| { |
| "format_version": "robotwin_4d_v1", |
| "task": "move_can_pot", |
| "episode": "episode_0000002", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000002.hdf5", |
| "num_frames": 151, |
| "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": [ |
| 151, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 151, |
| 14 |
| ], |
| "action_shape": [ |
| 151, |
| 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": [ |
| "Move the yellow and brown sauce can to be next to the kitchenpot for boiling and cooking", |
| "Lift the yellow label sauce can and place it next to the medium kitchenpot made of metal", |
| "Pick the brown top sauce can with the left arm and relocate it near the smooth gray kitchenpot", |
| "Lift the sauce can with brown lid and set it next to the kitchenpot for boiling and cooking", |
| "Use the left arm to grab the yellow and brown sauce can and transfer it near the medium kitchenpot made of metal", |
| "Use the left arm to grab the cylindrical sauce can and move it next to the cylindrical kitchenpot", |
| "Lift the printed label sauce can and set it beside the cylindrical kitchenpot", |
| "Pick the metal sauce can up and move it next to the medium-sized kitchenpot", |
| "Grab the brown top sauce can with the left arm and position it beside the kitchenpot with smooth exterior", |
| "Lift the medium sauce can and move it near the dark gray stove kitchenpot", |
| "Lift the sauce can for condiments using the left arm and drop it beside the medium-sized kitchenpot", |
| "Grab the smooth cylindrical sauce can with the left arm and move it close to the cylindrical kitchenpot", |
| "Grab the sauce can for condiments, shift it, and place it close to the cylindrical kitchenpot", |
| "Place the sauce can for condiments next to the metal kitchenpot", |
| "Take the sauce can with ingredient information to the gray kitchenpot using the left arm", |
| "Pick the printed label sauce can up with the left arm then place near the kitchenpot for boiling and cooking", |
| "Take the metal sauce can with the left arm, bring it, and set next to the round kitchenpot with handles", |
| "Pick up the sauce can with brown lid using the left arm, transfer it beside the metal kitchenpot", |
| "Lift the medium sauce can using the left arm and position it by the medium-sized kitchenpot", |
| "Lift the yellow label sauce can, then place it next to the gray cylindrical metal kitchenpot", |
| "Place the brown top sauce can beside the smooth gray kitchenpot after picking it up", |
| "Take the medium sauce can with the left arm, place it near the kitchenpot for boiling and cooking", |
| "Move the yellow and brown sauce can to the kitchenpot with smooth exterior with the left arm", |
| "Grab the brown top sauce can, move it to the gray kitchenpot's side", |
| "Use the left arm to grab the sauce can for condiments, move it beside the dark gray stove kitchenpot", |
| "Set the sauce can with ingredient information right next to the gray kitchenpot", |
| "Lift the metal sauce can, place it by the kitchenpot with smooth exterior", |
| "Bring the metal sauce can over and set it near the medium-sized kitchenpot", |
| "With the left arm, grab the printed label sauce can and move to the kitchenpot for boiling and cooking", |
| "Pick up the sauce can with ingredient information with the left arm and set by the dark gray stove kitchenpot", |
| "Use the left arm to lift the brown top sauce can and place it near the cylindrical kitchenpot", |
| "Use the left arm to lift the sauce can with brown lid, then move it next to the dark gray stove kitchenpot", |
| "Move the sauce can with ingredient information beside the medium-sized kitchenpot after lifting it", |
| "Use the left arm to grab the yellow and brown sauce can and move it beside the gray cylindrical metal kitchenpot", |
| "Set the metal sauce can near the round kitchenpot with handles after picking it up", |
| "Pick up the yellow and brown sauce can and put it beside the metal kitchenpot", |
| "Use the left arm to pick the sauce can with brown lid, position it near the kitchenpot for boiling and cooking", |
| "Use the left arm to lift the sauce can for condiments and place it next to the gray kitchenpot", |
| "Pick the smooth cylindrical sauce can up and carefully position it beside the gray cylindrical metal kitchenpot", |
| "Move the metal sauce can from its spot to near the round kitchenpot with handles", |
| "Take the cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles", |
| "Use the left arm to pick the brown sauce can up and set it beside the smooth gray kitchenpot", |
| "Pick the metal sauce can and position it next to the dark gray stove kitchenpot", |
| "Grab the smooth cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips", |
| "Using the left arm, lift the metal sauce can and place it by the kitchenpot for boiling and cooking", |
| "Grab the brown sauce can, move it, and place by the gray kitchenpot", |
| "Lift the sauce can with ingredient information and set it next to the medium kitchenpot made of metal", |
| "Grab the smooth cylindrical sauce can and move it close to the gray kitchenpot", |
