068704299136 + ], + "camera_target": [ + -0.7318018757212649, + -1.632993189200877, + 0.980921292026044 + ], + "camera_roll_rad": -0.01651980024109418, + "camera_pose_world_cv": [ + [ + -0.745613694190979, + 0.07239532470703125, + 0.6624341607093811, + -1.0844300985336304 + ], + [ + -0.6655762791633606, + -0.1296645998954773, + -0.7349797487258911, + -1.2417473793029785 + ], + [ + 0.032685160636901855, + -0.988911509513855, + 0.14486420154571533, + 0.9038068652153015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3058897371166174, + 0.29994941068888137, + 0.306238395635671 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.019351374898982, + 0.9804942193285955, + 0.9138819526365047 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4933.854670949308, + "intensity": 0.9804942193285955 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8544619123246111, + 0.8626799549763365, + 0.8758288232190972 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5689.800327705125, + "intensity": 0.8659671720370267 + }, + "point_color_scale": [ + 1.1105552197612203, + 1.156154199335435, + 1.2291125666541785 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_014/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6492988312407180560947bd243e49de439ae3ea --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.124543374534895, + "K": [ + [ + 384.41852106983424, + 0.0, + 317.16288656906744 + ], + [ + 0.0, + 380.88064012473177, + 227.6205756620839 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.398902837510273, + -1.1813761871079684, + 0.7354905284139485 + ], + "camera_target": [ + -0.7611835897292205, + -1.6168506000870904, + 0.9147559918643811 + ], + "camera_roll_rad": 0.008637734482263529, + "camera_pose_world_cv": [ + [ + -0.5606153011322021, + 0.19645771384239197, + 0.8044346570968628, + -1.3989028930664062 + ], + [ + -0.827905535697937, + -0.1132354736328125, + -0.5493180155754089, + -1.1813762187957764 + ], + [ + -0.016827136278152466, + -0.9739518761634827, + 0.22613012790679932, + 0.7354905009269714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.357662786579409, + 0.3610787693787348, + 0.3799793998706172 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1098959668798432, + 1.0685489852205143, + 0.9976684452330937 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4947.221255429911, + "intensity": 1.0685489852205143 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9611112462315409, + 0.9281437385449847, + 0.8716280110823169 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4992.5738590225865, + "intensity": 0.9281437385449847 + }, + "point_color_scale": [ + 1.1365324400147105, + 1.1755210725164447, + 1.2379028845192197 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_015/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94a0121fa4541e153ae6a72b300111194b69ae0f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8070825174527294, + "K": [ + [ + 568.0224335058282, + 0.0, + 309.74532083484524 + ], + [ + 0.0, + 562.0954203850614, + 232.79606849662147 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4410145920999062, + -1.5753568542449963, + 0.6854125056700995 + ], + "camera_target": [ + -0.7550886736429561, + -1.6237477992721636, + 0.8441574400539958 + ], + "camera_roll_rad": 0.03840253864033362, + "camera_pose_world_cv": [ + [ + -0.05294930934906006, + 0.22912198305130005, + 0.9719566702842712, + -1.4410146474838257 + ], + [ + -0.9957947134971619, + 0.06075620651245117, + -0.06857001781463623, + -1.5753568410873413 + ], + [ + -0.0747632384300232, + -0.9714999198913574, + 0.22494149208068848, + 0.6854125261306763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23460648529758882, + 0.2422510532926844, + 0.22299994197470216 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0935330221070072, + 1.1277675833747187, + 1.182542881403057 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6099.83738444982, + "intensity": 1.1414614078818033 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8205866307305371, + 0.8199874549308452, + 0.8189602964170878 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5489.561237516696, + "intensity": 0.8199874549308452 + }, + "point_color_scale": [ + 1.0872910755428764, + 1.0370036489442127, + 0.9507966319179322 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b03_016/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b03_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f3e0a6a4c777cdd0cb742546c1a32945d736d77 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b03_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 3, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8222146870016521, + "K": [ + [ + 542.898213127742, + 0.0, + 314.4644724200088 + ], + [ + 0.0, + 550.5239141675539, + 251.8488634322579 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.47640697841084023, + -0.8241642107910893, + 0.9354118347789401 + ], + "camera_target": [ + -0.6880521337817852, + -1.623062122235237, + 0.8470201301509344 + ], + "camera_roll_rad": -0.01975892811949722, + "camera_pose_world_cv": [ + [ + -0.9669749736785889, + -0.010977610945701599, + -0.2546349763870239, + -0.476406991481781 + ], + [ + 0.25182586908340454, + 0.11283695697784424, + -0.9611720442771912, + -0.8241642117500305 + ], + [ + 0.039283595979213715, + -0.9935529828071594, + -0.10634595155715942, + 0.935411810874939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.8160949945449829, + -0.5779175758361816, + -6.583533007642473e-08, + -0.7225534319877625 + ], + [ + 0.5779175758361816, + -0.8160949945449829, + -1.0324776589243356e-08, + -1.6616421937942505 + ], + [ + -4.776101647507858e-08, + -4.6473395798329875e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24040850587787876, + 0.224701424769852, + 0.21966057457623667 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0336886822876983, + 0.9891107128668479, + 0.9126913367168188 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4856.160916771605, + "intensity": 0.9891107128668479 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6390719334096979, + 0.62187075337443, + 0.5923830161711137 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5104.851744470102, + "intensity": 0.62187075337443 + }, + "point_color_scale": [ + 1.1978124024941301, + 1.142558848323969, + 1.0478384697465497 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_001/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_001/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a03670d41a2fd22126d00ae2ca4b2f8fbd7064e0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_001/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 0, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.243443207409607, + "K": [ + [ + 347.74167039792246, + 0.0, + 308.37836366862746 + ], + [ + 0.0, + 334.9563577264018, + 249.411871725671 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.2974149333921947, + -1.1348917554748175, + 0.8110095116041642 + ], + "camera_target": [ + -1.0166171708165652, + -1.4472372070478776, + 0.8897552330779309 + ], + "camera_roll_rad": 0.016384573698085353, + "camera_pose_world_cv": [ + [ + -0.7392294406890869, + 0.1474965214729309, + 0.6571035385131836, + -1.2974148988723755 + ], + [ + -0.6726836562156677, + -0.11506140232086182, + -0.7309293746948242, + -1.1348917484283447 + ], + [ + -0.032202184200286865, + -0.9823471307754517, + 0.18427550792694092, + 0.8110095262527466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.361688984586137, + 0.3551594092301111, + 0.3408108316570552 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.124901506431446, + 1.0937503243936817, + 1.0403482980432286 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5093.127538955959, + "intensity": 1.0937503243936817 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7864531788073915, + 0.7703041093515963, + 0.742619990284519 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5200.506605865264, + "intensity": 0.7703041093515963 + }, + "point_color_scale": [ + 0.8386041979781624, + 0.8595306096662815, + 0.8930128683672723 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_002/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad3d09d59b2117cafde08ec2926f01b9bd4fbc1b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1636334239695865, + "K": [ + [ + 347.28138046938693, + 0.0, + 345.9839800166361 + ], + [ + 0.0, + 364.8702477764897, + 243.00236049130945 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.4437531726698674, + -1.6320949860599223, + 0.8563969480910913 + ], + "camera_target": [ + -0.9654474681911139, + -1.4466342833681574, + 0.9681486226370687 + ], + "camera_roll_rad": 0.036879952908997815, + "camera_pose_world_cv": [ + [ + 0.3751612901687622, + 0.17126962542533875, + 0.9109998345375061, + -1.4437531232833862 + ], + [ + -0.9241586923599243, + 0.14544785022735596, + 0.35323578119277954, + -1.6320949792861938 + ], + [ + -0.07200437784194946, + -0.9744288325309753, + 0.2128467559814453, + 0.8563969731330872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.379757381583555, + 0.38105797182481965, + 0.3515644464523898 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.100479030649336, + 1.122292814171171, + 1.157194867806107 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5885.737047577488, + "intensity": 1.131018327579905 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8870924929835149, + 0.8492515554485345, + 0.7843813768171395 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4863.457366124245, + "intensity": 0.8492515554485345 + }, + "point_color_scale": [ + 0.8219157493089947, + 0.8408500997422961, + 0.8711450604355782 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_003/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8e97e546ee9ad90e6a45433e18915d193724d6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9074685818530767, + "K": [ + [ + 493.873403629921, + 0.0, + 317.4935736946608 + ], + [ + 0.0, + 492.13701546513033, + 225.60502151454588 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.424485498914068, + -0.8675758204196359, + 1.1104474940239102 + ], + "camera_target": [ + -0.9541863204145148, + -1.4795522889488737, + 0.9271306539446771 + ], + "camera_roll_rad": -0.00900506805708541, + "camera_pose_world_cv": [ + [ + -0.7902426719665527, + -0.15506722033023834, + 0.5928499698638916, + -1.424485445022583 + ], + [ + -0.6125438213348389, + 0.17222607135772705, + -0.771445631980896, + -0.8675758242607117 + ], + [ + 0.01752173900604248, + -0.9727756977081299, + -0.2310856580734253, + 1.1104475259780884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2544299758896765, + 0.2696541708606004, + 0.26086656409529757 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9639699846040639, + 0.9684881788785069, + 0.9757172897176157 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5593.13027787082, + "intensity": 0.9702954565882841 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.5970340064309411, + 0.5706980038421299, + 0.5255505708327392 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4840.757097661649, + "intensity": 0.5706980038421299 + }, + "point_color_scale": [ + 1.1674700042102926, + 1.121716692915998, + 1.0432824449829217 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_004/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23287c36f3b1e79c9f9db7941f13f7901b60fb08 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8634189703027505, + "K": [ + [ + 541.6371088414694, + 0.0, + 331.191729399279 + ], + [ + 0.0, + 520.9557764488678, + 256.2545519184317 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.25418867681286617, + -0.850786288517321, + 1.0569981197232323 + ], + "camera_target": [ + -1.013332182011084, + -1.4637838494069189, + 0.9499417233282205 + ], + "camera_roll_rad": 0.006819844589453811, + "camera_pose_world_cv": [ + [ + -0.6270240545272827, + 0.09341472387313843, + -0.7733786106109619, + -0.2541886866092682 + ], + [ + 0.7788819074630737, + 0.057900309562683105, + -0.6244921684265137, + -0.8507862687110901 + ], + [ + -0.013557881116867065, + -0.9939422607421875, + -0.10906398296356201, + 1.0569981336593628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3660903959246772, + 0.3758574725844044, + 0.3724595879262911 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1608170363580692, + 1.1252826739296515, + 1.064366624052364 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5048.883351056437, + "intensity": 1.1252826739296515 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6354234014376172, + 0.6506719980630737, + 0.6750697526638042 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5964.350176425653, + "intensity": 0.6567714367132563 + }, + "point_color_scale": [ + 0.9133552855707815, + 0.8862885949168171, + 0.8398885537957352 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_005/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14e2e0534a45c028c60900b4636268136e78c62e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0382821171226906, + "K": [ + [ + 431.35836363502085, + 0.0, + 290.72504505937127 + ], + [ + 0.0, + 420.0049293366603, + 262.0219784982936 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.6438492724573945, + -0.9179178186493343, + 1.1259388129556664 + ], + "camera_target": [ + -0.972415886710189, + -1.4400814931393915, + 0.9565996578629272 + ], + "camera_roll_rad": 0.03748159420195524, + "camera_pose_world_cv": [ + [ + -0.6237143278121948, + -0.10772320628166199, + 0.7741939425468445, + -1.64384925365448 + ], + [ + -0.7781937122344971, + 0.1786494255065918, + -0.602078914642334, + -0.9179178476333618 + ], + [ + -0.0734514594078064, + -0.9779980182647705, + -0.19525569677352905, + 1.1259387731552124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35260907014469184, + 0.37237837912641514, + 0.3703519442118389 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.864188867344288, + 0.8824852309756095, + 0.911759412785724 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5911.244908507064, + "intensity": 0.8898037764281381 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.634824282980917, + 0.6508418263520946, + 0.6764698957459789 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5987.411838748705, + "intensity": 0.6572488437005658 + }, + "point_color_scale": [ + 0.9718840405759199, + 1.0088212045678175, + 1.0679206669548538 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_006/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_006/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c09debc4c9ff2ae19f668905aad038e31d837ed --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_006/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 5, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.048359395934771, + "K": [ + [ + 396.07448741971854, + 0.0, + 343.58812651710844 + ], + [ + 0.0, + 415.13506885146603, + 253.54782695848183 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.316694444775501, + -1.7744631300386262, + 0.7735356937249875 + ], + "camera_target": [ + -0.995401454585927, + -1.4223825873118958, + 0.8889145774249351 + ], + "camera_roll_rad": 0.036017773669864445, + "camera_pose_world_cv": [ + [ + 0.7481635212898254, + 0.10501381754875183, + 0.6551514863967896, + -1.3166944980621338 + ], + [ + -0.6598166227340698, + 0.22185039520263672, + 0.717930793762207, + -1.774463176727295 + ], + [ + -0.06995287537574768, + -0.9694094657897949, + 0.23527026176452637, + 0.7735356688499451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.354072322333, + 0.3664551438176058, + 0.345794346298888 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.2685600575214446, + 1.1989381652586124, + 1.0795863499509 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4670.433897495399, + "intensity": 1.1989381652586124 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7663398532211377, + 0.7976810621969012, + 0.8478269965581227 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6273.649228870065, + "intensity": 0.8102175457872065 + }, + "point_color_scale": [ + 0.8644207518203372, + 0.824794472106603, + 0.7568637068830587 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_007/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19ae8ad6d15012e762fb7a2b88ac8a6ec7d71911 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9460953983246463, + "K": [ + [ + 456.76427022429255, + 0.0, + 319.43285570641814 + ], + [ + 0.0, + 468.9277264224813, + 219.1073701709173 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5876286060151228, + -1.6543541786600229, + 0.9020486240593156 + ], + "camera_target": [ + -0.9800778364705309, + -1.4263672563686416, + 0.8668440202905294 + ], + "camera_roll_rad": 0.039117957696491026, + "camera_pose_world_cv": [ + [ + 0.34629470109939575, + -0.0780218243598938, + 0.9348757863044739, + -1.5876286029815674 + ], + [ + -0.9348741173744202, + 0.0541996955871582, + 0.3508175313472748, + -1.654354214668274 + ], + [ + -0.07804137468338013, + -0.9954773187637329, + -0.05417144298553467, + 0.902048647403717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23795452677016785, + 0.24386729442802074, + 0.22932746808965737 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.9503327675626084, + 0.9759934048995269, + 1.0170504246385963 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6020.363762573561, + "intensity": 0.9862576598342943 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9490820217188244, + 0.9472831277151709, + 0.9441993094231935 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5472.871378139646, + "intensity": 0.9472831277151709 + }, + "point_color_scale": [ + 0.9736831952111225, + 0.9875538020942457, + 1.0097467731072427 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_008/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77bdbbedf4905280a52e6f117a60b9188f8f6c49 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9533891384067852, + "K": [ + [ + 441.96826861049254, + 0.0, + 332.228532537375 + ], + [ + 0.0, + 464.7409503592518, + 218.74066338741346 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.367278031268584, + -0.5762575729014161, + 1.0634577297748917 + ], + "camera_target": [ + -0.9666163177476026, + -1.4635527117607685, + 0.8437248911687117 + ], + "camera_roll_rad": 0.028043143985786417, + "camera_pose_world_cv": [ + [ + -0.9150369167327881, + -0.039373695850372314, + 0.4014442563056946, + -1.367277979850769 + ], + [ + -0.39964696764945984, + 0.22340798377990723, + -0.8890283107757568, + -0.576257586479187 + ], + [ + -0.05468149483203888, + -0.9739295244216919, + -0.22016197443008423, + 1.063457727432251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3815978301726585, + 0.37651594857478743, + 0.3793013935237682 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.892173616943923, + 0.8539576879828523, + 0.7884446669067311 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4860.6921631087025, + "intensity": 0.8539576879828523 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.9018248272878456, + 0.9201134649005865, + 0.9493752850809722 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5894.394378251913, + "intensity": 0.927428919945683 + }, + "point_color_scale": [ + 0.9394786546301973, + 0.9598714865912287, + 0.9925000177288785 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_009/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7257768f6d91515fa75536d32e0e3e4697b6ec05 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2859490488872827, + "K": [ + [ + 312.48713796715623, + 0.0, + 350.42494680169784 + ], + [ + 0.0, + 320.35130291972575, + 247.72686044838727 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.5031462540546288, + -1.470393435108741, + 0.9057169022605752 + ], + "camera_target": [ + -0.9943820444318722, + -1.4105992520847097, + 0.9101741959956333 + ], + "camera_roll_rad": -0.006776383310013741, + "camera_pose_world_cv": [ + [ + 0.1209402084350586, + -0.00730249285697937, + -0.9926329851150513, + -0.503146231174469 + ], + [ + 0.9925673007965088, + 0.014541387557983398, + 0.12082523107528687, + -1.470393419265747 + ], + [ + 0.013551831245422363, + -0.9998676180839539, + 0.009006977081298828, + 0.9057168960571289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26687696386970255, + 0.26770170933827575, + 0.24726791562556302 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1915813315276433, + 1.1961122908755633, + 1.2033618258322352 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5575.646815595933, + "intensity": 1.1979246746147312 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8571658004628561, + 0.8441075090451575, + 0.8217218666148172 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5279.0008757725, + "intensity": 0.8441075090451575 + }, + "point_color_scale": [ + 1.0727520346294541, + 1.035999577052056, + 0.9729953640622309 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_010/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf827b455744bbc8172188be5ffa55679f47694 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0409843542137558, + "K": [ + [ + 435.79339233158925, + 0.0, + 325.54743055655047 + ], + [ + 0.0, + 418.6906721860691, + 261.6942947704457 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.11952755611501698, + -1.5596611393294173, + 1.0216927595653273 + ], + "camera_target": [ + -0.9967776056560027, + -1.416304123981838, + 0.8510687106699385 + ], + "camera_roll_rad": -0.02797837516073936, + "camera_pose_world_cv": [ + [ + 0.1506197452545166, + 0.1947719156742096, + -0.969214916229248, + -0.11952755600214005 + ], + [ + 0.9870648384094238, + 0.024840474128723145, + 0.15838557481765747, + -1.5596611499786377 + ], + [ + 0.054924845695495605, + -0.9805338978767395, + -0.18851107358932495, + 1.0216927528381348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3162716243206764, + 0.32770026226010573, + 0.33914885645273607 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.938475134621712, + 0.9148298757885982, + 0.8742951463604032 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5130.762592213721, + "intensity": 0.9148298757885982 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.759812712916404, + 0.778937956433649, + 0.8095383460612411 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5986.28359975378, + "intensity": 0.7865880538405471 + }, + "point_color_scale": [ + 1.1481970282920988, + 1.1834664264606647, + 1.2398974635303701 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_011/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_011/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b7822df4120eba7bce8e55831287c7e9c87796 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_011/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 10, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1854550022978623, + "K": [ + [ + 362.85056647102823, + 0.0, + 345.336440667844 + ], + [ + 0.0, + 356.3404888615521, + 254.1420410945843 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.5469935661376666, + -0.9797121760365353, + 1.0473787085585045 + ], + "camera_target": [ + -0.9549447316280185, + -1.4737121685658632, + 0.8845780673296145 + ], + "camera_roll_rad": -0.012234535234090987, + "camera_pose_world_cv": [ + [ + -0.6365907192230225, + -0.17424413561820984, + 0.7512596845626831, + -1.546993613243103 + ], + [ + -0.7708301544189453, + 0.11352264881134033, + -0.626844048500061, + -0.979712188243866 + ], + [ + 0.023938924074172974, + -0.9781367778778076, + -0.20658016204833984, + 1.047378659248352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30295671687187015, + 0.28783686513772444, + 0.2989153801833268 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.045286181282037, + 1.097752197839966, + 1.1816978243326524 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6437.949514723441, + "intensity": 1.1187386044631376 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.7029055698384408, + 0.7117821097835693, + 0.7259845736957748 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5748.179333209662, + "intensity": 0.7153327257616207 + }, + "point_color_scale": [ + 0.8039714433498194, + 0.8164122302411244, + 0.8363174892672126 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_012/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53460b046404fbe7e790014850ad75d86b9bd247 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.084867142272171, + "K": [ + [ + 378.67546743317047, + 0.0, + 330.16780905392756 + ], + [ + 0.0, + 398.1800159159, + 240.29462934629427 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.27406041174217477, + -0.7820829839198399, + 1.1105563771844986 + ], + "camera_target": [ + -0.9806915985645248, + -1.3846631910362082, + 0.9852719017686861 + ], + "camera_roll_rad": -0.019735769134135397, + "camera_pose_world_cv": [ + [ + -0.652371883392334, + 0.07604584097862244, + -0.7540743947029114, + -0.2740603983402252 + ], + [ + 0.7568895816802979, + 0.11670911312103271, + -0.6430374979972839, + -0.7820829749107361 + ], + [ + 0.03910702466964722, + -0.9902505278587341, + -0.13369596004486084, + 1.1105563640594482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33794028162527395, + 0.3199393191887642, + 0.32360081280956904 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.1689927483955425, + 1.1091282836276108, + 1.0065034868825853 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4728.938029832973, + "intensity": 1.1091282836276108 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.5880512549168694, + 0.5633271864950314, + 0.5209430692004521 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 4873.009174912343, + "intensity": 0.5633271864950314 + }, + "point_color_scale": [ + 1.0521505030523635, + 1.0950615481501846, + 1.1637192203066988 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_013/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e26c65feae0dd9ed8ba0740e70a877cbe38e129f --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.16728173391484, + "K": [ + [ + 366.1766669575952, + 0.0, + 342.6690235417693 + ], + [ + 0.0, + 363.42458194416764, + 228.5070277393161 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.7543790763548597, + -1.0593904275606723, + 0.6898841725849663 + ], + "camera_target": [ + -0.956406351636935, + -1.4016102870011913, + 0.9190088736990611 + ], + "camera_roll_rad": -0.04203084362107324, + "camera_pose_world_cv": [ + [ + -0.4124422073364258, + 0.20057815313339233, + 0.8886282444000244, + -1.7543790340423584 + ], + [ + -0.9073593020439148, + -0.17737841606140137, + -0.38109859824180603, + -1.0593904256820679 + ], + [ + 0.081183522939682, + -0.9634860754013062, + 0.25515496730804443, + 0.6898841857910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.22273397235487502, + 0.2233833660147064, + 0.2249331909526185 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 0.8707569916092095, + 0.8701825007762871, + 0.8691976593484201 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5490.568631417467, + "intensity": 0.8701825007762871 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8087659668471388, + 0.8045372748862752, + 0.7972880886676522 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5424.913503648751, + "intensity": 0.8045372748862752 + }, + "point_color_scale": [ + 1.153736900500003, + 1.1634490255467203, + 1.1789884256214676 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_014/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d7b1b13488fd2a42af533bba64f19c9cfb2c9dc --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1974008228107578, + "K": [ + [ + 366.2085838367446, + 0.0, + 303.70474698537714 + ], + [ + 0.0, + 351.78718523995457, + 252.61186412874494 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.864042652457374, + -1.514737913646425, + 0.758425651360287 + ], + "camera_target": [ + -1.0229027996812412, + -1.4445884272505378, + 0.92114186394462 + ], + "camera_roll_rad": 0.02190366772106629, + "camera_pose_world_cv": [ + [ + 0.09129083156585693, + 0.18481722474098206, + 0.9785237312316895, + -1.8640426397323608 + ], + [ + -0.9948954582214355, + 0.05935871601104736, + 0.08160701394081116, + -1.5147379636764526 + ], + [ + -0.04300150275230408, + -0.9809787273406982, + 0.1892927885055542, + 0.7584256529808044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2367882664360271, + 0.2382409357801968, + 0.24220877754899758 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.0361095400063798, + 1.0642225578157056, + 1.109203386310627 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 6022.805401069534, + "intensity": 1.075467764939436 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8397097412801802, + 0.8421879694472741, + 0.8461531345146246 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5558.782948835699, + "intensity": 0.8431792607141118 + }, + "point_color_scale": [ + 1.0403931545678053, + 1.05727834201553, + 1.0842946419318895 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_015/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41ba728620d01fae2efa57951b20f8a61c303745 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.1519456188280237, + "K": [ + [ + 372.1018229206224, + 0.0, + 319.94180649711274 + ], + [ + 0.0, + 369.5561379624049, + 223.667801392473 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -0.04056130400667468, + -1.6472612557009765, + 0.9419012371721043 + ], + "camera_target": [ + -0.9444501932727805, + -1.3927963862969939, + 0.9195371422582341 + ], + "camera_roll_rad": -0.03338208420500382, + "camera_pose_world_cv": [ + [ + 0.26885563135147095, + 0.04094648361206055, + -0.9623098373413086, + -0.04056130349636078 + ], + [ + 0.9608685970306396, + 0.05778074264526367, + 0.27091169357299805, + -1.6472612619400024 + ], + [ + 0.0666956901550293, + -0.997489333152771, + -0.023809432983398438, + 0.9419012665748596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34710447304576125, + 0.3423670330659956, + 0.3689076814628306 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.003307704815065, + 0.9902273614536348, + 0.9678039156911828 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 5311.293794441185, + "intensity": 0.9902273614536348 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.6926641639059719, + 0.71256716733583, + 0.744411972823603 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 6052.4557892301455, + "intensity": 0.7205283687077733 + }, + "point_color_scale": [ + 1.0078857184724002, + 1.0504372713971495, + 1.1185197560767484 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000896/scene_b04_016/scene_meta.json b/so100/ProcTHOR/test/bg_000896/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0256bf514263d4379b219928cecefece55a9630a --- /dev/null +++ b/so100/ProcTHOR/test/bg_000896/scene_b04_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 896, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.156212901009537, + "K": [ + [ + 363.21974808222024, + 0.0, + 319.5277150886576 + ], + [ + 0.0, + 367.83556813634027, + 247.43120177635453 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -1.72883483921935, + -1.2148625496447998, + 0.850703312159624 + ], + "camera_target": [ + -0.9923183113178236, + -1.4576172297500118, + 0.8740474789751398 + ], + "camera_roll_rad": 0.033490743563695885, + "camera_pose_world_cv": [ + [ + -0.31041884422302246, + 0.04946434497833252, + 0.949312150478363, + -1.728834867477417 + ], + [ + -0.9482428431510925, + 0.05416977405548096, + -0.31289172172546387, + -1.214862585067749 + ], + [ + -0.06690102815628052, + -0.9973058700561523, + 0.03008890151977539, + 0.8507032990455627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.9086912274360657, + -0.4174689054489136, + -8.09743738727775e-08, + -0.9909752607345581 + ], + [ + 0.4174689054489136, + 0.9086912274360657, + -4.8217554393659157e-08, + -1.4330222606658936 + ], + [ + 9.371002818170382e-08, + 1.0010583473274437e-08, + 1.0, + 0.7428153157234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23280235542431868, + 0.2347603091756426, + 0.24249631602985175 + ], + "directional_primary": { + "direction": [ + -0.5224350302603537, + 0.5582822074316375, + -0.6445018339943815 + ], + "color": [ + 1.009554875350267, + 0.9586634049256275, + 0.871420884197674 + ], + "azimuth_rad": 2.32303684468525, + "elevation_rad": 0.7003715693041128, + "color_temp_k": 4741.630584487909, + "intensity": 0.9586634049256275 + }, + "directional_fill": { + "direction": [ + 0.18645328006058265, + -0.1118622054071999, + -0.9760748021315206 + ], + "color": [ + 0.8838620483009197, + 0.8745969160797551, + 0.8587138322720442 + ], + "azimuth_rad": -0.5403809996359774, + "elevation_rad": 1.3516105024623826, + "color_temp_k": 5348.662819068466, + "intensity": 0.8745969160797551 + }, + "point_color_scale": [ + 1.1146659488799728, + 1.0847472276100674, + 1.033457991147372 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b00_003/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b00_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b51a37d0ee4a2baa07581e2669390993238e7a8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b00_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 0, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8510112010980974, + "K": [ + [ + 553.8881891449869, + 0.0, + 347.2531070594974 + ], + [ + 0.0, + 529.5763359535653, + 240.48157164387575 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.8044513283261985, + -3.4802344541461143, + 1.0374253097292403 + ], + "camera_target": [ + -5.405509887745752, + -3.0489894544929723, + 0.8871454340185463 + ], + "camera_roll_rad": -0.01414696970858341, + "camera_pose_world_cv": [ + [ + 0.5781437754631042, + 0.1781812310218811, + -0.7962419986724854, + -4.8044514656066895 + ], + [ + 0.8154638409614563, + -0.09302222728729248, + 0.571284294128418, + -3.480234384536743 + ], + [ + 0.027723878622055054, + -0.9795910120010376, + -0.19908052682876587, + 1.0374252796173096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9377169609069824, + 0.34740033745765686, + -3.9853020439295506e-08, + -5.3925018310546875 + ], + [ + -0.34740033745765686, + -0.9377169609069824, + 5.3410008860055314e-08, + -3.084958553314209 + ], + [ + -1.8816194824466947e-08, + 6.392841811475591e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2957005207319958, + 0.2793513672144178, + 0.29491616507294827 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.099630020185348, + 1.0695116655902612, + 1.0178802005701126 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5097.702182833342, + "intensity": 1.0695116655902612 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.616004449805459, + 0.600658759445909, + 0.5743518616866803 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5135.027135547311, + "intensity": 0.600658759445909 + }, + "point_color_scale": [ + 1.1966780812171645, + 1.1820799545565401, + 1.1570545945668986 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b00_004/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b00_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ec2ae5b09ed4ecf37b88433f9fc6a34d3af196d --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b00_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 0, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7901360434407859, + "K": [ + [ + 597.8299044099942, + 0.0, + 342.75849112724336 + ], + [ + 0.0, + 575.5510525049777, + 226.46826330313908 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.196852200936468, + -3.444546024979843, + 0.9904256641872231 + ], + "camera_target": [ + -5.377515534759179, + -3.0424261551743625, + 0.8789560747291623 + ], + "camera_roll_rad": -0.036247163808317315, + "camera_pose_world_cv": [ + [ + 0.9024957418441772, + 0.16626836359500885, + -0.39731132984161377, + -5.196852207183838 + ], + [ + 0.42493587732315063, + -0.193340003490448, + 0.8843355178833008, + -3.4445459842681885 + ], + [ + 0.07022081315517426, + -0.9669408798217773, + -0.2451419234275818, + 0.9904256463050842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9377169609069824, + 0.34740033745765686, + -3.9853020439295506e-08, + -5.3925018310546875 + ], + [ + -0.34740033745765686, + -0.9377169609069824, + 5.3410008860055314e-08, + -3.084958553314209 + ], + [ + -1.8816194824466947e-08, + 6.392841811475591e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.362289034420487, + 0.3732623690982941, + 0.35257601829268753 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0288135045343625, + 1.043409868293445, + 1.0667640503079767 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5778.225128904609, + "intensity": 1.049248413797078 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7696966517150302, + 0.7950297731754146, + 0.8355627675120293 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 6129.266888214077, + "intensity": 0.8051630217595682 + }, + "point_color_scale": [ + 1.0449479454414803, + 1.0337986320089625, + 1.0146855232675032 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b00_008/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b00_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e29bdf1e9a9040dd343f185ec3550f671758135 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b00_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 0, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.181679839618408, + "K": [ + [ + 357.4797768522812, + 0.0, + 340.8711627102129 + ], + [ + 0.0, + 357.7962664359181, + 254.44728741983573 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.627494978118993, + -3.5264269363553806, + 1.0279251284749562 + ], + "camera_target": [ + -5.4149427058800015, + -3.0653509844514413, + 0.8342936031000583 + ], + "camera_roll_rad": -0.02183709504086183, + "camera_pose_world_cv": [ + [ + 0.9137957692146301, + -0.10939140617847443, + 0.39116591215133667, + -5.627494812011719 + ], + [ + -0.40412014722824097, + -0.3415847420692444, + 0.8485320210456848, + -3.5264270305633545 + ], + [ + 0.040794193744659424, + -0.9334630370140076, + -0.3563460111618042, + 1.0279251337051392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9377169609069824, + 0.34740033745765686, + -3.9853020439295506e-08, + -5.3925018310546875 + ], + [ + -0.34740033745765686, + -0.9377169609069824, + 5.3410008860055314e-08, + -3.084958553314209 + ], + [ + -1.8816194824466947e-08, + 6.392841811475591e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.245198184016837, + 0.2539519472639794, + 0.24453673265394274 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0379835359572729, + 1.0044873393129405, + 0.9470652879226567 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5023.620581174938, + "intensity": 1.0044873393129405 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.6718488305632169, + 0.6476484527881653, + 0.6061620908880769 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 4966.192374871905, + "intensity": 0.6476484527881653 + }, + "point_color_scale": [ + 0.9796946905938021, + 1.0094156419002343, + 1.0569691639905252 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b00_010/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b00_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de75ba05cc0827f2e9070f6d7113485e1d5b2ae6 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b00_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 0, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2215567836076642, + "K": [ + [ + 358.701003395956, + 0.0, + 295.6484450978842 + ], + [ + 0.0, + 342.81888440932147, + 224.16719216531533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.9487747711244205, + -3.12898569298187, + 1.0626455557065626 + ], + "camera_target": [ + -5.399047392794036, + -3.1305156944626997, + 0.8443445783172714 + ], + "camera_roll_rad": -0.03343811671956613, + "camera_pose_world_cv": [ + [ + 0.021886706352233887, + -0.3684304654598236, + 0.929397702217102, + -5.948774814605713 + ], + [ + -0.9978294372558594, + -0.06580126285552979, + -0.002586573362350464, + -3.128985643386841 + ], + [ + 0.06210854649543762, + -0.9273236989974976, + -0.3690708875656128, + 1.0626455545425415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9377169609069824, + 0.34740033745765686, + -3.9853020439295506e-08, + -5.3925018310546875 + ], + [ + -0.34740033745765686, + -0.9377169609069824, + 5.3410008860055314e-08, + -3.084958553314209 + ], + [ + -1.8816194824466947e-08, + 6.392841811475591e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.29299822660997854, + 0.2635040605683325, + 0.26264780332081855 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.8604344033256762, + 0.8850635126712333, + 0.9244700876241251 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 6050.423337210495, + "intensity": 0.8949151564094563 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.6254866865209402, + 0.6340105637845103, + 0.6476487674062222 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5767.449271434312, + "intensity": 0.6374201146899382 + }, + "point_color_scale": [ + 0.9287811324235977, + 0.9165663699139722, + 0.8956267770403284 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b00_013/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b00_013/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9be486ae0846072ff0364ed8521b9bfbeeda2346 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b00_013/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 0, + "cam_idx": 12, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8882482911702198, + "K": [ + [ + 510.08122043885845, + 0.0, + 337.643663881367 + ], + [ + 0.0, + 504.3833490555217, + 236.04955264082534 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.9402629849484585, + -3.8692232381169447, + 0.6154405948739896 + ], + "camera_target": [ + -5.400954929610057, + -3.0936584042888025, + 0.7869955248124566 + ], + "camera_roll_rad": 0.04269295048413162, + "camera_pose_world_cv": [ + [ + 0.8267208933830261, + 0.031623899936676025, + 0.5617228150367737, + -5.940262794494629 + ], + [ + -0.5563198328018188, + 0.19485688209533691, + 0.8077991008758545, + -3.8692233562469482 + ], + [ + -0.08390969038009644, + -0.9803218841552734, + 0.17868530750274658, + 0.6154406070709229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9377169609069824, + 0.34740033745765686, + -3.9853020439295506e-08, + -5.3925018310546875 + ], + [ + -0.34740033745765686, + -0.9377169609069824, + 5.3410008860055314e-08, + -3.084958553314209 + ], + [ + -1.8816194824466947e-08, + 6.392841811475591e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2693682706714768, + 0.28105685168709615, + 0.2855149879637388 