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数据集目录 https://robotwin-platform.github.io/doc/tasks/index.html
Setup notes
uv setup.
- [note]
uv pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable" --no-build-isolation
- OK. all setup.
Visualize collection process
task-config 仅含环境配置. bash collect_data.sh beat_block_hammer demo_randomized 0
中,demo_randomized 寻找环境 .yml,beat_block_hammer 则寻找 .py.
数据集大纲
1HDF5 File: /home/julyfun/Documents/GitHub/RoboTwin2.0/data/beat_block_hammer/demo_randomized/data/episode0.hdf52Content Outline:3Group: endpose4Group: joint_action5 Dataset: joint_action/left_arm (Shape: (116, 6), Type: float64)6 Dataset: joint_action/left_gripper (Shape: (116,), Type: float64)7 Dataset: joint_action/right_arm (Shape: (116, 6), Type: float64)8 Dataset: joint_action/right_gripper (Shape: (116,), Type: float64)9 Dataset: joint_action/vector (Shape: (116, 14), Type: float64)10Group: observation11 Group: observation/front_camera12 Dataset: observation/front_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32)13 Dataset: observation/front_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32)14 Dataset: observation/front_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32)15 Dataset: observation/front_camera/rgb (Shape: (116,), Type: |S16480)17 collapsed lines
16# 图像可能被编码为 Base64 字符串17 Group: observation/head_camera18 Dataset: observation/head_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32)19 Dataset: observation/head_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32)20 Dataset: observation/head_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32)21 Dataset: observation/head_camera/rgb (Shape: (116,), Type: |S21457)22 Group: observation/left_camera23 Dataset: observation/left_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32)24 Dataset: observation/left_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32)25 Dataset: observation/left_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32)26 Dataset: observation/left_camera/rgb (Shape: (116,), Type: |S17777)27 Group: observation/right_camera28 Dataset: observation/right_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32)29 Dataset: observation/right_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32)30 Dataset: observation/right_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32)31 Dataset: observation/right_camera/rgb (Shape: (116,), Type: |S12776)32Dataset: pointcloud (Shape: (116, 0), Type: float64)