| "Use the left arm to take the brown top sauce can to the kitchenpot for boiling and cooking", |
| "Use the left arm to move the sauce can with ingredient information beside the round kitchenpot with handles", |
| "Move the sauce can for condiments to be next to the medium kitchenpot made of metal", |
| "Lift the yellow and brown sauce can and place it next to the round kitchenpot with handles", |
| "Pick the sauce can with brown lid with the left arm and relocate it near the dark gray stove kitchenpot", |
| "Lift the brown top sauce can and set it next to the metal kitchenpot", |
| "Use the left arm to grab the metal sauce can and transfer it near the cooking kitchenpot with side grips", |
| "Use the left arm to grab the brown top sauce can and move it next to the metal kitchenpot", |
| "Lift the cylindrical sauce can and set it beside the medium-sized kitchenpot", |
| "Pick the metal sauce can up and move it next to the medium kitchenpot made of metal", |
| "Grab the cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal", |
| "Lift the brown sauce can and move it near the smooth gray kitchenpot", |
| "Lift the metal sauce can using the left arm and drop it beside the cooking kitchenpot with side grips", |
| "Grab the brown sauce can with the left arm and move it close to the metal kitchenpot", |
| "Grab the smooth cylindrical sauce can, shift it, and place it close to the gray kitchenpot", |
| "Place the brown top sauce can next to the gray cylindrical metal kitchenpot", |
| "Take the yellow label sauce can to the metal kitchenpot using the left arm", |
| "Pick the cylindrical sauce can up with the left arm then place near the round kitchenpot with handles", |
| "Take the yellow and brown sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal", |
| "Pick up the sauce can with ingredient information using the left arm, transfer it beside the cylindrical kitchenpot", |
| "Lift the yellow and brown sauce can using the left arm and position it by the medium kitchenpot made of metal", |
| "Lift the medium sauce can, then place it next to the dark gray stove kitchenpot", |
| "Place the sauce can for condiments beside the metal kitchenpot after picking it up", |
| "Take the medium sauce can with the left arm, place it near the medium-sized kitchenpot", |
| "Move the cylindrical sauce can to the smooth gray kitchenpot with the left arm", |
| "Grab the yellow label sauce can, move it to the gray cylindrical metal kitchenpot's side", |
| "Use the left arm to grab the brown top sauce can, move it beside the metal kitchenpot", |
| "Set the brown sauce can right next to the dark gray stove kitchenpot", |
| "Lift the sauce can with ingredient information, place it by the kitchenpot with smooth exterior", |
| "Bring the smooth cylindrical sauce can over and set it near the round kitchenpot with handles", |
| "With the left arm, grab the printed label sauce can and move to the medium kitchenpot made of metal", |
| "Pick up the sauce can for condiments with the left arm and set by the cylindrical kitchenpot", |
| "Use the left arm to lift the sauce can with ingredient information and place it near the kitchenpot for boiling and cooking", |
| "Use the left arm to lift the sauce can for condiments, then move it next to the metal kitchenpot", |
| "Move the sauce can with brown lid beside the kitchenpot with smooth exterior after lifting it", |
| "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot with smooth exterior", |
| "Set the yellow and brown sauce can near the smooth gray kitchenpot after picking it up", |
| "Pick up the printed label sauce can and put it beside the round kitchenpot with handles", |
| "Use the left arm to pick the yellow and brown sauce can, position it near the cylindrical kitchenpot", |
| "Use the left arm to lift the sauce can for condiments and place it next to the gray cylindrical metal kitchenpot", |
| "Pick the cylindrical sauce can up and carefully position it beside the medium-sized kitchenpot", |
| "Move the brown top sauce can from its spot to near the gray cylindrical metal kitchenpot", |
| "Take the cylindrical sauce can using the left arm, set it next to the cooking kitchenpot with side grips", |
| "Use the left arm to pick the cylindrical sauce can up and set it beside the cooking kitchenpot with side grips", |
| "Pick the cylindrical sauce can and position it next to the round kitchenpot with handles", |
| "Grab the printed label sauce can with the left arm and set it near the medium kitchenpot made of metal", |
| "Using the left arm, lift the printed label sauce can and place it by the medium kitchenpot made of metal", |
| "Grab the metal sauce can, move it, and place by the cylindrical kitchenpot", |
| "Lift the brown top sauce can and set it next to the round kitchenpot with handles", |
| "Grab the yellow label sauce can and move it close to the dark gray stove kitchenpot", |
| "Use the left arm to take the printed label sauce can to the kitchenpot with smooth exterior", |
| "Use the left arm to move the cylindrical sauce can beside the cylindrical kitchenpot" |
| ] |
| } |
|
|