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.177962702601314, + 1.1384320490287414, + 1.070665214332903 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5003.946131043028, + "intensity": 1.1384320490287414 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.8744190935971724, + 0.8970349944826889, + 0.933220435899515 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5999.202433971009, + "intensity": 0.9060813548368954 + }, + "point_color_scale": [ + 1.0328200068317979, + 1.0359240050557095, + 1.0408904022139676 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b00_015/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b00_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa982c2a819e41caac9dc9dc55ed67ebd64d98b9 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b00_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 0, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.28888214662693, + "K": [ + [ + 304.3067645659595, + 0.0, + 315.72436316113476 + ], + [ + 0.0, + 319.3741411823349, + 235.18403491364316 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.077070781476964, + -3.21120103519013, + 0.9501836094671676 + ], + "camera_target": [ + -5.392348662474254, + -3.1132671038037554, + 0.8293089744609956 + ], + "camera_roll_rad": -0.026228159880257274, + "camera_pose_world_cv": [ + [ + 0.15032637119293213, + -0.16275161504745483, + 0.9751482009887695, + -6.077070713043213 + ], + [ + -0.987286388874054, + -0.07624369859695435, + 0.13947248458862305, + -3.2112009525299072 + ], + [ + 0.05164957046508789, + -0.9837168455123901, + -0.172143816947937, + 0.950183629989624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9377169609069824, + 0.34740033745765686, + -3.9853020439295506e-08, + -5.3925018310546875 + ], + [ + -0.34740033745765686, + -0.9377169609069824, + 5.3410008860055314e-08, + -3.084958553314209 + ], + [ + -1.8816194824466947e-08, + 6.392841811475591e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35642557158334875, + 0.36845423713004366, + 0.3805482499332869 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.9466208847237649, + 0.9324231734566049, + 0.9080842398557594 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5282.475969658906, + "intensity": 0.9324231734566049 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.5921674307137497, + 0.6075766222396134, + 0.6322313286809953 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 6002.140451091051, + "intensity": 0.6137402988499588 + }, + "point_color_scale": [ + 0.8575704821739688, + 0.8681153464923377, + 0.8849871294017276 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b01_003/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b01_003/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..893745c575180090844b670eae00423a9cd9b315 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b01_003/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 1, + "cam_idx": 2, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2185454302826007, + "K": [ + [ + 356.0076813946524, + 0.0, + 307.06665775408135 + ], + [ + 0.0, + 343.91992538611345, + 220.2150013800142 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6901982216135045, + -3.7923743518049897, + 0.9512861336287622 + ], + "camera_target": [ + -4.073452693854776, + -3.065147278586568, + 0.8883114544647652 + ], + "camera_roll_rad": 0.03900627609242144, + "camera_pose_world_cv": [ + [ + 0.8847505450248718, + -0.033441007137298584, + -0.4648636281490326, + -3.6901981830596924 + ], + [ + 0.4595414102077484, + -0.10370373725891113, + 0.8820812702178955, + -3.7923743724823 + ], + [ + -0.07770577073097229, + -0.9940459728240967, + -0.07638436555862427, + 0.9512861371040344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9511020183563232, + -0.30887675285339355, + 1.3979819968312768e-08, + -4.041543960571289 + ], + [ + 0.30887675285339355, + -0.9511020183563232, + 8.830724596009532e-08, + -3.1046297550201416 + ], + [ + -1.3979819968312768e-08, + 8.830724596009532e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3121168701403464, + 0.31084092002699254, + 0.3246264550022592 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.8595400282522361, + 0.8502606668349109, + 0.8343531901194964 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5344.092157696475, + "intensity": 0.8502606668349109 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.8603386462909582, + 0.8459979998154692, + 0.8214140344289167 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5257.840587961252, + "intensity": 0.8459979998154692 + }, + "point_color_scale": [ + 0.8927191587474225, + 0.8563914325978895, + 0.7941153306272617 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b01_004/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b01_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..449af7c6d2f5f5edc9146400f2f60d37cf3b06ef --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b01_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 1, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9618718037505778, + "K": [ + [ + 438.9220537092531, + 0.0, + 323.7962298723094 + ], + [ + 0.0, + 459.94546776422004, + 229.79733516671752 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.9609678437562073, + -4.0059457804543275, + 0.6378721960129835 + ], + "camera_target": [ + -4.010900682769381, + -3.111261673722109, + 0.8723557057169753 + ], + "camera_roll_rad": 0.016266065094551058, + "camera_pose_world_cv": [ + [ + 0.9974591135978699, + -0.04657506197690964, + -0.05390847474336624, + -3.960967779159546 + ], + [ + 0.06391552835702896, + 0.2508145570755005, + 0.965923011302948, + -4.005945682525635 + ], + [ + -0.03146689385175705, + -0.9669142365455627, + 0.2531541585922241, + 0.6378722190856934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9511020183563232, + -0.30887675285339355, + 1.3979819968312768e-08, + -4.041543960571289 + ], + [ + 0.30887675285339355, + -0.9511020183563232, + 8.830724596009532e-08, + -3.1046297550201416 + ], + [ + -1.3979819968312768e-08, + 8.830724596009532e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3590270263001338, + 0.33496924016594953, + 0.3632633385582105 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.1428261977564556, + 1.1715911213847128, + 1.2176149991899243 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5986.2648019518165, + "intensity": 1.1830970908360157 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.9125135347541515, + 0.8928256789650149, + 0.8590750690407806 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5184.983206320869, + "intensity": 0.8928256789650149 + }, + "point_color_scale": [ + 0.9870624736024195, + 1.0170584794661957, + 1.0650520888482373 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b01_005/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b01_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..646a94d37f07a0d1606b66ff99a8e2481bf45167 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b01_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 1, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8174420326244356, + "K": [ + [ + 546.5841403878355, + 0.0, + 349.4762715999787 + ], + [ + 0.0, + 554.1298776472751, + 221.67405380205423 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.763471192160832, + -3.673823512578507, + 0.7782591927399106 + ], + "camera_target": [ + -4.06716634686562, + -3.0923033528812676, + 0.9119687048945067 + ], + "camera_roll_rad": -0.006274331897472618, + "camera_pose_world_cv": [ + [ + 0.8874917030334473, + -0.0813170075416565, + -0.45359236001968384, + -3.7634711265563965 + ], + [ + 0.46065962314605713, + 0.18281424045562744, + 0.8685457110404968, + -3.673823595046997 + ], + [ + 0.012295559048652649, + -0.9797788262367249, + 0.1997056007385254, + 0.7782592177391052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9511020183563232, + -0.30887675285339355, + 1.3979819968312768e-08, + -4.041543960571289 + ], + [ + 0.30887675285339355, + -0.9511020183563232, + 8.830724596009532e-08, + -3.1046297550201416 + ], + [ + -1.3979819968312768e-08, + 8.830724596009532e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25655069341598374, + 0.259500033366518, + 0.24549284290009327 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0491624107104154, + 1.0518857457592752, + 1.0562430818374509 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5551.726486241856, + "intensity": 1.052975079778819 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7303179166988907, + 0.7159336456207828, + 0.6912748952011692 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5212.976770840357, + "intensity": 0.7159336456207828 + }, + "point_color_scale": [ + 1.104103378049785, + 1.1204519916944626, + 1.1466097735259466 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b01_015/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b01_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7563555aea18f1526d7c8bdb7b08853be9b2f2ae --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b01_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 1, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0204733239767598, + "K": [ + [ + 411.4887083674254, + 0.0, + 324.7109150928414 + ], + [ + 0.0, + 428.8245375889156, + 217.61871429814508 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.0139275037867055, + -3.1002561271513023, + 1.0388992478808885 + ], + "camera_target": [ + -4.082737269327581, + -3.153406628864299, + 0.9196189428706842 + ], + "camera_roll_rad": 0.02286300379678073, + "camera_pose_world_cv": [ + [ + -0.06271493434906006, + -0.12390995025634766, + 0.9903098344802856, + -5.013927459716797 + ], + [ + -0.9970011711120605, + 0.052857160568237305, + -0.05652493238449097, + -3.1002562046051025 + ], + [ + -0.04534080624580383, + -0.9908848404884338, + -0.1268531084060669, + 1.038899302482605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9511020183563232, + -0.30887672305107117, + -5.887149256977864e-08, + -4.041543960571289 + ], + [ + 0.30887672305107117, + -0.9511020183563232, + 9.31987731433992e-09, + -3.1046297550201416 + ], + [ + -5.887149256977864e-08, + -9.31987731433992e-09, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.24689505724055966, + 0.2348466892427369, + 0.2344047023267728 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.983836861213569, + 0.9722140096909649, + 0.9522891213665008 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5329.213800272247, + "intensity": 0.9722140096909649 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7400621067473512, + 0.7559552428620729, + 0.781384260645628 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5916.971679484386, + "intensity": 0.7623124973079618 + }, + "point_color_scale": [ + 1.110641706320191, + 1.0623432257884362, + 0.9795458305911424 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b01_016/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b01_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88221b8045f553b7db45e4a7b78858fef112b805 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b01_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 1, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0961502048971885, + "K": [ + [ + 386.1736094620298, + 0.0, + 340.2011857359856 + ], + [ + 0.0, + 393.14623627654197, + 246.24287708475893 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6222397421165553, + -3.47605202318045, + 0.9775506302129015 + ], + "camera_target": [ + -4.056620079987183, + -3.067125710671908, + 0.8290721932423389 + ], + "camera_roll_rad": -0.05073914580258843, + "camera_pose_world_cv": [ + [ + 0.6641107797622681, + 0.24438618123531342, + -0.7065637111663818, + -3.622239828109741 + ], + [ + 0.741142988204956, + -0.09093403816223145, + 0.6651601791381836, + -3.4760520458221436 + ], + [ + 0.09830525517463684, + -0.965404748916626, + -0.2415153980255127, + 0.9775506258010864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9511020183563232, + -0.30887675285339355, + 1.3979819968312768e-08, + -4.041543960571289 + ], + [ + 0.30887675285339355, + -0.9511020183563232, + 8.830724596009532e-08, + -3.1046297550201416 + ], + [ + -1.3979819968312768e-08, + 8.830724596009532e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.28361459492920527, + 0.26580586418224256, + 0.27471042948309593 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0921921588926449, + 1.0994295812145183, + 1.1110094569295161 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5631.312004634804, + "intensity": 1.1023245501432677 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.950272175134752, + 0.9179479928965226, + 0.8625351090595581 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 4996.949679559069, + "intensity": 0.9179479928965226 + }, + "point_color_scale": [ + 0.9908967454873773, + 0.9514348906093725, + 0.8837859965327931 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b03_002/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b03_002/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d684919ac931584e58c15746c0241a34a5397561 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b03_002/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 3, + "cam_idx": 1, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.0847517477862785, + "K": [ + [ + 396.5921007349369, + 0.0, + 341.6330365008123 + ], + [ + 0.0, + 398.23198382692453, + 218.08077223059402 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.247613519659907, + -2.215540656930645, + 0.9324630706025293 + ], + "camera_target": [ + -5.298004484494388, + -2.5346800300202568, + 0.8594233593883356 + ], + "camera_roll_rad": -0.03869121656231754, + "camera_pose_world_cv": [ + [ + -0.312283992767334, + -0.0933474600315094, + 0.9453915357589722, + -6.247613430023193 + ], + [ + -0.9468550682067871, + -0.050182223320007324, + -0.31772226095199585, + -2.215540647506714 + ], + [ + 0.0771004855632782, + -0.9943682551383972, + -0.07271528244018555, + 0.9324630498886108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5046041011810303, + -0.8633508682250977, + 1.1016750178782786e-08, + -5.333293914794922 + ], + [ + 0.8633508682250977, + 0.5046041011810303, + 4.068154169090121e-08, + -2.542524814605713 + ], + [ + -4.068154169090121e-08, + -1.1016750178782786e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33627310395292037, + 0.3318061819381643, + 0.34291590616324485 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.8232032443784713, + 0.8476931556750444, + 0.8868770137495616 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 6071.200513682131, + "intensity": 0.8574891201936737 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.6802365945497191, + 0.6602103520279935, + 0.6258796505621782 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5066.669656113384, + "intensity": 0.6602103520279935 + }, + "point_color_scale": [ + 1.058237174674415, + 1.0787492484766243, + 1.1115685665601591 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b03_005/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b03_005/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52abc170a1021578cec4098e53675ae9e6bd75ea --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b03_005/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 3, + "cam_idx": 4, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.921623966639545, + "K": [ + [ + 494.3613694681395, + 0.0, + 338.91751235776184 + ], + [ + 0.0, + 483.4221679642657, + 239.27791956163216 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -6.212427521005456, + -2.788296191983284, + 0.9212550861267657 + ], + "camera_target": [ + -5.295055074740511, + -2.539500809075087, + 0.8327723469139066 + ], + "camera_roll_rad": -0.028275003002417264, + "camera_pose_world_cv": [ + [ + 0.26638680696487427, + -0.07452037930488586, + 0.9609812498092651, + -6.212427616119385 + ], + [ + -0.9622219800949097, + -0.07877182960510254, + 0.26062238216400146, + -2.7882962226867676 + ], + [ + 0.0562765896320343, + -0.9941035509109497, + -0.0926889181137085, + 0.9212551116943359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5046041011810303, + -0.8633508682250977, + 1.1016750178782786e-08, + -5.333293914794922 + ], + [ + 0.8633508682250977, + 0.5046041011810303, + 4.068154169090121e-08, + -2.542524814605713 + ], + [ + -4.068154169090121e-08, + -1.1016750178782786e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.34685437769386823, + 0.36921564743325275, + 0.35285301214324577 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.9318630563518441, + 0.9441455606223059, + 0.9637975674550451 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5758.83553993341, + "intensity": 0.9490585623304907 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.5766719519312214, + 0.5810981453344858, + 0.5881800547797087 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5651.876194082742, + "intensity": 0.5828686226957915 + }, + "point_color_scale": [ + 1.155774242958565, + 1.1175544007326381, + 1.052034671202478 + ], + "shadow": false + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b03_007/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b03_007/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc5ea68401c08b68b5f689783d91d53244f3bbe0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b03_007/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 3, + "cam_idx": 6, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2994193205037121, + "K": [ + [ + 319.80066871873714, + 0.0, + 336.63235625882817 + ], + [ + 0.0, + 315.8948952873442, + 259.9783741661044 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.1844143338971955, + -1.9345156368699414, + 0.7571245209625331 + ], + "camera_target": [ + -5.310795746832546, + -2.587569370528633, + 0.9017341968206105 + ], + "camera_roll_rad": -0.013708615064997133, + "camera_pose_world_cv": [ + [ + -0.9803087711334229, + -0.06726257503032684, + -0.18566158413887024, + -5.184414386749268 + ], + [ + 0.1956447809934616, + -0.203283429145813, + -0.9593742489814758, + -1.9345155954360962 + ], + [ + 0.026788070797920227, + -0.9768068194389343, + 0.21244001388549805, + 0.7571245431900024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5046041011810303, + -0.8633508682250977, + 1.1016750178782786e-08, + -5.333293914794922 + ], + [ + 0.8633508682250977, + 0.5046041011810303, + 4.068154169090121e-08, + -2.542524814605713 + ], + [ + -4.068154169090121e-08, + -1.1016750178782786e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.35175125229302284, + 0.3670327429501054, + 0.3817248325459831 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.1411991265508856, + 1.1119880284348036, + 1.0619118602358057 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5124.72491520822, + "intensity": 1.1119880284348036 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7700397206138735, + 0.7878904804151614, + 0.8164516960972221 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5949.058329639497, + "intensity": 0.7950307843356765 + }, + "point_color_scale": [ + 1.112349108942004, + 1.1459358721095596, + 1.1996746931776487 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b03_008/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b03_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f91e771066447ffb2eb6fff222a728729efde731 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b03_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 3, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.799356357802347, + "K": [ + [ + 562.0014639579061, + 0.0, + 325.2669800488317 + ], + [ + 0.0, + 568.163091407981, + 244.66646074775937 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.946564945881011, + -2.2849398784285966, + 0.9260876916714353 + ], + "camera_target": [ + -5.371227180135687, + -2.5665019987088735, + 0.8535791162922916 + ], + "camera_roll_rad": 0.020292403484064442, + "camera_pose_world_cv": [ + [ + -0.44330787658691406, + -0.08311298489570618, + 0.8925080895423889, + -5.9465651512146 + ], + [ + -0.8954625129699707, + 0.0858461856842041, + -0.43678098917007446, + -2.284939765930176 + ], + [ + -0.04031616449356079, + -0.9928358197212219, + -0.11248070001602173, + 0.9260876774787903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5046041011810303, + -0.8633508682250977, + 1.1016750178782786e-08, + -5.333293914794922 + ], + [ + 0.8633508682250977, + 0.5046041011810303, + 4.068154169090121e-08, + -2.542524814605713 + ], + [ + -4.068154169090121e-08, + -1.1016750178782786e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.23303329976705003, + 0.2334220720427123, + 0.25476029391296795 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.9672610491709503, + 1.0146641848709546, + 1.0905092019909615 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 6417.2207630443445, + "intensity": 1.0336254391509563 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7215787118337176, + 0.7495624939630793, + 0.7943365453700579 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 6235.683501114261, + "intensity": 0.7607560068148239 + }, + "point_color_scale": [ + 1.0324474937896801, + 1.0515662913252402, + 1.082156367382136 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b03_009/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b03_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21c5e5bc571d3dd34f8f98eec443d5c8d69a6401 