File size: 11,479 Bytes
8be6471 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 | {
"format_version": "robotwin_4d_v1",
"task": "stack_blocks_three",
"episode": "episode_0000002",
"embodiment": "aloha_agilex",
"source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_three/aloha_agilex/data/episode_0000002.hdf5",
"num_frames": 509,
"image_height": 240,
"image_width": 320,
"views": {
"left_view": "cam_left_wrist",
"right_view": "cam_right_wrist",
"head_view": "cam_head",
"third_views": "cam_third_view"
},
"rgb": {
"format": "PNG",
"dtype": "uint8",
"channel_order": "RGB"
},
"depth": {
"format": "PNG",
"dtype": "uint16",
"unit": "millimeter",
"invalid_value": 0
},
"intrinsics": {
"shape": [
3,
3
],
"convention": "OpenCV pinhole pixel coordinates",
"per_view_constant": true
},
"extrinsics": {
"shape": [
509,
3,
4
],
"transform": "world_to_camera",
"camera_coordinates": "OpenCV: +x right, +y down, +z forward"
},
"robot": {
"state_shape": [
509,
14
],
"action_shape": [
509,
14
],
"dtype": "float32",
"columns": [
{
"name": "left_arm_joint_states",
"start": 0,
"end": 6
},
{
"name": "left_ee_joint_states",
"start": 6,
"end": 7
},
{
"name": "right_arm_joint_states",
"start": 7,
"end": 13
},
{
"name": "right_ee_joint_states",
"start": 13,
"end": 14
}
]
},
"frequency_hz": 15,
"instructions": [
"Use the right arm for red block, the left arm for green block, and the left arm for blue block, stacking bottom-up.",
"Stack the blocks bottom-up: red block, then green block, then blue block.",
"Complete a centered stack with red block supporting green block, and green block supporting blue block.",
"At the center, place green block on red block, followed by blue block on green block.",
"Set red block at the center and stack green block and blue block above it.",
"Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
"With the right arm, place red block; with the left arm, add green block; with the left arm, add blue block.",
"Move red block, green block, and blue block using the right arm, the left arm, and the left arm to form a centered stack.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Place red block at the center, then green block on red block, then blue block on green block.",
"Place red block as the base, green block above it, and blue block at the top.",
"Build a centered stack with red block below green block and green block below blue block.",
"Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
"Build the centered tower by adding green block to red block, then blue block to green block.",
"Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
"Build upward from red block to green block to blue block at the table's center.",
"Move red block, green block, and blue block into a tower with red block as its base.",
"Put red block at the base and stack green block and blue block above it in order.",
"Make red block the base, set green block on it, and set blue block on green block.",
"Place red block with the right arm, then green block with the left arm, then blue block with the left arm.",
"Move red block to the center, add green block, then add blue block.",
"Arrange blue block above green block and green block above red block at the center.",
"Place red block beneath green block and green block beneath blue block in one centered tower.",
"Use the right arm, the left arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
"Set red block down first, place green block on it, and finish with blue block.",
"Position red block centrally and build upward with green block and then blue block.",
"Using the right arm, the left arm, and the left arm, build a stack with red block below green block below blue block.",
"Stack green block on red block, then stack blue block on green block at the center.",
"Center red block, then put green block on red block and blue block on green block.",
"Form a three-block tower: red block bottom, green block middle, blue block top.",
"Use the right arm for red block, the left arm for green block, and the left arm for blue block, stacking bottom-up.",
"Stack the blocks bottom-up: red block, then green block, then blue block.",
"Complete a centered stack with red block supporting green block, and green block supporting blue block.",
"At the center, place green block on red block, followed by blue block on green block.",
"Set red block at the center and stack green block and blue block above it.",
"Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
"With the right arm, place red block; with the left arm, add green block; with the left arm, add blue block.",
"Move red block, green block, and blue block using the right arm, the left arm, and the left arm to form a centered stack.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Place red block at the center, then green block on red block, then blue block on green block.",
"Place red block as the base, green block above it, and blue block at the top.",
"Build a centered stack with red block below green block and green block below blue block.",
"Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
"Build the centered tower by adding green block to red block, then blue block to green block.",
"Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
"Build upward from red block to green block to blue block at the table's center.",
"Move red block, green block, and blue block into a tower with red block as its base.",
"Put red block at the base and stack green block and blue block above it in order.",
"Make red block the base, set green block on it, and set blue block on green block.",
"Place red block with the right arm, then green block with the left arm, then blue block with the left arm.",
"Move red block to the center, add green block, then add blue block.",
"Arrange blue block above green block and green block above red block at the center.",
"Place red block beneath green block and green block beneath blue block in one centered tower.",
"Use the right arm, the left arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
"Set red block down first, place green block on it, and finish with blue block.",
"Position red block centrally and build upward with green block and then blue block.",
"Using the right arm, the left arm, and the left arm, build a stack with red block below green block below blue block.",
"Stack green block on red block, then stack blue block on green block at the center.",
"Center red block, then put green block on red block and blue block on green block.",
"Form a three-block tower: red block bottom, green block middle, blue block top.",
"Use the right arm for red block, the left arm for green block, and the left arm for blue block, stacking bottom-up.",
"Stack the blocks bottom-up: red block, then green block, then blue block.",
"Complete a centered stack with red block supporting green block, and green block supporting blue block.",
"At the center, place green block on red block, followed by blue block on green block.",
"Set red block at the center and stack green block and blue block above it.",
"Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
"With the right arm, place red block; with the left arm, add green block; with the left arm, add blue block.",
"Move red block, green block, and blue block using the right arm, the left arm, and the left arm to form a centered stack.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Place red block at the center, then green block on red block, then blue block on green block.",
"Place red block as the base, green block above it, and blue block at the top.",
"Build a centered stack with red block below green block and green block below blue block.",
"Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
"Build the centered tower by adding green block to red block, then blue block to green block.",
"Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
"Build upward from red block to green block to blue block at the table's center.",
"Move red block, green block, and blue block into a tower with red block as its base.",
"Put red block at the base and stack green block and blue block above it in order.",
"Make red block the base, set green block on it, and set blue block on green block.",
"Place red block with the right arm, then green block with the left arm, then blue block with the left arm.",
"Move red block to the center, add green block, then add blue block.",
"Arrange blue block above green block and green block above red block at the center.",
"Place red block beneath green block and green block beneath blue block in one centered tower.",
"Use the right arm, the left arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
"Set red block down first, place green block on it, and finish with blue block.",
"Position red block centrally and build upward with green block and then blue block.",
"Using the right arm, the left arm, and the left arm, build a stack with red block below green block below blue block.",
"Stack green block on red block, then stack blue block on green block at the center.",
"Center red block, then put green block on red block and blue block on green block.",
"Form a three-block tower: red block bottom, green block middle, blue block top.",
"Use the right arm for red block, the left arm for green block, and the left arm for blue block, stacking bottom-up.",
"Stack the blocks bottom-up: red block, then green block, then blue block.",
"Complete a centered stack with red block supporting green block, and green block supporting blue block.",
"At the center, place green block on red block, followed by blue block on green block.",
"Set red block at the center and stack green block and blue block above it.",
"Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
"With the right arm, place red block; with the left arm, add green block; with the left arm, add blue block.",
"Move red block, green block, and blue block using the right arm, the left arm, and the left arm to form a centered stack.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Place red block at the center, then green block on red block, then blue block on green block."
]
}
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