File size: 11,466 Bytes
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"format_version": "robotwin_4d_v1",
"task": "stack_blocks_three",
"episode": "episode_0000007",
"embodiment": "aloha_agilex",
"source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_three/aloha_agilex/data/episode_0000007.hdf5",
"num_frames": 550,
"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": [
550,
3,
4
],
"transform": "world_to_camera",
"camera_coordinates": "OpenCV: +x right, +y down, +z forward"
},
"robot": {
"state_shape": [
550,
14
],
"action_shape": [
550,
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 right arm for blue block, stacking bottom-up.",
"Move red block to the center, add green block, then add blue block.",
"Using the right arm, the left arm, and the right arm, build a stack with red block below green block below blue block.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Build the centered tower by adding green block to red block, then blue block to green block.",
"Center red block, then put green block on red block and blue block on green block.",
"Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
"Place red block beneath green block and green block beneath blue block in one centered tower.",
"Place red block with the right arm, then green block with the left arm, then blue block with the right arm.",
"Arrange blue block above green block and green block above red block at the center.",
"Build upward from red block to green block to blue block at the table's center.",
"Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
"Set red block at the center and stack green block and blue block above it.",
"Stack the blocks bottom-up: red block, then green block, then blue block.",
"Form a three-block tower: red block bottom, green block middle, blue block top.",
"Move red block, green block, and blue block using the right arm, the left arm, and the right arm to form a centered stack.",
"Use the right arm, the left arm, and the right arm to stack red block, green block, and blue block from bottom to top.",
"Position red block centrally and build upward with green block and then blue block.",
"Stack green block on red block, then stack blue block on green block at the center.",
"Set red block down first, place green block on it, and finish with blue block.",
"Make red block the base, set green block on it, and set blue block on green block.",
"Complete a centered stack with red block supporting green block, and green block supporting blue block.",
"With the right arm, place red block; with the left arm, add green block; with the right arm, add blue block.",
"Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
"Put red block at the base and stack green block and blue block above it in order.",
"At the center, place green block on red block, followed by blue block on green block.",
"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.",
"Move red block, green block, and blue block into a tower with red block as its base.",
"Use the right arm for red block, the left arm for green block, and the right arm for blue block, stacking bottom-up.",
"Move red block to the center, add green block, then add blue block.",
"Using the right arm, the left arm, and the right arm, build a stack with red block below green block below blue block.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Build the centered tower by adding green block to red block, then blue block to green block.",
"Center red block, then put green block on red block and blue block on green block.",
"Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
"Place red block beneath green block and green block beneath blue block in one centered tower.",
"Place red block with the right arm, then green block with the left arm, then blue block with the right arm.",
"Arrange blue block above green block and green block above red block at the center.",
"Build upward from red block to green block to blue block at the table's center.",
"Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
"Set red block at the center and stack green block and blue block above it.",
"Stack the blocks bottom-up: red block, then green block, then blue block.",
"Form a three-block tower: red block bottom, green block middle, blue block top.",
"Move red block, green block, and blue block using the right arm, the left arm, and the right arm to form a centered stack.",
"Use the right arm, the left arm, and the right arm to stack red block, green block, and blue block from bottom to top.",
"Position red block centrally and build upward with green block and then blue block.",
"Stack green block on red block, then stack blue block on green block at the center.",
"Set red block down first, place green block on it, and finish with blue block.",
"Make red block the base, set green block on it, and set blue block on green block.",
"Complete a centered stack with red block supporting green block, and green block supporting blue block.",
"With the right arm, place red block; with the left arm, add green block; with the right arm, add blue block.",
"Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
"Put red block at the base and stack green block and blue block above it in order.",
"At the center, place green block on red block, followed by blue block on green block.",
"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.",
"Move red block, green block, and blue block into a tower with red block as its base.",
"Use the right arm for red block, the left arm for green block, and the right arm for blue block, stacking bottom-up.",
"Move red block to the center, add green block, then add blue block.",
"Using the right arm, the left arm, and the right arm, build a stack with red block below green block below blue block.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Build the centered tower by adding green block to red block, then blue block to green block.",
"Center red block, then put green block on red block and blue block on green block.",
"Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
"Place red block beneath green block and green block beneath blue block in one centered tower.",
"Place red block with the right arm, then green block with the left arm, then blue block with the right arm.",
"Arrange blue block above green block and green block above red block at the center.",
"Build upward from red block to green block to blue block at the table's center.",
"Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
"Set red block at the center and stack green block and blue block above it.",
"Stack the blocks bottom-up: red block, then green block, then blue block.",
"Form a three-block tower: red block bottom, green block middle, blue block top.",
"Move red block, green block, and blue block using the right arm, the left arm, and the right arm to form a centered stack.",
"Use the right arm, the left arm, and the right arm to stack red block, green block, and blue block from bottom to top.",
"Position red block centrally and build upward with green block and then blue block.",
"Stack green block on red block, then stack blue block on green block at the center.",
"Set red block down first, place green block on it, and finish with blue block.",
"Make red block the base, set green block on it, and set blue block on green block.",
"Complete a centered stack with red block supporting green block, and green block supporting blue block.",
"With the right arm, place red block; with the left arm, add green block; with the right arm, add blue block.",
"Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
"Put red block at the base and stack green block and blue block above it in order.",
"At the center, place green block on red block, followed by blue block on green block.",
"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.",
"Move red block, green block, and blue block into a tower with red block as its base.",
"Use the right arm for red block, the left arm for green block, and the right arm for blue block, stacking bottom-up.",
"Move red block to the center, add green block, then add blue block.",
"Using the right arm, the left arm, and the right arm, build a stack with red block below green block below blue block.",
"Stack red block, green block, and blue block centrally with blue block on top.",
"Build the centered tower by adding green block to red block, then blue block to green block.",
"Center red block, then put green block on red block and blue block on green block.",
"Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
"Place red block beneath green block and green block beneath blue block in one centered tower.",
"Place red block with the right arm, then green block with the left arm, then blue block with the right arm.",
"Arrange blue block above green block and green block above red block at the center."
]
}
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