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b03_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 3, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8285806011430785, + "K": [ + [ + 551.9356785694799, + 0.0, + 296.74621846040014 + ], + [ + 0.0, + 545.7751612159076, + 263.1795588551271 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.595032033030504, + -1.7706274195540455, + 0.9923326199915998 + ], + "camera_target": [ + -5.335369221196719, + -2.5687197166237254, + 0.808664703344474 + ], + "camera_roll_rad": 0.01493121058023858, + "camera_pose_world_cv": [ + [ + -0.9524856805801392, + -0.03772000968456268, + 0.30223846435546875, + -5.595032215118408 + ], + [ + -0.30318331718444824, + 0.2124406099319458, + -0.9289503693580627, + -1.7706273794174194 + ], + [ + -0.029167726635932922, + -0.9764456152915955, + -0.21378278732299805, + 0.9923326373100281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5046041011810303, + -0.8633508682250977, + 1.1016750178782786e-08, + -5.333293914794922 + ], + [ + 0.8633508682250977, + 0.5046041011810303, + 4.068154169090121e-08, + -2.542524814605713 + ], + [ + -4.068154169090121e-08, + -1.1016750178782786e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.3632709124492652, + 0.35735661510404476, + 0.3641126046484169 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0951882787958462, + 1.1438115285070158, + 1.221608728044887 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 6335.981897170975, + "intensity": 1.1632608283914836 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.749576657798788, + 0.7343091369816295, + 0.7081362441522149 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5202.9759957207525, + "intensity": 0.7343091369816295 + }, + "point_color_scale": [ + 0.8901300830016844, + 0.8882621458763176, + 0.8850599679471173 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b03_010/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b03_010/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5224bb3c673b44b1dc16e5277012e69e27b9d8 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b03_010/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 3, + "cam_idx": 9, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.7951427696948566, + "K": [ + [ + 562.9793651337538, + 0.0, + 330.7355488686436 + ], + [ + 0.0, + 571.5191851272581, + 223.40935246219468 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.861986719584947, + -2.849262849750449, + 1.014673448880501 + ], + "camera_target": [ + -5.346585733515357, + -2.529150747517038, + 0.8869293619001097 + ], + "camera_roll_rad": 0.044697132012677054, + "camera_pose_world_cv": [ + [ + 0.5098787546157837, + -0.22142454981803894, + 0.8312610983848572, + -5.8619866371154785 + ], + [ + -0.8557990789413452, + -0.03243201971054077, + 0.5162910223007202, + -2.8492629528045654 + ], + [ + -0.08735990524291992, + -0.9746382236480713, + -0.2060312032699585, + 1.0146734714508057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5046041011810303, + -0.8633508682250977, + 1.1016750178782786e-08, + -5.333293914794922 + ], + [ + 0.8633508682250977, + 0.5046041011810303, + 4.068154169090121e-08, + -2.542524814605713 + ], + [ + -4.068154169090121e-08, + -1.1016750178782786e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.25307731764574953, + 0.2324156312872433, + 0.25121704259885813 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.116665970492348, + 1.0943987321907487, + 1.056226323673721 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5209.335002909051, + "intensity": 1.0943987321907487 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7286947127402356, + 0.7593727608461216, + 0.8084576378155393 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 6295.13477452046, + "intensity": 0.771643980088476 + }, + "point_color_scale": [ + 0.8901643461158791, + 0.8488842119536081, + 0.7781182676754294 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b03_012/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b03_012/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3541f5bebb8ffafb9b2f7d2f9f2353f583afc9e0 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b03_012/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 3, + "cam_idx": 11, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.931089638877677, + "K": [ + [ + 462.99540946481676, + 0.0, + 298.14614099384085 + ], + [ + 0.0, + 477.73195068681116, + 241.704121920135 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -5.87898905828977, + -2.3573611347325, + 0.5868422751420055 + ], + "camera_target": [ + -5.338804036943505, + -2.5187330319781798, + 0.8818283443727355 + ], + "camera_roll_rad": 0.04563051642662634, + "camera_pose_world_cv": [ + [ + -0.24456143379211426, + 0.468447208404541, + 0.8489681482315063, + -5.878989219665527 + ], + [ + -0.9662656784057617, + -0.044827282428741455, + -0.25361621379852295, + -2.357361078262329 + ], + [ + -0.08074885606765747, + -0.8823535442352295, + 0.4636075496673584, + 0.5868422985076904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + 0.5046041011810303, + -0.8633508682250977, + 1.1016750178782786e-08, + -5.333293914794922 + ], + [ + 0.8633508682250977, + 0.5046041011810303, + 4.068154169090121e-08, + -2.542524814605713 + ], + [ + -4.068154169090121e-08, + -1.1016750178782786e-08, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.33907537856060666, + 0.32857794114245, + 0.339803499810359 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0518722072369473, + 1.06360335401025, + 1.0823731888475345 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5719.623565563523, + "intensity": 1.0682958127195712 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.9150026058210979, + 0.9399386518472186, + 0.9798363254890119 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 6025.0174317394485, + "intensity": 0.9499130702576669 + }, + "point_color_scale": [ + 0.996912863468512, + 0.9601826241781566, + 0.8972164996804044 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b04_004/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b04_004/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..035bfc195c27ff4561848230406180dacd030abd --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b04_004/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 4, + "cam_idx": 3, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.9078575879681985, + "K": [ + [ + 481.925752231056, + 0.0, + 292.2216850555626 + ], + [ + 0.0, + 491.89414653088903, + 258.0159307281563 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.6574302592468984, + -2.138262536025647, + 0.8497078452739971 + ], + "camera_target": [ + -4.052685699353834, + -2.524041539991766, + 0.9255201047834208 + ], + "camera_roll_rad": -0.03525862902543757, + "camera_pose_world_cv": [ + [ + -0.6898834705352783, + -0.14628919959068298, + -0.7089858055114746, + -3.6574301719665527 + ], + [ + 0.7205475568771362, + -0.044325172901153564, + -0.6919876337051392, + -2.1382625102996826 + ], + [ + 0.06980428099632263, + -0.9882484674453735, + 0.1359877586364746, + 0.849707841873169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9878959655761719, + -0.15511789917945862, + 5.9424003495678335e-08, + -4.055065631866455 + ], + [ + 0.15511789917945862, + -0.9878959655761719, + -4.6369259543155295e-09, + -2.5593066215515137 + ], + [ + 5.9424003495678335e-08, + 4.6369259543155295e-09, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.26909941965619294, + 0.2678202853872376, + 0.2568318523751654 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.9099678053681256, + 0.8608864463001016, + 0.7767469736120606 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 4685.534543593083, + "intensity": 0.8608864463001016 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.9243254252918046, + 0.9019700706788114, + 0.8636466056279661 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5145.928153118543, + "intensity": 0.9019700706788114 + }, + "point_color_scale": [ + 1.0624242698070925, + 1.0486428323005255, + 1.0250175108606965 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b04_008/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b04_008/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2dc5e592b798a618c58adf86f2bae4726d13414c --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b04_008/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 4, + "cam_idx": 7, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.981854403181629, + "K": [ + [ + 465.6493953681808, + 0.0, + 321.223968061366 + ], + [ + 0.0, + 448.9508052521607, + 237.03516294623557 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.234554880987412, + -3.1296331751871054, + 1.0270223850784415 + ], + "camera_target": [ + -4.036894977765672, + -2.574373303057632, + 0.8431934599575363 + ], + "camera_roll_rad": -0.0016928352113114095, + "camera_pose_world_cv": [ + [ + 0.9424218535423279, + -0.09666381031274796, + 0.32015174627304077, + -4.234554767608643 + ], + [ + -0.33441081643104553, + -0.28164035081863403, + 0.8993598818778992, + -3.1296331882476807 + ], + [ + 0.003232121467590332, + -0.954638659954071, + -0.297749400138855, + 1.027022361755371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9878959655761719, + -0.15511789917945862, + 5.9424003495678335e-08, + -4.055065631866455 + ], + [ + 0.15511789917945862, + -0.9878959655761719, + -4.6369259543155295e-09, + -2.5593066215515137 + ], + [ + 5.9424003495678335e-08, + 4.6369259543155295e-09, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21770835380179684, + 0.22270807023820008, + 0.225871207569528 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 0.9590153990165946, + 0.913171930055711, + 0.8345831261227676 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 4782.82213032847, + "intensity": 0.913171930055711 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7225469731175923, + 0.7244787215696021, + 0.7275695190928178 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 5553.271138703274, + "intensity": 0.7252514209504061 + }, + "point_color_scale": [ + 0.9296662903490371, + 0.914138779838081, + 0.8875201903907276 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b04_009/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b04_009/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb4cfa6619697680ee94f974f4f2ad400f5b67e --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b04_009/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 4, + "cam_idx": 8, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.011011813011829, + "K": [ + [ + 453.8425815083382, + 0.0, + 318.97506101518366 + ], + [ + 0.0, + 433.62528815820735, + 241.3134574351141 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.2254694980000784, + -2.7108363254566368, + 1.0699246689437323 + ], + "camera_target": [ + -4.067608265781162, + -2.534857033749226, + 0.8901884554543206 + ], + "camera_roll_rad": 0.01996385992731385, + "camera_pose_world_cv": [ + [ + 0.21237635612487793, + 0.1918521523475647, + -0.95816969871521, + -3.2254695892333984 + ], + [ + 0.9764065146446228, + -0.08087015151977539, + 0.2002260684967041, + -2.710836410522461 + ], + [ + -0.03907358646392822, + -0.9780863523483276, + -0.2045004963874817, + 1.0699247121810913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9878959655761719, + -0.15511789917945862, + 5.9424003495678335e-08, + -4.055065631866455 + ], + [ + 0.15511789917945862, + -0.9878959655761719, + -4.6369259543155295e-09, + -2.5593066215515137 + ], + [ + 5.9424003495678335e-08, + 4.6369259543155295e-09, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.36486761238753695, + 0.34837415559739465, + 0.3594577710942298 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.100880185309363, + 1.1168247827952082, + 1.1423361387725606 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5783.913110182051, + "intensity": 1.1232026217895463 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.8905732985461525, + 0.8491485601022839, + 0.7781347227699376 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 4803.087815754795, + "intensity": 0.8491485601022839 + }, + "point_color_scale": [ + 0.9843072552687652, + 0.9407110249673596, + 0.86597463016495 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b04_014/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b04_014/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d759a13ca1a5d2060e18dbc57852228eea5bba88 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b04_014/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 4, + "cam_idx": 13, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.2461992703112506, + "K": [ + [ + 332.102951336831, + 0.0, + 329.8659187255918 + ], + [ + 0.0, + 333.9832956384137, + 252.39048483148795 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.545138551801286, + -1.7582648909893754, + 0.9352055091837892 + ], + "camera_target": [ + -4.0932526200231285, + -2.5853284697583723, + 0.8316371000729899 + ], + "camera_roll_rad": 0.0049054762360600315, + "camera_pose_world_cv": [ + [ + -0.8329615592956543, + 0.0655267983675003, + -0.5494371652603149, + -3.5451385974884033 + ], + [ + 0.5532447099685669, + 0.0811154842376709, + -0.8290600180625916, + -1.7582648992538452 + ], + [ + -0.009757786989212036, + -0.9945483803749084, + -0.10381847620010376, + 0.9352055191993713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9878959655761719, + -0.15511789917945862, + 5.9424003495678335e-08, + -4.055065631866455 + ], + [ + 0.15511789917945862, + -0.9878959655761719, + -4.6369259543155295e-09, + -2.5593066215515137 + ], + [ + 5.9424003495678335e-08, + 4.6369259543155295e-09, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.30318006017392424, + 0.31096330854656024, + 0.31358256423995867 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.142862925270484, + 1.1254582291088375, + 1.095621607117443 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5279.07797005329, + "intensity": 1.1254582291088375 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.6689452685328516, + 0.6926778023311866, + 0.7306498564085225 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 6175.97608053785, + "intensity": 0.7021708158505205 + }, + "point_color_scale": [ + 0.9980760355139426, + 1.024853343894493, + 1.0676970373033736 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b04_015/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b04_015/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0e82d6b5546389577d3c9a2c99bad5c2733305b --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b04_015/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 4, + "cam_idx": 14, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 1.235041706825691, + "K": [ + [ + 324.5275562863798, + 0.0, + 333.0449657826683 + ], + [ + 0.0, + 337.9458587539705, + 236.98650805909296 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -4.575099983354899, + -1.921447812852933, + 0.6279318304337755 + ], + "camera_target": [ + -4.053433934172572, + -2.5802222875378065, + 0.8754925150662665 + ], + "camera_roll_rad": 0.0444377748943212, + "camera_pose_world_cv": [ + [ + -0.7653012275695801, + 0.24432896077632904, + 0.5954976081848145, + -4.575099945068359 + ], + [ + -0.6380165219306946, + -0.1655714511871338, + -0.7520112991333008, + -1.92144775390625 + ], + [ + -0.08514070510864258, + -0.9554524421691895, + 0.28259801864624023, + 0.6279318332672119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9878959655761719, + -0.15511789917945862, + 5.9424003495678335e-08, + -4.055065631866455 + ], + [ + 0.15511789917945862, + -0.9878959655761719, + -4.6369259543155295e-09, + -2.5593066215515137 + ], + [ + 5.9424003495678335e-08, + 4.6369259543155295e-09, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.21966918431498733, + 0.2412348003518163, + 0.22017401859098168 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0342089116959887, + 1.0618510802857652, + 1.1060785500294077 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 6015.275679492817, + "intensity": 1.0729079477216759 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.7760260536355161, + 0.7470996075016841, + 0.697511414129401 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 4946.881057599679, + "intensity": 0.7470996075016841 + }, + "point_color_scale": [ + 1.1553363644370076, + 1.1540806400697576, + 1.1519279697259006 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/so100/ProcTHOR/test/bg_000912/scene_b04_016/scene_meta.json b/so100/ProcTHOR/test/bg_000912/scene_b04_016/scene_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..572e8ec7a55ad38850746acfb11b5263bedb1a94 --- /dev/null +++ b/so100/ProcTHOR/test/bg_000912/scene_b04_016/scene_meta.json @@ -0,0 +1,175 @@ +{ + "robot_uid": "so100", + "num_frames": 1, + "qpos_mode": "zero", + "rng_drain_count": 6, + "scene_idx": 912, + "base_idx": 4, + "cam_idx": 15, + "n_dof": 6, + "num_links": 9, + "joint_names": [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper" + ], + "link_names": [ + "Base", + "Rotation_Pitch", + "Upper_Arm", + "Lower_Arm", + "Wrist_Pitch_Roll", + "Fixed_Jaw", + "Moving_Jaw", + "Fixed_Jaw_tip", + "Moving_Jaw_tip" + ], + "ee_link_name": "Moving_Jaw", + "image_width": 640, + "image_height": 480, + "fovy_rad": 0.8967006796902246, + "K": [ + [ + 492.50369694592615, + 0.0, + 288.04002499232945 + ], + [ + 0.0, + 498.93758691059355, + 216.51745123016985 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "camera_eye": [ + -3.649609694071288, + -2.4232429202309627, + 1.0471918010783725 + ], + "camera_target": [ + -4.036737836469108, + -2.539029014003419, + 0.8124082526693834 + ], + "camera_roll_rad": 0.03869997387978792, + "camera_pose_world_cv": [ + [ + -0.2484731674194336, + 0.5020410418510437, + -0.8283816576004028, + -3.6496098041534424 + ], + [ + 0.9663289189338684, + 0.06944870948791504, + -0.24776104092597961, + -2.4232428073883057 + ], + [ + -0.06685629487037659, + -0.8620510101318359, + -0.5023927688598633, + 1.047191858291626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "T_base_world": [ + [ + -0.9878959655761719, + -0.15511789917945862, + 5.9424003495678335e-08, + -4.055065631866455 + ], + [ + 0.15511789917945862, + -0.9878959655761719, + -4.6369259543155295e-09, + -2.5593066215515137 + ], + [ + 5.9424003495678335e-08, + 4.6369259543155295e-09, + 1.0, + 0.6796015501022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "lighting": { + "aug_enabled": true, + "params": { + "ambient": [ + 0.2157877454172427, + 0.22656983033270345, + 0.22446391064491458 + ], + "directional_primary": { + "direction": [ + 0.1864822884784838, + 0.3490566155761877, + -0.9183593159577165 + ], + "color": [ + 1.0021064529806538, + 0.9955289121635537, + 0.9842531279056678 + ], + "azimuth_rad": 1.0801282975664543, + "elevation_rad": 1.1639145549061605, + "color_temp_k": 5405.613119149392, + "intensity": 0.9955289121635537 + }, + "directional_fill": { + "direction": [ + 0.026146405973954432, + -0.12493977497338232, + -0.991819749795418 + ], + "color": [ + 0.6486158507495646, + 0.666727543193203, + 0.6957062511030245 + ], + "azimuth_rad": -1.3645014138215006, + "elevation_rad": 1.442800808500599, + "color_temp_k": 6037.461097107306, + "intensity": 0.6739722201706584 + }, + "point_color_scale": [ + 1.0713779384460145, + 1.1154699608644592, + 1.1860171967339708 + ], + "shadow": true + } + }, + "frames": [ + { + "frame_idx": 0, + "qpos": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.100000023841858 + ] + } + ] +} \ No newline at end of file diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_001/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..dca5a5aa2912394940aa508fba5bacb8eb2e3b12 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90fe32a152893f1c45792f669f08ca078b8f6caadc1e94a90b51402c3607deb8 +size 601426 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_001/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..f9bbee122a0abff86cddf312551515aafe2b7d02 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a62313a787a256a74cd201cc04a053b32c0a341268d24f0eaf1a2f68dadcf18c +size 309826 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_003/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..43726d10a5819393cc498409e9482c8eedaa9765 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e65ae0332afa0fbb2dd5aeb9df596f1c0ae4367ae6e95a45a6724ed54869f33 +size 467218 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_003/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_003/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..7a3ad4bbc033ad3faaf87fdf0abba618ef373043 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_003/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b2f6300fc8967641ad92a9ac5b998d0127999e46d37fb7f17154ac404a5c9e9 +size 230984 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_004/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_004/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..dfc5ade57a9e366a15b1259d98c180206714613c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_004/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8fa4bc2e74e3de8b30cbb737287b28585d53653bca54f111d0828c9c59c763c +size 345877 