Posts with tag simulation

RoboTwin notes

Menu数据集目录 https://robotwin-platform.github.io/doc/tasks/index.htmlSetup notesuv setup.[note] uv pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable" --no-build-isolationOK. all setup.Visualize collection processtask-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HDF5 File: /home/julyfun/Documents/GitHub/RoboTwin2.0/data/beat_block_hammer/demo_randomized/data/episode0.hdf5 Content Outline: Group: endpose Group: joint_action Dataset: joint_action/left_arm (Shape: (116, 6), Type: float64) Dataset: joint_action/left_gripper (Shape: (116,), Type: float64) Dataset: joint_action/right_arm (Shape: (116, 6), Type: float64) Dataset: joint_action/right_gripper (Shape: (116,), Type: float64) Dataset: joint_action/vector (Shape: (116, 14), Type: float64) Group: observation Group: observation/front_camera Dataset: observation/front_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32) Dataset: observation/front_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32) Dataset: observation/front_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32) Dataset: observation/front_camera/rgb (Shape: (116,), Type: |S16480) # 图像可能被编码为 Base64 字符串 Group: observation/head_camera Dataset: observation/head_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32) Dataset: observation/head_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32) Dataset: observation/head_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32) Dataset: observation/head_camera/rgb (Shape: (116,), Type: |S21457) Group: observation/left_camera Dataset: observation/left_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32) Dataset: observation/left_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32) Dataset: observation/left_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32) Dataset: observation/left_camera/rgb (Shape: (116,), Type: |S17777) Group: observation/right_camera Dataset: observation/right_camera/cam2world_gl (Shape: (116, 4, 4), Type: float32) Dataset: observation/right_camera/extrinsic_cv (Shape: (116, 3, 4), Type: float32) Dataset: observation/right_camera/intrinsic_cv (Shape: (116, 3, 3), Type: float32) Dataset: observation/right_camera/rgb (Shape: (116,), Type: |S12776) Dataset: pointcloud (Shape: (116, 0), Type: float64