| { |
| "format_version": "robotwin_4d_v1", |
| "task": "move_can_pot", |
| "episode": "episode_0000003", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000003.hdf5", |
| "num_frames": 155, |
| "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": [ |
| 155, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 155, |
| 14 |
| ], |
| "action_shape": [ |
| 155, |
| 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 the cylindrical sauce can next to the grey kitchenpot with dark circle inside", |
| "Pick up the red sauce can for holding condiments and put it beside the kitchenpot with red indicator light", |
| "Set the sauce can with flat top near the kitchenpot with black rectangular panel after picking it up", |
| "Grab the red sauce can, shift it, and place it close to the kitchenpot with two side handles", |
| "Place the sauce can with white details beside the light grey kitchenpot with dark top after picking it up", |
| "Lift the red sauce can for holding condiments and place it next to the kitchenpot with two side handles", |
| "Lift the red cylindrical sauce can, then place it next to the matte-finished kitchenpot", |
| "Use the right arm to lift the smooth sauce can and place it near the matte-finished kitchenpot", |
| "With the right arm, grab the red sauce can for holding condiments and move to the kitchenpot with sturdy plastic body", |
| "Use the right arm to lift the red can with gold patterns and place it next to the light grey kitchenpot with dark top", |
| "Pick up the red cylindrical sauce can with the right arm and set by the kitchenpot with two side handles", |
| "Move the red and gold sauce can from its spot to near the kitchenpot with black base", |
| "Grab the sauce can with white details with the right arm and set it near the kitchenpot with black rectangular panel", |
| "Set the red cylindrical sauce can right next to the light grey kitchenpot with dark top", |
| "Use the right arm to move the cylindrical sauce can beside the kitchenpot with two side handles", |
| "Take the red sauce can to the smooth kitchenpot with black button using the right arm", |
| "Grab the red sauce can, move it, and place by the kitchenpot with red indicator light", |
| "Pick the red sauce can with the right arm and relocate it near the round kitchenpot", |
| "Pick the sauce can with flat bottom up with the right arm then place near the matte-finished kitchenpot", |
| "Using the right arm, lift the red cylindrical sauce can and place it by the grey kitchenpot with dark circle inside", |
| "Use the right arm to pick the red sauce can up and set it beside the round kitchenpot", |
| "Lift the red sauce can and move it near the grey kitchenpot", |
| "Pick up the red and gold sauce can using the right arm, transfer it beside the light grey kitchenpot with dark top", |
| "Pick the sauce can with flat bottom up and carefully position it beside the matte-finished kitchenpot", |
| "Use the right arm to grab the smooth sauce can, move it beside the light grey kitchenpot with dark top", |
| "Take the smooth sauce can with the right arm, bring it, and set next to the kitchenpot with two side handles", |
| "Use the right arm to grab the red can with gold patterns and move it next to the grey kitchenpot with dark circle inside", |
| "Lift the smooth sauce can and set it beside the smooth kitchenpot with black button", |
| "Use the right arm to grab the red sauce can and move it beside the light grey kitchenpot with dark top", |
| "Move the cylindrical sauce can to be next to the kitchenpot with black rectangular panel", |
| "Take the red and gold sauce can using the right arm, set it next to the grey kitchenpot", |
| "Lift the red sauce can for holding condiments using the right arm and drop it beside the grey kitchenpot", |
| "Lift the red can with gold patterns, place it by the smooth kitchenpot with black button", |
| "Lift the red sauce can and set it next to the kitchenpot with black base", |
| "Use the right arm to take the red sauce can for holding condiments to the kitchenpot with sturdy plastic body", |
| "Bring the sauce can with flat bottom over and set it near the kitchenpot with red indicator light", |
| "Grab the red can with gold patterns and move it close to the light grey kitchenpot with dark top", |
| "Use the right arm to pick the red sauce can for holding condiments, position it near the kitchenpot with black base", |
| "Grab the cylindrical sauce can, move it to the kitchenpot with black rectangular panel's side", |
| "Lift the red sauce can for holding condiments using the right arm and position it by the grey kitchenpot with dark circle inside", |
| "Take the red and gold sauce can with the right arm, place it near the grey kitchenpot with dark circle inside", |
| "Grab the red plastic sauce can with the right arm and position it beside the light grey kitchenpot with dark top", |
| "Move the red cylindrical sauce can to the grey kitchenpot with the right arm", |
| "Move the sauce can with white details beside the kitchenpot with sturdy plastic body after lifting it", |
| "Use the right arm to grab the sauce can with flat top and transfer it near the grey kitchenpot", |
| "Lift the smooth sauce can and set it next to the round kitchenpot", |
| "Pick the red sauce can and position it next to the kitchenpot with two side handles", |
| "Grab the sauce can with white details with the right arm and move it close to the cylindrical kitchenpot with flat edges", |
