| { |
| "format_version": "robotwin_4d_v1", |
| "task": "move_can_pot", |
| "episode": "episode_0000004", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000004.hdf5", |
| "num_frames": 157, |
| "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": [ |
| 157, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 157, |
| 14 |
| ], |
| "action_shape": [ |
| 157, |
| 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 left arm to move the smooth sauce can beside the cooking pot with two handles", |
| "Use the left arm to take the sauce can with flat top to the kitchenpot with plastic knob on lid", |
| "Set the medium-sized red sauce can right next to the blue-lid kitchenpot", |
| "Lift the medium-sized red sauce can, then place it next to the kitchenpot with plastic knob on lid", |
| "Set the sauce can with white details near the blue-lid kitchenpot after picking it up", |
| "Move the smooth sauce can to the gray cylindrical pot with the left arm", |
| "Pick the sauce can with flat top and position it next to the round blue-lid kitchenpot for stovetop", |
| "Lift the cylindrical sauce can and set it next to the metal kitchenpot with brown handles", |
| "Use the left arm to grab the red sauce can for holding condiments, move it beside the blue-lid kitchenpot", |
| "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot with brown handles", |
| "Using the left arm, lift the medium-sized red sauce can and place it by the gray pot with blue circular lid", |
| "Place the red sauce can for holding condiments beside the gray pot with blue circular lid after picking it up", |
| "Use the left arm to grab the smooth sauce can and move it next to the metal pot with dark handles", |
| "Bring the sauce can with flat top over and set it near the blue-lid kitchenpot", |
| "Pick the red can with gold patterns with the left arm and relocate it near the cooking pot with two handles", |
| "Take the sauce can with flat top to the gray pot with blue circular lid using the left arm", |
| "Take the red cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot", |
| "Move the red plastic sauce can from its spot to near the metal pot with dark handles", |
| "Grab the red sauce can, move it to the kitchenpot with plastic knob on lid's side", |
| "Use the left arm to lift the red cylindrical sauce can and place it next to the gray cylindrical pot", |
| "Lift the medium-sized red sauce can, place it by the gray cylindrical pot", |
| "Lift the red cylindrical sauce can using the left arm and position it by the kitchenpot with plastic knob on lid", |
| "Use the left arm to lift the red sauce can, then move it next to the matte gray pot with durable lid", |
| "With the left arm, grab the red plastic sauce can and move to the pots for boiling and cooking", |
| "Grab the medium-sized red sauce can, shift it, and place it close to the kitchenpot with plastic knob on lid", |
| "Pick up the sauce can with flat top using the left arm, transfer it beside the blue kitchenpot lid with black knob", |
| "Grab the cylindrical sauce can with the left arm and move it close to the round blue-lid kitchenpot for stovetop", |
| "Pick up the red plastic sauce can and put it beside the gray kitchenpot", |
| "Move the red and gold sauce can beside the matte gray pot with durable lid after lifting it", |
| "Use the left arm to lift the red cylindrical sauce can and place it near the kitchenpot with plastic knob on lid", |
| "Use the left arm to grab the sauce can with white details and transfer it near the cooking pot with two handles", |
| "Pick up the red sauce can for holding condiments with the left arm and set by the pots for boiling and cooking", |
| "Grab the red and gold sauce can and move it close to the round blue-lid kitchenpot for stovetop", |
| "Move the red cylindrical sauce can to be next to the metal pot with dark handles", |
| "Pick the medium-sized red sauce can up and move it next to the blue-lid kitchenpot", |
| "Lift the red can with gold patterns and move it near the metal pot with dark handles", |
| "Place the sauce can with flat top next to the metal kitchenpot with brown handles", |
| "Grab the smooth sauce can with the left arm and position it beside the cooking pot with two handles", |
| "Grab the red plastic sauce can with the left arm and set it near the kitchenpot with plastic knob on lid", |
| "Pick the red can with gold patterns up with the left arm then place near the metal pot with dark handles", |
| "Use the left arm to pick the red plastic sauce can up and set it beside the gray cylindrical pot", |
| "Lift the red and gold sauce can and set it beside the cooking pot with two handles", |
| "Grab the red cylindrical sauce can, move it, and place by the round blue-lid kitchenpot for stovetop", |
| "Pick the red cylindrical sauce can up and carefully position it beside the pots for boiling and cooking", |
| "Lift the red and gold sauce can using the left arm and drop it beside the cooking pot with two handles", |
| "Lift the cylindrical sauce can and place it next to the gray kitchenpot", |
| "Lift the smooth sauce can and set it next to the round blue-lid kitchenpot for stovetop", |
| "Use the left arm to pick the sauce can with flat top, position it near the gray kitchenpot", |
| "Take the sauce can with flat bottom using the left arm, set it next to the kitchenpot with plastic knob on lid", |
