| { | |
| "metadata": { | |
| "task_types": [ | |
| "pouring", | |
| "grasping", | |
| "stacking", | |
| "picking", | |
| "cup_passing", | |
| "sorting_cans" | |
| ], | |
| "embodiment_type_camera": { | |
| "h1_inspire": "UCSD_H1_ZED", | |
| "h1_2_inspire_cmu": "CMU_H1_ZED", | |
| "h1_inspire_sim": "h1_inspire_sim_camera", | |
| "human_avp": "UCSD_Vision_pro_1", | |
| "human_zed": "UCSD_HUMAN_ZED", | |
| "gr1_inspire_sim": "gr1_inspire_sim_camera", | |
| "h1_2_inspire_sim": "h1_2_inspire_sim_camera" | |
| }, | |
| "cameras": { | |
| "UCSD_H1_ZED": { | |
| "intrinsics": { | |
| "cx": 622.2891845703125, | |
| "cy": 354.453369140625, | |
| "fx": 730.7215576171875, | |
| "fy": 730.7215576171875 | |
| }, | |
| "resolution": { | |
| "raw_width": 1280, | |
| "raw_height": 720 | |
| } | |
| }, | |
| "UCSD_Vision_pro_1": { | |
| "intrinsics": { | |
| "cx": 960, | |
| "cy": 540, | |
| "fx": 748.9841404939381, | |
| "fy": 768.5409577772721 | |
| }, | |
| "resolution": { | |
| "raw_width": 1920, | |
| "raw_height": 1090 | |
| } | |
| }, | |
| "CMU_H1_ZED": {}, | |
| "UCSD_HUMAN_ZED": {}, | |
| "h1_inspire_sim_camera": {}, | |
| "h1_2_inspire_sim_camera": {}, | |
| "gr1_inspire_sim_camera": {} | |
| } | |
| }, | |
| "per_task_attributes": { | |
| "501-pouring-2024_11_12-23_39_22": { | |
| "task_type": "pouring", | |
| "embodiment_type": "h1_inspire", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "401-picking-2024_11_12-22_39_57": { | |
| "task_type": "picking", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1061new_sim_pepsi_grasp_h1_2_inspire-2025_02_11-22_20_48": { | |
| "task_type": "grasping", | |
| "embodiment_type": "h1_inspire_sim", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "113-picking-blackcube-human_2024-11-13_22-09-05": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "502-pouring_random-2025_01_10-20_21_26": { | |
| "task_type": "pouring", | |
| "embodiment_type": "h1_inspire", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "105_lars-grasping_2024-11-08_15-47-04": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "104-lars-grasping_2024-11-08_15-23-40": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1503-pouring_tea_2025-03-12_17-18-12": { | |
| "task_type": "pouring", | |
| "embodiment_type": "human_avp", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "1502-pouring_kura_2025-03-12_15-38-26": { | |
| "task_type": "pouring", | |
| "embodiment_type": "human_avp", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "404-pick_on_color_pad_right_far-2025_01_12-20_20_57": { | |
| "task_type": "picking", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "403-pick_on_color_pad_left-2025_01_09-16_58_04": { | |
| "task_type": "picking", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1406-picking_orange_2025-03-12_17-08-20": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1403-human_pick_color_pad_left_2025-01-13_13-05-06": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "121-pouring-party-cup-human_2024-11-14_01-26-24": { | |
| "task_type": "pouring", | |
| "embodiment_type": "human_avp", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "1504-pouring_water_2025-03-12_19-33-52": { | |
| "task_type": "pouring", | |
| "embodiment_type": "human_avp", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "1400_grasping_three_items_zed-2025_01_23-20_13_12": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_zed", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "304-grasp_coke_random-2024_12_12-19_58_36": { | |
| "task_type": "grasping", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "302-grasp_coke_random-2024_12_09-21_39_30": { | |
| "task_type": "grasping", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "120-pouring-mtn-human_2024-11-14_01-05-21": { | |
| "task_type": "pouring", | |
| "embodiment_type": "human_avp", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "903-picking-val-2024_11_18-18_58_16": { | |
| "task_type": "picking", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "405-pick_on_color_pad_right_far_far-2025_01_13-19_29_04": { | |
| "task_type": "picking", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "112-picking-brownbox-human_2024-11-13_20-42-14": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1501-pouring_costco_water_2025-03-12_17-23-11": { | |
| "task_type": "pouring", | |
| "embodiment_type": "human_avp", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "1407-picking_orange_tj_2025-03-12_16-42-19": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "503-pouring-2025_01_27-22_03_40": { | |
| "task_type": "pouring", | |
| "embodiment_type": "h1_inspire", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "106-grasping-zedbox-human_2024-11-13_15-27-43": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1405-picking_3cat_straw_2025-03-12_15-53-25": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "108-grasping-water-human _2024-11-13_15-00-20": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "902-pouring-val-2024_11_18-18_49_25": { | |
| "task_type": "pouring", | |
| "embodiment_type": "h1_inspire", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "111-picking-colorful-toycube_2024-11-13_20-25-34": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1404-human_more_colorpad_left_picking_2025-01-20_22-23-13": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "107-grasping-chocolate-human_2024-11-13_15-15-09": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "2061_rw_pepsi_grasp_alan_2025_02_15-16_27_13": { | |
| "task_type": "grasping", | |
| "embodiment_type": "h1_2_inspire_cmu", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1500-pouring_2025-01-18_13-24-27": { | |
| "task_type": "pouring", | |
| "embodiment_type": "human_avp", | |
| "left_hand": true, | |
| "right_hand": true | |
| }, | |
| "1402_grasping_three_items_whole_2025-01-23_19-37-55": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "303-grasp_coke_random-2024_12_12-19_13_53": { | |
| "task_type": "grasping", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "402-pick_on_color_pad_right-2025_01_09-16_36_15": { | |
| "task_type": "picking", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "1401_grasping_three_items_2025-01-23_19-24-05": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "110-picking-dynamixel-human_2024-11-13_17-34-13": { | |
| "task_type": "picking", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "901-grasping-val-2024_11_18-17_36_04": { | |
| "task_type": "grasping", | |
| "embodiment_type": "h1_inspire", | |
| "right_hand": true, | |
| "left_hand": false | |
| }, | |
| "109-grasping-mtn-human_2024-11-13_14-40-07": { | |
| "task_type": "grasping", | |
| "embodiment_type": "human_avp", | |
| "right_hand": true, | |
| "left_hand": false | |
| } | |
| } | |
| } |