| "Use the right arm to lift the smooth sauce can, then move it next to the kitchenpot with sturdy plastic body", |
| "Pick the red and gold sauce can up and move it next to the smooth kitchenpot with black button", |
| "Place the red can with gold patterns next to the light grey kitchenpot with dark top", |
| "Pick up the red sauce can for holding condiments and put it beside the smooth kitchenpot with black button", |
| "Set the sauce can with flat bottom near the grey kitchenpot with dark circle inside after picking it up", |
| "Grab the sauce can with flat top, shift it, and place it close to the kitchenpot with black base", |
| "Place the red sauce can beside the kitchenpot with sturdy plastic body after picking it up", |
| "Lift the sauce can with flat top and place it next to the smooth kitchenpot with black button", |
| "Lift the smooth sauce can, then place it next to the cylindrical kitchenpot with flat edges", |
| "Use the right arm to lift the sauce can with white details and place it near the round kitchenpot", |
| "With the right arm, grab the sauce can with flat top and move to the matte-finished kitchenpot", |
| "Use the right arm to lift the sauce can with flat top and place it next to the matte-finished kitchenpot", |
| "Pick up the red and gold sauce can with the right arm and set by the round kitchenpot", |
| "Move the red can with gold patterns from its spot to near the kitchenpot with two side handles", |
| "Grab the red plastic sauce can with the right arm and set it near the cylindrical kitchenpot with flat edges", |
| "Set the red and gold sauce can right next to the kitchenpot with red indicator light", |
| "Use the right arm to move the red and gold sauce can beside the kitchenpot with red indicator light", |
| "Take the sauce can with white details to the round kitchenpot using the right arm", |
| "Grab the sauce can with white details, move it, and place by the kitchenpot with two side handles", |
| "Pick the red cylindrical sauce can with the right arm and relocate it near the matte-finished kitchenpot", |
| "Pick the sauce can with white details up with the right arm then place near the light grey kitchenpot with dark top", |
| "Using the right arm, lift the sauce can with flat top and place it by the kitchenpot with sturdy plastic body", |
| "Use the right arm to pick the sauce can with flat bottom up and set it beside the grey kitchenpot with dark circle inside", |
| "Lift the sauce can with white details and move it near the round kitchenpot", |
| "Pick up the red cylindrical sauce can using the right arm, transfer it beside the grey kitchenpot", |
| "Pick the red cylindrical sauce can up and carefully position it beside the kitchenpot with two side handles", |
| "Use the right arm to grab the red cylindrical sauce can, move it beside the matte-finished kitchenpot", |
| "Take the red can with gold patterns with the right arm, bring it, and set next to the light grey kitchenpot with dark top", |
| "Use the right arm to grab the red and gold sauce can and move it next to the kitchenpot with sturdy plastic body", |
| "Lift the sauce can with flat top and set it beside the cylindrical kitchenpot with flat edges", |
| "Use the right arm to grab the sauce can with flat bottom and move it beside the kitchenpot with sturdy plastic body", |
| "Move the cylindrical sauce can to be next to the cylindrical kitchenpot with flat edges", |
| "Take the red sauce can for holding condiments using the right arm, set it next to the kitchenpot with two side handles", |
| "Lift the red sauce can using the right arm and drop it beside the round kitchenpot", |
| "Lift the red and gold sauce can, place it by the cylindrical kitchenpot with flat edges", |
| "Lift the red cylindrical sauce can and set it next to the round kitchenpot", |
| "Use the right arm to take the red can with gold patterns to the kitchenpot with two side handles", |
| "Bring the red sauce can over and set it near the grey kitchenpot with dark circle inside", |
| "Grab the sauce can with flat top and move it close to the kitchenpot with black base", |
| "Use the right arm to pick the red can with gold patterns, position it near the matte-finished kitchenpot", |
| "Grab the smooth sauce can, move it to the round kitchenpot's side", |
| "Lift the red cylindrical sauce can using the right arm and position it by the cylindrical kitchenpot with flat edges", |
| "Take the medium-sized red sauce can with the right arm, place it near the kitchenpot with two side handles", |
| "Grab the medium-sized red sauce can with the right arm and position it beside the kitchenpot with black base", |
| "Move the red plastic sauce can to the kitchenpot with black base with the right arm", |
| "Move the sauce can with white details beside the cylindrical kitchenpot with flat edges after lifting it", |
| "Use the right arm to grab the sauce can with flat bottom and transfer it near the light grey kitchenpot with dark top", |
| "Lift the smooth sauce can and set it next to the kitchenpot with sturdy plastic body", |
| "Pick the red cylindrical sauce can and position it next to the kitchenpot with sturdy plastic body", |
| "Grab the sauce can with white details with the right arm and move it close to the smooth kitchenpot with black button", |
| "Use the right arm to lift the cylindrical sauce can, then move it next to the matte-finished kitchenpot", |
| "Pick the sauce can with flat top up and move it next to the kitchenpot with two side handles" |
| ] |
| } |
|
|
