Format

Data Format

• TRansPose folder includes all of the data for TRansPose dataset.

• In models folder, 

  • 3D CAD models of the object set.

  • All objects are denoted by category, number, and material (Glass (G) and Others (P))

    • obj_<category>_<sub-category>_<object-number>_<material type>

      • ex) obj_C_01_01_G, obj_C_01_02_P, obj_H_01_01_G, obj_T_02_10_G, obj_N_03_01_P

  • object_label.json - a dictionary paired with the ID and name of objects.

• In sequences folder, 

  • All of the sequential data is provided according to the sequence index. 

  • Extrinsic calibration parameters ()are provided in extrinsic.json

• In each sequence folder, 

  • Sensor data is separated depending on the sensor type.  

  • Extrinsic calibration parameters  are provided in extrinsic.json

  • Vision sensor system's poses relative to the base of the robot manipulator are provided as World2EEs.json

  • all image data, including RGB, depth, TIR image, and object mask, are provided as .png extension.

  • The intrinsic parameters of each sensor are provided in camera_info.json