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_004/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_004/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e801b837860a7bdcfc250ea63fe0deff5401635d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_004/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6838459d151de5f97bfd10f024297a7deb0bcd199252152a3ebe9db33cf29b8 +size 176672 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..df507e51b8b62826089653cf1cc406f9ec0d316c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b44e6b1aa6a204c56b378f64e2c7bae092264fa1e4cc521230083566be8965d5 +size 501192 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d30f04ec474a525a670043b196c1586066c2b91c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:140c7f026775733370705da2a05840a7dceb41f20ecc7fe730bf1a1b70a27abc +size 231800 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_010/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_010/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f1c214b8df0111c83323ac5eda560da020739a50 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_010/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec183c1d142c26935418d75002316ee1bfffd552305bc8817aebade5ecbd71f4 +size 622915 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_010/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..bc3471b8dd43b3446d635860c6dea7edbf31097c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9897b2d5919446fff2c32a25c961719d0cc463bc77ae1749937587f8f675c7e +size 233269 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_011/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_011/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..bc800453c8d79b6aaaa66102e775b8b24e3446aa --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_011/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2353705b624086ab40270caddfb2968b0162f9464629784ba88a6488393dda42 +size 195927 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_011/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_011/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..5c2337d3891e7d73abeb25ebe1e546991216493e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_011/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99566e7f2a73c72ad385f5e36290af9d3b21dbbcacce2e114564df8648dea163 +size 111412 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_012/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_012/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d70fb2412c6fcac6cc5abfc20d50a17f5af8c03d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_012/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1047899d18ace44e8b24a5c22049fa30051f4434739ab7a1dc9a266e9473f1f +size 574015 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_012/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..5c0b2a3b07ceb620080f7f0b275a8ed356b721f8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a27a380360da0fa48faaa54c25aaa86076a8014107e38c5d174eaff334b46115 +size 275056 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_013/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..bbf305ad6bdda50bbf5e0dd71d5d44f3b11b945d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92d40b86bcb6f5e2e56d13a69da9b94b05208497cab66c9ca4faf25899a34d7e +size 494213 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_013/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..c2e9f07a9a955db8878bf2f33f523197d8c3ad11 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7772aded4de916513857a821a2d7f7eb82ae7827a7fecfb8cfe9cd04657ee102 +size 251383 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_014/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d269535237aa5e2d0eab53713a9a0e4b23b8565 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b54a4a10dccdaf6732e7225c2134aba5869d9208570f0c60110ba6e42301887a +size 326677 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_015/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..a1a5050236f2c8aa3a0abe65f97d658e08244453 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:703a066d78e909751084b328043197e44763858134e981f2ca66e41e982f9834 +size 613422 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_015/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..b1a2c50c55750104d5aa5ec4567763eab834b288 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85f16615f9e7a7dcee8abf98c26cf332207d73a618f5793f2ecedea5386bdd2a +size 275142 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_020/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_020/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..7554477353d1db6cdd22a4cde93e88f53db13c99 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_020/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a5c2abfa63d7d3bada1efee8ecd269faf5d5460c1251eca644460bd184c7cbc +size 244522 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_021/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_021/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..37b697edbe7aa549ed6db5be1cf4e49b20be7875 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_021/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfe54f005541dc4d023f7642112af150abd79dc750304677012971e259a4780b +size 227105 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..20dbc6b1f226b703a8aa24b627110dc62816d693 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c73fb6002546b2bcb17686df3f9296840bcafd7118ae051d017958d04a780ca2 +size 500916 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b00_024/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_024/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..4ecaf29c1e3d09a84716d4cc52da947b2041ee70 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b00_024/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c6957f3395a4c0b9cba042eea34a3474b05379258325c26f1d52a6b9ac8f50e +size 198248 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_001/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c14958a851ae5f060e0c2aaaeab7f26c350fb60e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:102991deafa44124c28c7de35d84de3729067358eba0ee4b5f1d55c57e788949 +size 333244 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_001/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..ad0ce36070989b54ed097b85115955c101b9c548 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92b7a03d6b78a0bfc324be6572117a89ed99f40de7e0689e775d080805845020 +size 171215 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_003/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..63bb34a64a0502edae05e440a88944391aacfa0c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1292561f9b45c5f77358f1949cf6dcdfe2f7187517390c873d218d8afc4fe84a +size 551957 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_003/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_003/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..19dc9fe9a9f550d98240fd822a296ca91b900287 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_003/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b69d590bfd061d9a5253b3a2bf33fe16fdc97defb87b9e78054b5237b158b52 +size 257483 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_004/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_004/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..56ffb7403fcae4bb0e90f06a27f0bf89aad0212f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_004/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bcba68031449c25250dd8523a1e95b79cc85cdbb892c177f71cce006aacebbe +size 466125 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_004/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_004/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..48f35d5c077b0ad0c4075a24a8882586bcd36c3e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_004/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86e308454ec3af7d6adee1edf2129b770d2367605632be3f7ae071b894f9c960 +size 249215 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_005/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_005/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..4fe11af8516d06fc48325927969f6356ee04d910 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_005/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a369a7abd711ca3e7d8014668f652868dd3969f91f7181a34d336391aa58656 +size 614895 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_005/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_005/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..a8e3cd62870c6719e27a6156aa3698c0effbab61 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_005/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8083a0155df43d832a09508143ea885bd70b3cfde54b5725b8953d8a92b9a934 +size 226184 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_006/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..aabb0216bd8155aadf9a51c7f1a3e5fc5be9a4af --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de58f2c2d803bcb093786af29f8d73554523db9a3bc1a046e027a6c8a6bf61e0 +size 537338 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..933263b605116c4360f6eacb4826ed8a7f4714cb --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00dce27c1f9b9382a3120cc99bceef5389ee3f8a90f3b0c95aeb3c384d57c8eb +size 205245 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..6ea01f29933217bf7b9519214b3e458178499f83 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9aa32e8c082442d81f54473e9f4d92720a1348e31f9f99746a2894ef5f84cd01 +size 491322 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3cd311b61575813847afb18bc7404c6dd8133a1c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:033570f216d1ddf618bcbdf00025372802400e6e7d71e8d11445125b00a05f97 +size 238647 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_009/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_009/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..29c9f1fb9c002cceab10856500ee49fdfe45d2a4 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_009/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2aca303399d7d4dec45ff1b8f6c599dad42b234c0995bb8f88f8f2d502bfeffb +size 236970 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_009/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_009/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..f47b55238022f3c81185e0e4c1a87170095af3b9 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_009/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:908b670b122f5186c5e8cefeba8f710126c878863284abd787afe20aefad9c67 +size 154141 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_012/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..387bf895d24ff991c00a2ff9069148ba9f13afed --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1be949644adaf4937360b6fd5d5c608ef97fd3f370013216cb09ecef6c6a295 +size 217272 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_013/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d22139ad163d1ee23e9df17d6f6b40561a5986d4 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f43b2df27114a4991af22524469287c44f942b9274ad8299bb21e56b6ef6d44c +size 526565 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_013/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..2619758b7f84d72357b277fab9474f5016f651c8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63cdf8da6e63cd2e17757d2af4f22fe38ea982efc144b31b3328bf9842cfc832 +size 212788 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_015/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..56a29489bb2498de6b93b65c1feec0fc40379a10 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a5219870722b28629e6d2ee8dc93e74446a002277e6a02f3ac977c0f101b9af +size 651549 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_015/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..4bf6cd757d414b11a6e1f1f5a47a4d9cf61fd15c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf1a0d75e46fecf0b97744fb6dd67653c579d5b7aaf72b0f2c42fc7580a35ac5 +size 252557 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d1203f35eccf9694f9ac674b37f067ca27a56971 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d31595cca4135bee07823bcc1ae4075abb7911bf2d271c4e8fbb3c5bbcf8909 +size 454692 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3973d5569ffd1b5651841be77dcd123904fd21e0 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb730bbc0742557daf92b9473b42f759cc07ef965145a724295dc792ec4dca25 +size 208772 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_017/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_017/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..35d883fc5ee625f4fb2fee6e8b855f9273197687 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_017/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a2820a546e21df28261aaab89f94e879ad1cc9675634e60c508500cfb99ecc5 +size 578975 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_017/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_017/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..26fed6733bd56b9c7060922170b0d6e7af410878 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_017/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a01dfa4b11193a702cfa964203e00d21f5bf960e6d5a1350f135b2f9adcc87ca +size 243295 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_018/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_018/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2b543c1554545cd5bfdfb12c3b307f1310fd83cc --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_018/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fb2ff265a70f40f9ba08c50ca9efefee3f8b91c502e504e0aef6d996f68479c +size 494083 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_018/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_018/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3959858227bab947313c6720778e31007b3f0601 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_018/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70f777f7122503d32ac79405e3668b9d611d22978c923df1f7f91959607f7265 +size 239626 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_019/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_019/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..00de8d56b5646193f564a668215c1b726080151c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_019/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a23e267d3910088d7884a234249c960f2a827537691d6b5058f9532379d71bd +size 659141 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_019/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_019/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..a4508a1948a9ca0def36849f136979126632a16a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_019/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0fa6ff1fb8435035e7fc1d5856cd1117d026107db69a5a091dfe30a1baf316d +size 290937 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_020/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_020/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..8f42c3d12492a279b25b72fd4327c58f31326316 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_020/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14f7691d485cf8aeed403fcb51238ff74e41e886432cb5c3a60517ac6af82185 +size 564410 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_020/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_020/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..52dd1d9fea626785180f3c62579cdf7d405b5014 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_020/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4be5878c7675a429660ceb2f61c494e3502aa1ca0398b08c5a8b4521a8ffb70 +size 250548 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_021/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_021/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..6971a23732227ca64e7f4115e3bff965a5ef58f4 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_021/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ac1b054fb80f3ec0735b47f609c5574d6beafd65971973ab21aa702915e8b4d +size 206952 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_022/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_022/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d312f8eb5167ec4c29ac09f664ba8ab1f49a7f91 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_022/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e33528674f20e9a08da37167b297eabb5aa329f61c745687e906a65d8b5bf1fa +size 494847 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_022/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_022/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..83b8036e2e4480fb003cce493748797f0899972c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_022/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53fb8b5c94cf32f023d1c0d82c69ac72916e58da7da199b3ea67e6703af01b2f +size 181955 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_023/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_023/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..fd4e4f900ceea16d7e362d0ea181303571bd5718 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_023/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9df9422100eb6cbe6207562f881aac337212c592e3292ef7282a92869053b0ad +size 603772 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_023/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_023/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..494fa3901513fc0f0f7fc2be8dcf5d9ab98a02b7 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_023/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6afbbb40522b7e6aa21057897e911ec2a128321ef50624e99eaa044dea8bb9c9 +size 232906 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b01_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..7d1bce00a10b2041e59a5f4dde3f4cfb2e980532 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b01_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:527bf175862d74ed029133d0d5c002e91488bf0096320be8c07089942f76f47b +size 437046 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_001/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..90657cf72b5a21f01e88f1b738793474a2b7ac95 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:419b1b8195b90548e476f80d9f21fa26f943647493cebf793f0e003e845dd356 +size 178549 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_001/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..7fffc2c7d3f8756e82fe1b1ae4ceaca8c7ee5b5a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df09dd2fe8f0fcfe3ba944ae5eec2b4f8d36c387fe048bbcecc9e033d61c233c +size 97110 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_002/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_002/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..43db4929c9df0828a2052bf28c3de5f7f059362d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_002/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ca2afc87c2170d18697b29c033651b30757bc0ce4032e6fa1b2f05fd5293121 +size 355182 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_002/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_002/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e25ececd5d855cd4bf657c0324657e773ccc6918 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_002/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a803e23871d09db4d8eb2fdcf013a3370ffc30c18bb2511da7e63043d459dda4 +size 156953 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_003/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d45c4260a4dbaa99ee55d57cb273585206a63eeb --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:244bf85dfc2462dfec30591e84d02f14060d4e96549d70eb197c187715696c78 +size 361393 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_003/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_003/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..53f1480628464d3fe123cc31a63849f7f75a1838 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_003/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a395d5e290743a1f182dea706fa1d7782a3c73358bb78f1fcd1473d71d031b9 +size 164235 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_004/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_004/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..de7d60786d23d4a34efa342d16b251b33b7a054b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_004/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:083fc006cbbe3fee37556803ac043e9457d77883a53b8d0298b6fe69f01ad6b4 +size 307316 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_004/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_004/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..a7e10e2438144e9f7ea2f53ec2d54b4c5b070f2f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_004/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d1bb6024a8e3fe387c63c54364202b1297521becf97eb9c1a85b1c49d0fa0a +size 145731 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_006/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..88026649938ab836cf88d8d7fa4845246db9c539 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9effd45c118983b5e89ac230b51f74c4947b5ee40ee6380086cf7dba344fda8 +size 301699 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..403fb41882767fd97eced5d3268fe3e244f122ad --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95a4f914f6c93b09a989ef395feed547641751bf8831c7205609531721feae3b +size 136304 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..13bdf94ee195461149b82adff88ad3a40f90f3b8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6d08fbaf6d337b3c1f9f8319a226ad818d56a5cf36d4b0ca8eefa19925fff43 +size 454519 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..0879b6b54fe810085949dbe8ec6d0c3f9e728716 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adae5d5ef6091a675faeaa05a53ef49a7c71e30c4dda2c51a0aaca8ffa1c171a +size 200481 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..faf13563cc2221b9025d7b93864356baf2170b64 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64afbbd0ea17b4e4e319e3ee764ba1d853a8d0dbda223ad80efe06cbb070a806 +size 138946 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..70e4210c5c77cbed2e97d607f3350742afeab2d8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c165e0343017cb95de99199d640a44b2846cb5d4a9a99ae8b152e3eac63a5905 +size 94098 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_009/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_009/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2981f4c5b24501663f3bea154d40ba34ad1f7ecc --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_009/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fca7b6c11349cb5951ae95662eda2caa979856f3d775d47ef55b6fa55e017a6 +size 207540 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_009/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_009/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..a77b4c5f33b3a36646f562b8ed8419bd3bb254c3 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_009/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb9f76e506e3d2be6cb5a96765159c42d43281136cf02b0d6e02ed740a8d32e5 +size 121830 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_012/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_012/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d0b6fc8f26e38f75942f5a73ff9763efdec67633 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_012/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ca6dab3e8649b89689d07fd23363aa2016801e675175951953c26e94c13d656 +size 311608 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_012/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..35e633ed3a373c6bd7f347e311f198d1b6733448 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61518c25ee07d52b0eef296d6ace538e1d692c8beb0a810c0b2a06f8a0923056 +size 143367 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_013/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..665a8785b1cd09bd4c47c31d8084b8b75aec1ccf --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2138bd536150a91a9345144a7406035c7dfe22d77f34eb34dce0f7dc651d965 +size 204832 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_013/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e76b5825e0ac4b036a5d25951f78cbf1fe384f67 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72d350e85a36e0c5dc61ad27a383597ac889ec6f73dcc2eabf1f7e6eeadca01e +size 119355 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_014/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..15befb3281377e85a2873107524a893fee5713ba --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e2cb0b513b73ecefa7b805d07a97cbb69ce714e5ccf04a95c4da600e019ab63 +size 173820 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_014/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..023ed01520cd00f0a6dfc9e6c859ed3c427739c0 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fa0418cc7c610c5602fc523ccf2f9ba61ed347c647662532f62b5e6ba40bafc +size 101383 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_015/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..9f24d9d0c94fceb5e9729784c82de8e6464ff227 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f05d9664bced84853425f97926c2ae17453a856a14f47db2003a7dd210402d9d +size 338472 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_015/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..27d76941b1af56f76c73f66f64c4e9ffff36c129 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5e268ba7a2f215c7bc0f6bee605af17444457f6a1357757d37c3b279ddee250 +size 161982 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..8a6066c785979da275cabbacd64146492aca459c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b3c88ea5536374d9f00b61b50cd1dc17084f77e774b73952485f69d9a3434d7 +size 175721 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..527d7b2bf56a063cf7c9662cfb1acd029ae3e0f8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:587852b7e4bc8ebfce39b488b58d01fceaeb6b9601676a7b24c969d4f885c564 +size 112133 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_017/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_017/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..41aa6404f01ead44e47de771a9a6e41c69c5178c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_017/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7345d77bb5ed4085fea6f5b562422025f54ea64e5d3516fff27e687df5bb988 +size 451807 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_017/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_017/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..47a4148b726874e0d28fffe2b20eab47bb053bb7 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_017/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:733dbc05a053247229c974d3ba3fc473f1c7b53430de0b7c7c41cda40fb10d5b +size 190379 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_018/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_018/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..a0e751efb455742dd7d68431c542cb43cac41d63 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_018/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a20b7ca816bea34c6793b61ffc49afd5e987fc1afa70a870eb8289d04dc77bf9 +size 356885 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_018/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_018/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d45c309e8cdc9a12136a3e18afe531f765bfc073 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_018/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a21a81830792ad7cba6abbd8fe8684af1df89ed3ca18a8684209549891fb4d +size 159050 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_019/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_019/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..04274a423851bcdc07a042bc9b96048d9cc3942b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_019/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5331a6e1401cb142d742a8ca2fcb3993d45246ea9515d7f4d0e7b5c44658923b +size 385512 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_019/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_019/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..4c36c7c1fe6e1fbb641573574504e33f457e9f74 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_019/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:100bd393c5a072749d567d9ef530a599d8eca742feee45c9b205aea4c09a9032 +size 175037 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_020/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_020/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..7a5998e3c9134db27ae7b056c9f1b887ec640836 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_020/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13012c26aa85cfcdaad13960b30582e3777011cfbc227b17ab7608d5ba2f5fd4 +size 497472 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_020/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_020/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..581b63557e1452f7ae37131f1556487c932ce77a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_020/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88a5fcb215876a31af3a73a57df578d59799713e834af0ba8f69d20b004c6a29 +size 156199 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_021/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_021/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..ffb961e7504a9bb821a83e688e346ff5b4850c25 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_021/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:313c703222bee9d2b123b79db5b9ac2862d91df2ce35e46777b723b990dbbdf0 +size 439799 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_021/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_021/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..7137bc5f993bd8822388c7ac9d0eaf0f96b807c4 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_021/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bfd74c4d99d3d672f0348ec4844fb91a541b992214177cb395542805733fdcc +size 168380 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_023/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_023/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb309abe1ea94a8f30786d9e129d9e45b9e4cf02 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_023/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f323d5b35875197a6589d4d5d4a1d7cdf6f40e55a4cdb7456704117113a39f9 +size 486450 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b02_023/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_023/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..bfa3966ce22eaa551472aebff437a8580b95ddfe --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b02_023/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae69822a83e5c129511f412c2069a2bcb751b2a410ace95b3667cac2246d5f58 +size 215460 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_002/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_002/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..a8d9fee570598f978649b01009940cb7e26fcab5 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_002/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1228954188893c963bcabce8264f6cf92d73b443fbfaaadd3a61599d9e65f55 +size 321890 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_002/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_002/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1e812af6ad795771b37e9a0d6d2894b6d3906a8f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_002/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24fa08f5a41eaec69d069aa49ac24bf8d00f0d119b162f08b1e2a422482e5861 +size 130188 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_003/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f25db1b5a6305d3b52bf0c5925b3cf84c5b3624e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1f0b93602dbc15e4a5219eabccd5c3d3a668c4aa6b28ea39e13c45c72a7eb9e +size 446194 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_005/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_005/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..19cb9f2a8dfdba48287c0d78e5ce09860c15fa6f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_005/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21045dcc9d3d7d5440f79b9214e7de9cf4c697f0df927cb0fd8338b28f2a87c1 +size 240354 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_005/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_005/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..af4e1d1d053a759622eb0dad36e2f2af3899eb81 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_005/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0fecf93a3347e0ad2d6ccab9ae260656a90b648fd601ef6b7888044357eb308 +size 124018 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_006/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..0796c0533b5891f40afac0ec6ee34effd5c8297c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4f8a53e06b6c74af115a71dfdb0c25b743589c74c95c1c6327ffb2f4517d8ee +size 401724 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e307045f615a40ed221a14ee80f53d0493496581 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a87ca6a08c0dbb71d1003abc71df0337e64ec0735b626958f57553676949a74f +size 164294 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..0697b24adacc10c76e30db5bb7aef7c0cb6db071 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a46062e76746c0d4e58e168df38e8c2f4f6fa2840a9ea7adedda3f75f02e885 +size 144522 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..c96028f420c3c4ee12ae1ad2631294139de32c6b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7960e05bf4910b28ffbb34ffcac7971a8c5a2da28bde5878e7f614e42bdb515e +size 109340 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..dec6e1ba07cb1ef450dc6412af3927a93584e6e9 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d9a32fa61c91a5475d7391b27ef7735f53460429d2cb97283f4886898684f89 +size 562489 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..7ea99d5e9137d983c85b91e590aa95d3b0cb9d95 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4c6d2ca9082d2178ec29fd86bd64a806d121a901947239f7c418980f951d75a +size 238430 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_009/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_009/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..e41477b36432d1eb2f66fde35131daf26777f7cb --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_009/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8cd83910629437132da5932d641dc032118497065d0dfd54d471e33fd27e609 +size 227243 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_009/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_009/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1d168993b4839be15666bfd4bfec58ec89419fe2 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_009/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55552ec792a1b800dfe495ad26052e549a28fe9607861edf3a7a0c76fd08872c +size 136049 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_010/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_010/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..902a241f396422b91d4e3902363a269e99183a7e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_010/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af245f341a15657df098fcc843af381dc55c1f9ffd149605493cddbc1860c0ac +size 257352 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_010/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..261fc7f96e57c51e22874f3218b4b81a337cf86c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7b7ac1f84df7a150eee1ce0b712832babfc0f5d64df68600d311d42c0221b32 +size 117116 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_012/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_012/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..eac51d3f6a40bbf0e9c31f0bc78d07d6f1b411e1 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_012/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdea6156727c6d5964e064f6849d9b0253dddfd92ddbc833e5bebc878f202dcb +size 593262 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_012/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3003979166ad1b51106f11ebfb79809f5dc84b2c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8ac8bdc595bb1a4f908793be109a1a8bb463b6bca3fd8d9b1a221121fd7b759 +size 213493 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_014/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..80661faabe0628dbda245e500479b57c6154c893 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:587db57fc669f6a1c6497c006f4aaceababf82a496c44bdc0689be3a9736913c +size 338367 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_014/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..da533b37402194a9f1cc95100442cc83822d30c1 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faeeb3f72deb4e79eb0c8d16f358edb193039a7d00510e35dbd6a30d809eac13 +size 127150 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_015/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2e8ac363c52b0b9ec9ae44dfbc7529b36c43cf1f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3644266184fd702a4839ee103bd6cdfdd4681391044f7a09a1ea07bdd9b5212 +size 225017 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_015/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..171b70c5b672d56a0ae78ae893e1d6cbafd666ae --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d8bd78b5056ce3f25b82532976ee972ab2bd543f923a59bcde96bc1eac4a955 +size 131800 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..82b8694c7cff116cd64fe8857d6410102acedf67 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd54ed9f358af5d74ed59c187ea55c17d9bede0958679daaf328353e99c3d801 +size 250818 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_018/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_018/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..36490906fa6eb0eaab0d6857c603ab51649560a2 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_018/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f88d32e59b51b70b5036550273dd6be4a63f7ac04051e7591d76b833c131247 +size 399970 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_018/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_018/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..cdf0ef9c6796105a5f4c42a30d1532200615bb1a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_018/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5bcb81a50309cca98f329fc6e2045a3c1a7e86bb6cc5a30a54bc618d66c728b +size 164256 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_023/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_023/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..6f39a4e3c7e64a814b6978eb3d9aa877b41f8adc --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_023/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a7722f1a3268922ffece9d9c101e52592da9dab0a5f7f95da02bdd9f93debd2 +size 186805 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_023/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_023/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..07dda984e5b5f9fa0168e73f01aa0182b5fc7f8e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_023/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cfef6887a953eb8ee1dd87e5acb46688111451c0d23f76a407606df9e22d2b2 +size 110060 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d6b28e836eae774826c3c2b6a446bc9776ce9797 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95fd57d045be2395bed37cb742f402cd042ea8f654a88e6a8c8d4b028ef624e1 +size 565083 diff --git a/widowxai/ReplicaCAD/test/bg_000040/scene_b03_024/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_024/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..87267f956cb266f2879ed33adf0dabb66f0afa5b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000040/scene_b03_024/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1313ac92fd43c98ad4e3e7bfe5d2536f8d56df0698c0b698128a2e955b4af3d4 +size 234383 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_001/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..42625281c7186bd31dd6e1802920036d669dc4ab --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b76e61836417099c32773ebfbfd5d7f2095456172f50c5e622718b4e613c9f0 +size 312479 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_001/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3f0d7ede1eab5edb4e6fd8368caaf90ab7bdeb66 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c877486c377db72733290ae0b398830dcaa08bd628f7cfb933e4be64eaa2fc3 +size 162241 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_014/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2842a708ee25c374946c3c42a98b1757d6f2b32d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98b14b0c5f8c3d383d27ef37c1349771b4aaaf89da52569c78ec9e05edc4dc46 +size 317761 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_014/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..9f6eefa43a1162e8405a7c1c794164d2100afcf8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b46923f6870be67440e2cac64632de6704b6d1c897f92c8bc77127cd3f8a65c +size 169540 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..09940020ea3df184b4f864d9babbe5ee73d98fc1 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32459a1b5bb1395930504381fa27d6e89a4073c47b8c687957e190ad9353aa5c +size 215698 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_019/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_019/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..5f1ed5ec5d0d58d3b16e0e28f0fec892a1f888d9 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_019/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1d413c23b0fcd5c336da87a633d9e4ff28a0c55d6d29bc30846ddc98c2bdf8e +size 337434 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_020/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_020/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..1b2bd9b5315f6fc4a31fec309a46c80248746378 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_020/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24100b8b6ebbacd40d4a11fe36eca1ac58ecb0509d2dbaa6f7072a54de9c44f8 +size 319047 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_020/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_020/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..77de609f4c73cde0c4b1dc39c7ea8d48c38acb9d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_020/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8035498d16c75833f16a5e806e93cd405eec570fc0b42d6cfa336352d52ac122 +size 209678 