File size: 11,367 Bytes
9d5a69c | 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_two",
"episode": "episode_0000002",
"embodiment": "aloha_agilex",
"source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_two/aloha_agilex/data/episode_0000002.hdf5",
"num_frames": 331,
"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": [
331,
3,
4
],
"transform": "world_to_camera",
"camera_coordinates": "OpenCV: +x right, +y down, +z forward"
},
"robot": {
"state_shape": [
331,
14
],
"action_shape": [
331,
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": [
"Place red block in the center, then move green block there and stack green block on red block.",
"Grab red block, set it in the center, then stack green block over it.",
"Shift red block and green block to the middle, then stack green block over red block.",
"the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
"Use the right arm to center red block, then stack green block with the left arm.",
"Place red block and green block at the center and then put green block on red block.",
"the right arm moves red block to the center, the left arm stacks green block onto red block.",
"Move red block to the middle and put green block on top of it.",
"Relocate red block to the middle and place green block on it.",
"the right arm takes red block, sets it in the center, the left arm places green block on red block.",
"Position red block at the center and stack green block above it.",
"Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
"Shift red block and green block to the center and stack green block on red block.",
"Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
"Use the right arm to move red block and the left arm to position green block.",
"Shift red block to the center and place green block on top.",
"Place red block and green block centrally, then stack green block on red block.",
"Place red block and green block together at the center, then stack green block on top.",
"Center red block using the right arm, then stack green block with the left arm on top.",
"Set red block in the center, then position green block on top of it.",
"Use the right arm to move red block and the left arm to stack green block.",
"Use the right arm to place red block in the center; stack green block on it with the left arm.",
"Move red block with the right arm, then stack green block on it using the left arm.",
"Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
"Put red block in the center, then add green block above it.",
"Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
"Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
"Move red block and green block to the center, then stack green block above red block.",
"Position red block and green block at the center, then stack green block on red block.",
"Move red block and green block to the center; stack green block on top of red block.",
"Center red block and green block on the table and stack green block on top of red block.",
"Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
"Move red block to the center using the right arm, then stack green block on red block using the left arm.",
"Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
"Relocate red block and green block to the center, then layer green block over red block.",
"Pick up red block and green block, set them at the center, then position green block above red block.",
"Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
"the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
"Shift red block and green block to the center, then position green block on red block.",
"Set red block at the center, then stack green block over red block after placing it alongside.",
"Place red block and green block in the center, then stack green block above red block.",
"Bring red block to the center, then stack green block over it.",
"Set red block and green block at the center, stacking green block atop red block.",
"Set red block and green block at the table's center, then stack green block on red block.",
"Place red block in the center, then move green block there and stack green block on red block.",
"Grab red block, set it in the center, then stack green block over it.",
"Shift red block and green block to the middle, then stack green block over red block.",
"the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
"Use the right arm to center red block, then stack green block with the left arm.",
"Place red block and green block at the center and then put green block on red block.",
"the right arm moves red block to the center, the left arm stacks green block onto red block.",
"Move red block to the middle and put green block on top of it.",
"Relocate red block to the middle and place green block on it.",
"the right arm takes red block, sets it in the center, the left arm places green block on red block.",
"Position red block at the center and stack green block above it.",
"Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
"Shift red block and green block to the center and stack green block on red block.",
"Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
"Use the right arm to move red block and the left arm to position green block.",
"Shift red block to the center and place green block on top.",
"Place red block and green block centrally, then stack green block on red block.",
"Place red block and green block together at the center, then stack green block on top.",
"Center red block using the right arm, then stack green block with the left arm on top.",
"Set red block in the center, then position green block on top of it.",
"Use the right arm to move red block and the left arm to stack green block.",
"Use the right arm to place red block in the center; stack green block on it with the left arm.",
"Move red block with the right arm, then stack green block on it using the left arm.",
"Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
"Put red block in the center, then add green block above it.",
"Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
"Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
"Move red block and green block to the center, then stack green block above red block.",
"Position red block and green block at the center, then stack green block on red block.",
"Move red block and green block to the center; stack green block on top of red block.",
"Center red block and green block on the table and stack green block on top of red block.",
"Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
"Move red block to the center using the right arm, then stack green block on red block using the left arm.",
"Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
"Relocate red block and green block to the center, then layer green block over red block.",
"Pick up red block and green block, set them at the center, then position green block above red block.",
"Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
"the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
"Shift red block and green block to the center, then position green block on red block.",
"Set red block at the center, then stack green block over red block after placing it alongside.",
"Place red block and green block in the center, then stack green block above red block.",
"Bring red block to the center, then stack green block over it.",
"Set red block and green block at the center, stacking green block atop red block.",
"Set red block and green block at the table's center, then stack green block on red block.",
"Place red block in the center, then move green block there and stack green block on red block.",
"Grab red block, set it in the center, then stack green block over it.",
"Shift red block and green block to the middle, then stack green block over red block.",
"the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
"Use the right arm to center red block, then stack green block with the left arm.",
"Place red block and green block at the center and then put green block on red block.",
"the right arm moves red block to the center, the left arm stacks green block onto red block.",
"Move red block to the middle and put green block on top of it.",
"Relocate red block to the middle and place green block on it.",
"the right arm takes red block, sets it in the center, the left arm places green block on red block.",
"Position red block at the center and stack green block above it.",
"Use the right arm to move red block, then the left arm to stack green block on red block at the center."
]
}
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