| "Use the left arm to grab the red and gold sauce can and move it beside the pots for boiling and cooking", |
| "Use the left arm to move the red plastic sauce can beside the blue kitchenpot lid with black knob", |
| "Use the left arm to take the sauce can with flat top to the blue kitchenpot lid with black knob", |
| "Set the red sauce can for holding condiments right next to the metal kitchenpot with brown handles", |
| "Lift the sauce can with flat bottom, then place it next to the cooking pot with two handles", |
| "Set the smooth sauce can near the kitchenpot with plastic knob on lid after picking it up", |
| "Move the smooth sauce can to the cooking pot with two handles with the left arm", |
| "Pick the sauce can with flat bottom and position it next to the gray pot with blue circular lid", |
| "Lift the cylindrical sauce can and set it next to the kitchenpot with plastic knob on lid", |
| "Use the left arm to grab the sauce can with flat bottom, move it beside the metal pot with dark handles", |
| "Take the red plastic sauce can with the left arm, place it near the blue kitchenpot lid with black knob", |
| "Using the left arm, lift the red sauce can for holding condiments and place it by the metal pot with dark handles", |
| "Place the red cylindrical sauce can beside the cooking pot with two handles after picking it up", |
| "Use the left arm to grab the cylindrical sauce can and move it next to the round blue-lid kitchenpot for stovetop", |
| "Bring the sauce can with white details over and set it near the kitchenpot with plastic knob on lid", |
| "Pick the red plastic sauce can with the left arm and relocate it near the blue-lid kitchenpot", |
| "Take the red plastic sauce can to the metal pot with dark handles using the left arm", |
| "Take the medium-sized red sauce can with the left arm, bring it, and set next to the blue kitchenpot lid with black knob", |
| "Move the smooth sauce can from its spot to near the gray pot with blue circular lid", |
| "Grab the red cylindrical sauce can, move it to the pots for boiling and cooking's side", |
| "Use the left arm to lift the red sauce can for holding condiments and place it next to the cooking pot with two handles", |
| "Lift the sauce can with white details, place it by the gray cylindrical pot", |
| "Lift the red cylindrical sauce can using the left arm and position it by the matte gray pot with durable lid", |
| "Use the left arm to lift the red cylindrical sauce can, then move it next to the matte gray pot with durable lid", |
| "With the left arm, grab the sauce can with white details and move to the gray kitchenpot", |
| "Grab the red sauce can for holding condiments, shift it, and place it close to the blue kitchenpot lid with black knob", |
| "Pick up the red sauce can for holding condiments using the left arm, transfer it beside the matte gray pot with durable lid", |
| "Grab the medium-sized red sauce can with the left arm and move it close to the round blue-lid kitchenpot for stovetop", |
| "Pick up the cylindrical sauce can and put it beside the pots for boiling and cooking", |
| "Move the smooth sauce can beside the cooking pot with two handles after lifting it", |
| "Use the left arm to lift the red sauce can and place it near the gray kitchenpot", |
| "Use the left arm to grab the sauce can with white details and transfer it near the gray pot with blue circular lid", |
| "Pick up the sauce can with flat top with the left arm and set by the gray kitchenpot", |
| "Grab the sauce can with white details and move it close to the gray cylindrical pot", |
| "Move the sauce can with white details to be next to the metal kitchenpot with brown handles", |
| "Pick the sauce can with white details up and move it next to the pots for boiling and cooking", |
| "Lift the red can with gold patterns and move it near the gray cylindrical pot", |
| "Place the red sauce can for holding condiments next to the matte gray pot with durable lid", |
| "Grab the red plastic sauce can with the left arm and position it beside the blue kitchenpot lid with black knob", |
| "Grab the sauce can with flat top with the left arm and set it near the gray pot with blue circular lid", |
| "Pick the smooth sauce can up with the left arm then place near the blue kitchenpot lid with black knob", |
| "Use the left arm to pick the red and gold sauce can up and set it beside the cooking pot with two handles", |
| "Lift the red plastic sauce can and set it beside the gray kitchenpot", |
| "Grab the sauce can with flat bottom, move it, and place by the metal kitchenpot with brown handles", |
| "Pick the cylindrical sauce can up and carefully position it beside the blue kitchenpot lid with black knob", |
| "Lift the sauce can with flat top using the left arm and drop it beside the gray cylindrical pot", |
| "Lift the red cylindrical sauce can and place it next to the metal pot with dark handles", |
| "Lift the red sauce can for holding condiments and set it next to the matte gray pot with durable lid", |
| "Use the left arm to pick the red can with gold patterns, position it near the kitchenpot with plastic knob on lid", |
| "Take the red cylindrical sauce can using the left arm, set it next to the cooking pot with two handles", |
| "Use the left arm to grab the sauce can with flat bottom and move it beside the cooking pot with two handles" |
| ] |
| } |
|
|