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_021/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_021/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f238d0ad2b69b8d3776417eb4f5e443445b1cd8e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_021/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02bcc344714c0491e291c0579dbb50ba930bb2a5402bd337cf997b93a023ec0e +size 406705 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_021/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_021/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..fa1a2cd262c94e6c38ff0ca76932678a0b440ef0 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_021/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e242b1cc12ab31a4e1502e06d1de31d8fde26664a769f4462796369e9ebdc215 +size 210743 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_022/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_022/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..557bb27cc4610c70f0f4b4894fe087a9cf6af5c8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_022/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:962625251bf9c2c61f5ef43d5be381c29633a28102b9d93cb8aa4ddd3bf29c27 +size 266576 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b00_022/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_022/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d96954cab5cf9aec57a8858440e8e9e7cee5b063 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b00_022/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5cf585de632793532307a8e8fe6706cc1daf348a8a2f809a0389d23743373eb +size 170842 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_006/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..4176ee677f92cebb5d006ac08d6bf720abc0d93c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db8cca366d70e6d08603a1e07462eb6bd0f959d1b122283b7a64dc79697629ab +size 350948 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e2179af8b7984f996e345682f73ca87e838cf1f5 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c364ba06414b86733460dcc3895ee146a7f9d5193ff227b027d9432c6751616a +size 149700 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f30d764ab58452cd4aaaf7b5570b11ca9d29b16b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d47cefec725f4f538c604bd9d3e37b5fe63c4f7d7ac859d20864acaba16696b9 +size 341098 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..46dbf861dfc07155a98c9089f426bbba95b866c6 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a07350dc0ede53c6ffd98dd1a98e440ca8f6876b06f8da155296f6d4c34f22a +size 191086 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..43fefc7e5ec28de312fa5a22dc8a15bd20d06cc3 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b97f3cd621f315d4fabfc0debcc16633961d3e3fbfbe7ea7ed8cdbbdf29a7fde +size 362590 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..79e051882f880740708c440b724fc41bc04eee80 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3427d58a496f823cba0d09f54f550dc3e37b4df58235bd1cd1b56ad1305891a7 +size 186961 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_009/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_009/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..65abeb2302091bae4a85ab315796e7a76f47c25c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_009/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f1d2643fe6a23713fb342d2aee996cb247bd56c1da33a4cefa216e9371abc06 +size 306214 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_009/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_009/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e184a9bf0527d5f8a75ba416b16dddb8ca571c63 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_009/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ca52f0c1390d5052df3734b3820eef3cfe83da6e8e214a9a35de4e02132d16b +size 144396 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_010/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_010/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..644df8e8400c4900c7f17d13cd90d984f01993c6 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_010/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29044b12c5d3d4935c81bc61065e6a6d8c8f32e3920bfb7d405e92ef82cd0425 +size 299203 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_010/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..061c5e5ecd7b5d47e2ceee9b6005f1665eb44836 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71370e2a094991f9e57c09302a9bef0147e34d3bb19f7e27d02b24050aa6d47c +size 163177 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_011/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_011/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..ac2c454e11af573a4d44da8ce8ab0869989d14cf --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_011/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1448a57fe063f7b7aa4b6220323b22deba281e1bf853c3f2157fc6ff3674ced9 +size 226755 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_013/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..b890f7190464156a29bd588c16f722b977f4d065 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55a1c3723deda79e7eec0ddee74b9d36f14ccb071f5dd4a9f388c0fc2020d19b +size 444219 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_013/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..8607710af76b1fc3189261c3671ac4bd5d83e2ac --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eb39e169dc4375965f042e95a8f3f00a6bfeafd28298f86e31d924c9d15172d +size 238749 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_020/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_020/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..3add88869a152bbfbadfcd0873436f421319e14d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_020/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ca52ba256ec345237b65439530b73bc092377cb96ce1c44753f82e3485f7a5b +size 249666 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_020/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_020/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..82b506c0df84efc220308a4c36c0fcf184c55852 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_020/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7faf71c7b4db46f7200e94c6860b9d247ef5dda3d02679b583c7b9d30c137bef +size 113187 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..da5ace4cfbb038d377e78923ff958b4572815c9b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:314fd3f9fc1087e18f96abe136010daf64f6fa81f2ae89bf4f575adf08d2ff8c +size 319047 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b01_024/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_024/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..a570fa7298fe15f3adcc1ce0054ba9259ec3dbb6 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b01_024/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf4341dff9c2a807e0c0f08c358427bb0ee0d7f4e17e4ce3076248912cdf287f +size 162066 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_002/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_002/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..ac23b5ec1597a1c4265035ecbdea8c23265354aa --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_002/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc9e841960327e1938a2cf21ac3cc71076241b7b7e022d2b586acf0b29c7ceed +size 112879 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_002/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_002/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..f80196e16bb1ed9f187348f130a7763fb65ff620 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_002/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81c842582913d2c60dfea3e0b5988feb3bce9befc9e5ab557e175a63a0baf520 +size 69158 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d8b7de4518b668dc20950800f7b93bca1b628bdd --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e8e71b91480075f1d706d9997c29320f42928d04c54e084be34bd27347742a0 +size 126472 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..db11d7a791c8d9034c96ed7103e0635473aab1c2 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73c149fd576b37fcfc6905d451f867076bdec6a3f7323ebbe9b342fc13fedd4f +size 78702 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..a190741c7e2691359dcd154bd6f4a27d9797cfa8 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6c51a1d01cd8bd1d5141ae9e82d2eadae0f44c7c0b31d55e9adbbf7dc26d6e2 +size 197821 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..9f434518057adef4cdf18580dd3411a600c172c6 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:460af849e1da947164f234e9f48c16d57c2be543d149807b7e704adfc8e76a2a +size 86819 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_019/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_019/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2af30cb468e9076794aa546652bc64c657891334 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_019/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b1cea9303ff1f0ad8b21ef452820a9687850e3d66276378f55fdc3aabc36714 +size 283769 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_019/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_019/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..908f9310ce727775bd5764edb04de3415580263a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_019/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e56de977243039d1f1bcb4d38857ac81647445cb3b15462e0b5866f9bb7be88 +size 130940 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_021/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_021/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c0d0baaa0fa6ad3d32c587096029eead9b99ad40 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_021/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9933ee6773e6d9cda92c67d5a5ca415e167a770af0e79ae9e5f4ea5396135f01 +size 136486 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_021/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_021/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..293c9b4e808d799c8d7d73f888afb62a4f1c7f4a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_021/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba0f37e66d1dd73e20bf8d35bcc63c61aef379f5327f2e8696224d88fa4816d6 +size 79479 diff --git a/widowxai/ReplicaCAD/test/bg_000052/scene_b02_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..bd42f1d161af94b747136208e0c76429a85c3e1b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000052/scene_b02_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f9719553a0403091567c62edc408253cdf90b45694320aa785a13b1168d279c +size 125678 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b00_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..fcd29f7f60ddfc9f8075c0a542651329d8ac8fc1 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f05f0d3cc12397fa9fa48ddc7cd9bd557cf208543aae2ae2ec677a46cc053b9a +size 548370 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b00_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..fe28657624614e8958bf2d8c4be8d527da06481b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:637a81427b666effb2b91507e3ea441dc0230b8ee550422233e64ef48b095b6b +size 202868 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b00_010/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..8d100c2f4dc250514d3e7a2817f10983bfeceffb --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c45450428961f853e8c178e08afc4b095544b3856830ee82dcc77fa03dc51c25 +size 109332 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b00_015/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d6db5b13dfa1b518726e598ef45e82d1dd997a4 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2499d51e2ee4beea5a0e47a9aca0cc0b6bbd4816519e2d1734d7d8dc9cd88748 +size 482959 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b00_015/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..51ab138e98ce963ceee508d52137a23e4d151b52 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf78868cc351b1072e63dd692d5452361da19aa3f4cae313eba0ff832e701fa1 +size 218734 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b00_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f7d53a7bcfc1dcec7e52cbc6eebca7ee98d227d1 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d067d8ab18c6d0ebd526da47417b6c9f6cd4a20fb42e3706f2b0104ba2fdb684 +size 381441 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b00_024/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_024/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..4b0a308a7900aa4d3925f77f78bb3a52923187f6 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b00_024/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:762f1366d708e47800f81e2c98eda3c127b481ceb603bc33f24c96429fd8dfc3 +size 170262 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b01_005/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_005/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..550ab6c7d14f0f156a16ac545b03767c9d809081 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_005/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:576eccb2194a25e949880547e7d5f07407ece7ef3b19f3bc658ae12a231715db +size 187614 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b01_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..26109dd3023027c9536b8b5405b78a2a1d1cee0f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5847dc5c0268b2b4744b073dd1ff3702b2b8715ac9153ac2e51a271a001e0cf8 +size 354195 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b01_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d22d1f4f2c0dfcad96f03c82d54d9ef895c1e561 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bfd9ca23f612d84e0976996c58a077e3430d75ea20b4d6cb838124b96106e37 +size 194520 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b01_019/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_019/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..8e294f10b4d330e6375473672b9366e3c514f20d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_019/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a0160fd31664760ca69889f2144dc4161780cd11b0fd6552e607a676f3233fe +size 335367 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b01_019/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_019/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..20ce7ec63e9e31673d5f04c285e303a17eacd155 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b01_019/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b6c780dc3c7ba472b6db7ba636bd8c0008f6aefa1581fd896eaefa7ef5fd2a5 +size 213100 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_006/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..eaa2e254d1349ff5c12e62ba34387ff5bd7cd5f0 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:709593b02de7c854b9200461f355916858f7933df42f5d0c88afebfd617f6750 +size 446845 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..66690909b68f9c29c18d951963cba2e7cd95e5cd --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3f723029591e77ff2a82b26d6739ada61c6275124064644ac463e3c9335b566 +size 191534 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..cff7e70688e1e0dfd22fe5a720c82d715d9b76ae --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e3050781de3fa0b36b8594071a8fede5843cbc42c6c986af93c5b452c1b3021 +size 340489 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..da703217df42554b0f8140798823a0fbaae03a19 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3083e2730a86a2acc4a3f63f23a79787e5dbac82f16a4f40ec71dfb54ec31ab +size 159282 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_013/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f7d2f60800ae9e979f0279c7dae1a358b9befd02 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d5678dbec10cae46b57f7aba126e1fd82ee8abe895b24442bbfa636e4c90f57 +size 430786 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_013/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..25aec061e0be8c35c6cb4ad726d1d68c033410b5 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8e082c15e4128b188fda558a3a0f827cdc15f532ae573589e43c4c9b9d306de +size 207344 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_014/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f322dfca8f09229f975824ee3bc3f6e1a3798928 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7b8cf6ce104a9024ad82c22ea013c61109e8b7f20fa2ba441616afd815337df +size 311581 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_014/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..ebc5f7a062170728241662a1314927771068a99d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2ed1ca0ff758a528c32d7724b781da560cab34d21d6f3127a1e9bc317c4cebd +size 227556 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_018/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_018/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..186f83416a43be26a65b734bde73c29787957d5a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_018/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ed5adfe29204d8db430360f5c748a1f90041d77249f11d474b61a6eee51b434 +size 530858 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b02_023/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_023/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..b38435f44e6eb6d9ca634030c6fdb242dabcc216 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b02_023/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f6a85c59926fa5b84a60782b1e516e5a9f169237512638002e4c5acf98b6a4c +size 224042 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b06_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b06_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..89e71bedc84ac07d676c74180e57c2572bb5ebfa --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b06_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f803a46204c166725d7455ac51f48630fc1b3b15c009bdb2b553b5a29d2aec9d +size 104171 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b06_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000054/scene_b06_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..1926e728b12149a91ee8285117a777afd1a82401 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b06_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eb6fc7c5be46e11eac362930e5ea7a3c5bf2a5d4398974a410046c97f1b8841 +size 410306 diff --git a/widowxai/ReplicaCAD/test/bg_000054/scene_b06_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000054/scene_b06_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..58fd6f92ad9309dab6e098d0d8cef2dec4ac37bd --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000054/scene_b06_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88e99aed35cb80257dd3f717128f9ef7aad843872703e0ecfab6c11df59c1d7a +size 201822 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_001/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_001/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..69fe909760b343a3f126b35e2e6752e82227ad81 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_001/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f34ff656ead15ad0329fdb5bf4cda22ae89d805807ca2386f2708e617f8b74e +size 281630 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_001/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..47c20a1a4e1c075fe1471985876c543f9651e229 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe7a33dbac5a0107ddac32bf169280bb1f9ce3c4539868f46985a828a0dab74 +size 154132 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f023252a5d6418e421067e533f936acb98e20350 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e857510afb99135d1d7d01f5dc1a92126c9db2266c634214469771ac9ef190c +size 288352 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..10f63d8fd3a164556f08c7e2b4a8a6558b229806 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc52e0cec6553cc7ea9de5d501e85d495faf6c9e43dc6b7cbe36761c5fa22660 +size 153146 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_009/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_009/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..b27a8edbe878ff51c523f2d905727c0431ee3f3c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_009/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29035b61d535ebaffa6d6281f35fb52a3011f14c98d91096f883dec55b7dcfc5 +size 224981 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_010/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_010/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e0047a9a03ecc5b9a6ca275afbeebfe90de4641 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_010/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85d70de79f6de7030d2f938dbe960eefaad09a673c1c12c6bc95e8335698540c +size 240950 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_010/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d1829b957e336a68fa784f14dab6747c95135f76 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27bc6c9d62c2cab96c9d52b0d54170aa8b7f43412bf18b39899820c2808a3eb6 +size 131192 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_011/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_011/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f275f920ed1fa04a8831b4fa1f07267018faa3b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_011/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c27f7cfc0a7f2f9e2ff209841e300c7b9146ce40966785c35fde3b245f27f85 +size 451223 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_015/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_015/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..ea26b46f05794ff12f6f6464c8de4c7ecbe45d19 