diff --git "a/rh20t/rh20t_metadata.json" "b/rh20t/rh20t_metadata.json" new file mode 100644--- /dev/null +++ "b/rh20t/rh20t_metadata.json" @@ -0,0 +1,155002 @@ +[ + { + "episode_id": "rh20t_task_0001_user_0001_scene_0001_cfg_0001", + "source_dataset": "rh20t", + "source_file": "data\\rh20t_real\\patch\\RH20T_cfg1\\task_0001_user_0001_scene_0001_cfg_0001\\transformed\\joint.npy", + "machine_type": "A", + "machine_family": "franka_7dof", + "machine_model": "Franka Panda (7-DOF)", + "num_axes": 7, + "axis_map": { + "0": "joint1", + "1": "joint2", + "2": "joint3", + "3": "joint4", + "4": "joint5", + "5": "joint6", + "6": "joint7" + }, + "start_time": null, + "duration_seconds": 29.802, + "primary_sampling_rate_hz": 30.0, + "task_type": "manipulation", + "task_description": "RH20T task 0001, user 0001, scene 0001", + "fault_type": "normal", + "fault_label": "normal", + "success": true, + "static_context": { + "task_id": "0001", + "user_id": "0001", + "scene_id": "0001", + "config": "RH20T_cfg1" + }, + "channels": [ + { + "name": "setpoint_pos_0", + "original_name": "pos_0", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 0, + "description": null + }, + { + "name": "setpoint_pos_1", + "original_name": "pos_1", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 1, + "description": null + }, + { + "name": "setpoint_pos_2", + "original_name": "pos_2", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 2, + "description": null + }, + { + "name": "setpoint_pos_3", + "original_name": "pos_3", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 3, + "description": null + }, + { + "name": "setpoint_pos_4", + "original_name": "pos_4", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 4, + "description": null + }, + { + "name": "setpoint_pos_5", + "original_name": "pos_5", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 5, + "description": null + }, + { + "name": "setpoint_pos_6", + "original_name": "pos_6", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 6, + "description": null + }, + { + "name": "feedback_pos_0", + "original_name": "feedback_pos_0", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 0, + "description": null + }, + { + "name": "feedback_pos_1", + "original_name": "feedback_pos_1", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 1, + "description": null + }, + { + "name": "feedback_pos_2", + "original_name": "feedback_pos_2", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 2, + "description": null + }, + { + "name": "feedback_pos_3", + "original_name": "feedback_pos_3", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 3, + "description": null + }, + { + "name": "feedback_pos_4", + "original_name": 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"description": null + }, + { + "name": "effort_vel_1", + "original_name": "vel_1", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 1, + "description": null + }, + { + "name": "effort_vel_2", + "original_name": "vel_2", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 2, + "description": null + }, + { + "name": "effort_vel_3", + "original_name": "vel_3", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 3, + "description": null + }, + { + "name": "effort_vel_4", + "original_name": "vel_4", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + 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"axis_map": { + "0": "joint1", + "1": "joint2", + "2": "joint3", + "3": "joint4", + "4": "joint5", + "5": "joint6", + "6": "joint7" + }, + "start_time": null, + "duration_seconds": 39.658, + "primary_sampling_rate_hz": 30.0, + "task_type": "manipulation", + "task_description": "RH20T task 0001, user 0001, scene 0002", + "fault_type": "normal", + "fault_label": "normal", + "success": true, + "static_context": { + "task_id": "0001", + "user_id": "0001", + "scene_id": "0002", + "config": "RH20T_cfg1" + }, + "channels": [ + { + "name": "setpoint_pos_0", + "original_name": "pos_0", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 0, + "description": null + }, + { + "name": "setpoint_pos_1", + "original_name": "pos_1", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 1, + "description": null + }, + { + "name": "setpoint_pos_2", + "original_name": "pos_2", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 2, + "description": null + }, + { + "name": "setpoint_pos_3", + "original_name": "pos_3", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 3, + "description": null + }, + { + "name": "setpoint_pos_4", + "original_name": "pos_4", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 4, + "description": null + }, + { + "name": "setpoint_pos_5", + "original_name": "pos_5", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad", + "source_type": "measured", + 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"range_min": null, + "range_max": null, + "axis_id": 3, + "description": null + }, + { + "name": "effort_vel_4", + "original_name": "vel_4", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 4, + "description": null + }, + { + "name": "effort_vel_5", + "original_name": "vel_5", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 5, + "description": null + }, + { + "name": "effort_vel_6", + "original_name": "vel_6", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 30.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 6, + "description": null + } + ], + "has_setpoint": true, + "has_effort": true, + "mve_compliant": true + } +] \ No newline at end of file