diff --git "a/reassemble/reassemble_metadata.json" "b/reassemble/reassemble_metadata.json" new file mode 100644--- /dev/null +++ "b/reassemble/reassemble_metadata.json" @@ -0,0 +1,38802 @@ +[ + { + "episode_id": "2025_01_09_13_57_17", + "source_dataset": "reassemble", + "source_file": "data\\reassemble_real\\data\\2025-01-09-13-57-17.h5", + "machine_type": "A", + "machine_family": "cobot_7dof", + "machine_model": "Franka Panda", + "num_axes": 7, + "axis_map": { + "0": "joint_1", + "1": "joint_2", + "2": "joint_3", + "3": "joint_4", + "4": "joint_5", + "5": "joint_6", + "6": "joint_7" + }, + "start_time": null, + "duration_seconds": 102.07410025596619, + "primary_sampling_rate_hz": 100.0, + "task_type": "assembly", + "task_description": "NIST Assembly Task Board 1 - assembly", + "fault_type": "normal", + "fault_label": "success", + "success": true, + "static_context": { + "benchmark": "NIST_ATB1", + "camera_poses": null, + "has_audio": true, + "has_event_camera": true + }, + "channels": 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"commanded", + "range_min": null, + "range_max": null, + "axis_id": 4, + "description": null + }, + { + "name": "setpoint_pos_5", + "original_name": "joint_positions_5", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "rad", + "source_type": "commanded", + "range_min": null, + "range_max": null, + "axis_id": 5, + "description": null + }, + { + "name": "setpoint_pos_6", + "original_name": "joint_positions_6", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "rad", + "source_type": "commanded", + "range_min": null, + "range_max": null, + "axis_id": 6, + "description": null + }, + { + "name": "feedback_vel_0", + "original_name": "joint_velocities_0", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 100.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 0, + "description": null + }, + { + "name": "feedback_vel_1", + "original_name": "joint_velocities_1", + 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"Nm", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 1, + "description": null + }, + { + "name": "effort_torque_2", + "original_name": "joint_efforts_2", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "Nm", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 2, + "description": null + }, + { + "name": "effort_torque_3", + "original_name": "joint_efforts_3", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "Nm", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 3, + "description": null + }, + { + "name": "effort_torque_4", + "original_name": "joint_efforts_4", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "Nm", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 4, + "description": null + }, + { + "name": "effort_torque_5", + "original_name": "joint_efforts_5", + 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null, + "description": null + }, + { + "name": "feedback_gripper_vel_left", + "original_name": "gripper_velocities_0", + "role": "feedback", + "tier": "tier3", + "sampling_rate_hz": 100.0, + "unit": "m/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "feedback_gripper_vel_right", + "original_name": "gripper_velocities_1", + "role": "feedback", + "tier": "tier3", + "sampling_rate_hz": 100.0, + "unit": "m/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "effort_gripper_left", + "original_name": "gripper_efforts_0", + "role": "effort", + "tier": "tier3", + "sampling_rate_hz": 100.0, + "unit": "N", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "effort_gripper_right", + "original_name": "gripper_efforts_1", + "role": "effort", + "tier": 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"has_audio": true, + "has_event_camera": true + }, + "channels": [ + { + "name": "setpoint_pos_0", + "original_name": "joint_positions_0", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "rad", + "source_type": "commanded", + "range_min": null, + "range_max": null, + "axis_id": 0, + "description": null + }, + { + "name": "setpoint_pos_1", + "original_name": "joint_positions_1", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "rad", + "source_type": "commanded", + "range_min": null, + "range_max": null, + "axis_id": 1, + "description": null + }, + { + "name": "setpoint_pos_2", + "original_name": "joint_positions_2", + "role": "setpoint", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "rad", + "source_type": "commanded", + "range_min": null, + "range_max": null, + "axis_id": 2, + "description": null + }, + { + "name": "setpoint_pos_3", + "original_name": "joint_positions_3", + "role": "setpoint", + "tier": 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"measured", + "range_min": null, + "range_max": null, + "axis_id": 3, + "description": null + }, + { + "name": "feedback_vel_4", + "original_name": "joint_velocities_4", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 100.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 4, + "description": null + }, + { + "name": "feedback_vel_5", + "original_name": "joint_velocities_5", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 100.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 5, + "description": null + }, + { + "name": "feedback_vel_6", + "original_name": "joint_velocities_6", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 100.0, + "unit": "rad/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 6, + "description": null + }, + { + "name": "effort_torque_0", + "original_name": "joint_efforts_0", + 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}, + { + "name": "effort_torque_4", + "original_name": "joint_efforts_4", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "Nm", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 4, + "description": null + }, + { + "name": "effort_torque_5", + "original_name": "joint_efforts_5", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "Nm", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 5, + "description": null + }, + { + "name": "effort_torque_6", + "original_name": "joint_efforts_6", + "role": "effort", + "tier": "tier1", + "sampling_rate_hz": 100.0, + "unit": "Nm", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": 6, + "description": null + }, + { + "name": "feedback_gripper_left", + "original_name": "gripper_positions_0", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 100.0, + "unit": "m", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "feedback_gripper_right", + "original_name": "gripper_positions_1", + "role": "feedback", + "tier": "tier2", + "sampling_rate_hz": 100.0, + "unit": "m", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "feedback_gripper_vel_left", + "original_name": "gripper_velocities_0", + "role": "feedback", + "tier": "tier3", + "sampling_rate_hz": 100.0, + "unit": "m/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "feedback_gripper_vel_right", + "original_name": "gripper_velocities_1", + "role": "feedback", + "tier": "tier3", + "sampling_rate_hz": 100.0, + "unit": "m/s", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "effort_gripper_left", + "original_name": "gripper_efforts_0", + "role": "effort", + "tier": "tier3", + "sampling_rate_hz": 100.0, + "unit": "N", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + }, + { + "name": "effort_gripper_right", + "original_name": "gripper_efforts_1", + "role": "effort", + "tier": "tier3", + "sampling_rate_hz": 100.0, + "unit": "N", + "source_type": "measured", + "range_min": null, + "range_max": null, + "axis_id": null, + "description": null + } + ], + "has_setpoint": true, + "has_effort": true, + "mve_compliant": true + } +] \ No newline at end of file