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_015/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba832727e976b22b269c3ffb01266b373d66ea6216e3dc23329f96fe74b81624 +size 286415 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_015/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_015/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..cf44dc8abaa4356d775dba8e8d934b44bac645b2 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_015/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bdbdb9b8d3c486bd736cb6c2e8631f30164d9cc48b2f198d9cfc85684c7a4e5 +size 137276 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..eac9d57b8977790b2c89d886d286fa296550d4cf --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f59f626ec76a5c519da404233b879e55df85573e652d7f597df8b8b45d3ae88 +size 429406 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b00_024/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_024/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d55d041336ee05feb4545adcdeaab3cc9f9fb20c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b00_024/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d12a141f3822fe68b94e35f2a546a069d04740cd1082fb8b424016d1c414dac9 +size 248605 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_001/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_001/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..20682c1e4cc672648e4f6db95d7b98dfe50a44da --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_001/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fcf9b6210662599d7bb659820f626d59606d48ae698b19a14e4f7be1c658838 +size 95878 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_005/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_005/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..2fb18b3a987e97980cd16d61eabfe13de661e45c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_005/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5802b2329ecfc5dea0bf63a27a4e6d37355cd9715eb7f8e5192220b8711a4af +size 246823 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_006/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..48c91dab3d0041f7c1070a63f60b8c11bb7636f0 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:428f1726275071fba0265b0472d306d89c68cd2069d787ce77e01e40189d1159 +size 146537 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e060810c09f5b06d31cfedb9413cf470398f94de --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcc6d346b81a7eae85ebbb46ead5faf60019ea9138ed1d1f711f9bb2e13a6fb3 +size 82931 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..e69a3170f2d3d3413a1005aa2905527d692a8a85 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:109388f7a5fc724bbc30f904550f8fcafbf31001f62b6620ce2dc35136e3e4c9 +size 421237 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..75515fb632c8357a749be5f9eb9d0337fea56dbe --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f669781268ff9c419807c857e060735139acbd169fb6e092aac8bed4d5745c55 +size 189618 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_013/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2ec5233a3187b6dff6b1c61cc83c4ea26997f6d6 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cef44dbe50a2ab614f5448a3be76d047e3dccc9e5bb9e482159d6b28982b7b2 +size 407951 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_013/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..45b6cf81f3f6ebac352b34fac9d9be7a0e9d80c2 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:973f3065551692e8b29533939259f6c98e08dd4b32cc19037bb589ced35f1061 +size 159886 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_014/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..8540d68fdc925cfa7e623c9c3f7d62aa8f76db24 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f57793869604e1de628b72704e5060032860cdaebb241faef54660d485a6e778 +size 131798 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c6fb09eed048d4c8e63d0bddf82d2556e2e5d4f9 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b498b7b91040672a8f53b5fdab816d56ce797378d157068ad650149a8058bc26 +size 231483 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3f85c0d0ea72f1252192637e822fba3a618aa24b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e9bee6f6cab9562920491105319f4e7c937bf77f837ffb19348c503f4679d98 +size 120385 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_019/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_019/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c0b41bb9516194f6d6f3dec80f566eddd5ffbcfa --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_019/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fcf3edaa23894bcd417464ed7afcc5c84775bc0c1be7f42219f48dd38aba57c +size 235190 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_019/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_019/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..ce5d6704e84507c46d7c776c083ed1adfee221e6 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_019/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59857686b03d650d50d4ca96d260806b913b5157181cdbb44603aabac47ac05d +size 132138 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_020/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_020/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..bf16b54e3faada889a499e5b987ea0570226df0e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_020/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca239dfbd008fc3f0036679141cf299811f30834969ef6270f33f1478ebcbdd8 +size 219998 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b01_020/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_020/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..a482465e9c3aa7505bb2488c6ad815de6059074e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b01_020/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aac4ee70463d323fde481f9570c06fbfe98bde0e9a6e6d96d6d5666d0ff119e4 +size 108816 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_002/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_002/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c3fbaa9ea8667c5dda74e248e69b9899d45215fb --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_002/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cad05974a6dc2fb0a85cfe8b5d0314b40148a6a5c3a1735cf5f923ec79f3529 +size 218934 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_002/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_002/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..9527b6ccbf34fbcb45986dc9ace302fee7cc2d09 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_002/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85eace3e8e50ef617179ff8e22f7de76a529ab6379d9f50dfaea312f51a1725d +size 117116 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_006/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_006/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..7470ecf1cfebf23b43a9c5955d5e1a0b40c00e01 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_006/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:194194e87f7d8c4992d8b8421fe4281443f7503114395e7ab7edf231e6293ccb +size 285591 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_006/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_006/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1a432c1f9931e4efb0a8d1ed4eb975f0fbcab83e --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_006/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eba22cc791aafa535468a80206f5ae3f756bd125c0ac23d3e52e9f2bda308646 +size 130529 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_007/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_007/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2b7026fb9bfd6abf2cb3ec726331a817b7fb95d9 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_007/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e875f41cddf65f469e0a27a2b4fa42247a0164819d43b8c870545323d5cca18d +size 328219 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_007/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_007/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..3d3e61b2906986666393400cce6243608dad8a61 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_007/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9203f2f1a3f07092d04605cafc3cad0c64b51accd02351d29145a30f236bcb26 +size 153424 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb5021df0354e53fa923c1662d3ab27814792361 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0da39ea9c2a3197fc2d1416e854a201bbe98ac43f196fe5b7eb636bc9ec7ecf4 +size 512858 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..d5a60bb588f7471332640952d76875f39ef26c42 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6fd8395704e553e305ad71397a148f7051638d0b23b538bf2418dff59b68237 +size 218634 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_010/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_010/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..db0d5dd76b22f27e97fae7b08b9959b9198ab710 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_010/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c8f5b1a35ab854bcc924e965af4defb8943f18163112b66569f8e8c9e0a9a41 +size 107052 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_013/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_013/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..36e8b2086fe80a14ecb5cd6c857e9c409a8c8f7c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_013/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d29aa382c236ef2f7686f36f2207f479016d751e779489615af0a538a6fb4ba +size 295894 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_013/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_013/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..28f5682ae18c48cdb9ee083c7f13c5f3f11fdaee --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_013/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04aaedcf52eb375a7adeb5f27ff45cbc22ec77fff9d307a400202f35ae2ac159 +size 153137 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_014/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ebd02f787e571e6669676eee482e8e6891b6c71 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb6df8f87e279a557101cd751df334e81bac38af6b1428e892852635af4f4f44 +size 569810 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_014/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..4e23b8184b82c2a6a50726dcf3bd8d6656a3909d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81a455915642e4bd6aad4b585851ad0396e78bea0b7f983c264c115b2fd362f5 +size 175380 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c5bf0f0dc66b4ab67c2ca49210fae4efa6db6469 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c804860831f237ec846fb27b7b52c8800a6cd7aac9626e17dbf35886f3fd329e +size 185856 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..9b73fcbc2139f5da696c7b389d348d97b64f2614 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1623dab470bdc2fc97b206c7896563a32400b9aa6219516bfb5e6bfef9d08e4 +size 110032 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_018/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_018/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..177dea76fb97b83a511086c8d5064ba72aa18b7a --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_018/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2d25d0a362fa18f1159c1da61eda4a21dd40869929c085ae98594a76548551b +size 329570 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_018/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_018/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..cae85c1e542dc84ddeb8614f0dbaa51fee9b10ab --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_018/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24c340d30a99932de932aa4980e2c4b62ca52986315cc7e5d06a46d7f161498b +size 154192 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_019/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_019/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..c232597d6a6c6e90e5c3b44cecdf37ef49ac2935 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_019/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2399c21e13b0bfc3e377ba045c1ffd981ebbd5d3a6fa0073420f2749e132f00c +size 221845 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_019/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_019/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..12d653f476926f0c3ffa7664f029b1a498766dc4 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_019/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:649cdbc94a385db9fc2f88e302a3a3b34e463009dba50089bfd33f6687d550d9 +size 117885 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_021/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_021/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..acc5b81864e1df17efb3eb18487c44896ebf91eb --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_021/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:163740da5c1dfdf1c9c2a3e79247c1d729efca1714de9568a79e5287cd94cc73 +size 315636 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_021/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_021/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..36874b57d92e86d702bfb68503ddc27b84f19317 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_021/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea9b768dd0e358134060dc89f1eab4376ce9cb6435653fc554bfc4f0fd762a1b +size 144338 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_022/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_022/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..d2a6cf5b49a9a9341f5e396c09bfe7601d238177 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_022/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a0d438d1961f799f1aa0dd6f8d613f122cc94f2ae8d80f1dfe97afc19b9e2a3 +size 201925 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_022/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_022/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..b946f47f2bbedf76488ece7e5c7697fbbb4b6795 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_022/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db9fc59b01d45ba5baa2d1c8bd70d5eb4161b95ff90270b8049269dac23e0234 +size 110038 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_023/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_023/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..30262c70aad765d366b72ae83bc18028805d2d81 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_023/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b18f4a2e5844e21ff21ef7c3a7972b4992d1c5e24756f751e45b7ccd6fc71dd +size 409917 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b02_023/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_023/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..9cb135f0c96cf54292e57b43e84e8e5d6f1368b7 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b02_023/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d3353648dc2e19060e7f438cc408e7b0682b3e312e38cbd90aa98c1d8785e58 +size 184781 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_003/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_003/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..b4453772aadd01205f8c456e1bdabdbb644b7f26 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_003/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0e8439f376990b3ef8577d10a0fa6eeb3367389f9a161fbb91416788d922dbd +size 294428 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_004/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_004/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..260c169dcb2ac62483783f4ec827a03aebd6ec20 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_004/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1d3b52458bfcb13213468a5c55d8e39f1ab83c10db0674a9df07388b0988a84 +size 509045 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_008/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_008/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..beb9f0522c78cd3144959c8bc0ace0bfefecd7ac --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_008/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dac2a9e5200bfca44bca77552a318d558dc0033bc454e0a0443c09942ceb4314 +size 307226 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_008/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_008/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..77e7d3c031c6e4ab79db9a485134471e2218f3af --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_008/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba653f6b771855a37eb3ec937d1d6ee42e6ce7f4dddb0359859e5f5cc2fbba56 +size 151087 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_010/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_010/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..80915483c6e6506bfa3b0ccbac7fda6a60418ec7 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_010/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a489e4f85df126938932d59f5a171186f4f14329dd24b172a834004eea09fd3d +size 310857 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_012/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_012/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..f97188392ba27f3e53e36264abb4240d848a7c7f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_012/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29cfffc7d4f318a84c61fdf2a3e71e942e6eac94531a4d219fbc2398f9fcd584 +size 265520 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_012/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_012/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..e6409c60d8e373a8f1b67f9487eb07a23304ca41 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_012/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af6cbaf5b3e80a664bf2860fad184061d58d3585c954d55f768f5f8e84a006ea +size 154627 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_014/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_014/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..10255a44c32b4bec2ba9444f57d9d7a81aa52318 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_014/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a314e15cb631ea7db03fe012004aadfb0836a78161402bd553292c7fc507695 +size 474199 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_014/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_014/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..07aa3d0b8e688092d014ccdd76709118b7e847ab --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_014/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edc381c8243bfe567b884a1bebc8bfedd86ad7d059e9feda855ffac109d564b1 +size 171520 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_016/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_016/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..2f95edc5221a4cf850295683367feb192248626c --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_016/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:140dfa2c2071bef35ed8091c1e76279ac1f4e6589ecebf3f4293ee0ddd22dc31 +size 452510 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_016/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_016/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..c6299c4d11fe8bda6dcbb36cae808ac5b009400b --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_016/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336308a601eef3a392adf7055e2ce3cc4ca976725ca5dc330dbf1631711720de +size 182602 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_018/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_018/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..0253448a52363f43e4604e234864c652ed916d3d --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_018/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6416c21b08348e7b47b2ad4a1e89edc51bb0b61c1d0a157d0e2139993024d979 +size 316134 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_018/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_018/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..96d418140dcac744c338c7a3a400a5f36aca6122 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_018/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:879c9764e2d0b199455326228f89529a089c73bda823bff61de8f424990373b4 +size 116038 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_024/data/000000.npz b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_024/data/000000.npz new file mode 100644 index 0000000000000000000000000000000000000000..9cb1c313f53b326b1e78c46467b3ee56e581733f --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_024/data/000000.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f58635d148d37c871d05d46f3cbc2afcc102cf02360634f1e27cc5cdc19dfe34 +size 233835 diff --git a/widowxai/ReplicaCAD/test/bg_000088/scene_b03_024/rgb/000000.png b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_024/rgb/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..dded5c10a3263491d02bba59789ed9c13d934f89 --- /dev/null +++ b/widowxai/ReplicaCAD/test/bg_000088/scene_b03_024/rgb/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b33684d0a3f5c452ead2b1da29b72e2ad6fa7855a1220c0862e95ee19344a911 +size 124736