| { |
| "format_version": "robotwin_4d_v1", |
| "task": "move_can_pot", |
| "episode": "episode_0000006", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000006.hdf5", |
| "num_frames": 153, |
| "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": [ |
| 153, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 153, |
| 14 |
| ], |
| "action_shape": [ |
| 153, |
| 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 to lift the compact sauce can with plastic lid and place it near the black kitchenpot with flat lid", |
| "Use the right arm to move the red and orange sauce can beside the black kitchenpot with round lid", |
| "Lift the small metal sauce container using the right arm and position it by the black kitchenpot with plastic lid handle", |
| "Pick the sturdy sauce can with glossy finish with the right arm and relocate it near the kitchenpot for boiling food", |
| "Use the right arm to lift the sturdy sauce can with glossy finish, then move it next to the black kitchenpot with flat lid", |
| "Pick the red can with orange label up and move it next to the black kitchenpot with flat lid", |
| "Grab the small metal sauce container with the right arm and set it near the kitchenpot for boiling food", |
| "Grab the cylindrical sauce can with the right arm and position it beside the black metal kitchenpot", |
| "Pick up the small cylindrical sauce can using the right arm, transfer it beside the kitchenpot for boiling food", |
| "Set the sauce can with printed design near the black kitchenpot with flat lid after picking it up", |
| "Place the small cylindrical sauce can beside the black metal kitchenpot after picking it up", |
| "Lift the smooth sauce can and set it next to the cooking kitchenpot with sturdy handles", |
| "Move the smooth sauce can to the black kitchenpot with plastic lid handle with the right arm", |
| "Lift the small metal sauce container using the right arm and drop it beside the medium kitchenpot with smooth surface", |
| "Use the right arm to take the red can with orange label to the cooking kitchenpot with sturdy handles", |
| "Pick up the sauce can with red lid and put it beside the kitchenpot with metallic round lid", |
| "Pick the small metal sauce container and position it next to the black metal kitchenpot", |
| "Grab the metal body sauce can, shift it, and place it close to the black kitchenpot with round lid", |
| "Use the right arm to grab the sauce can with printed design, move it beside the black kitchenpot with silver and black handles", |
| "Lift the red can with orange label and set it beside the black kitchenpot with flat lid", |
| "Take the red and orange sauce can to the kitchenpot with metallic round lid using the right arm", |
| "Use the right arm to grab the cylindrical sauce can and move it next to the kitchenpot with metallic round lid", |
| "Use the right arm to grab the red can with orange label and transfer it near the black kitchenpot with silver and black handles", |
| "Use the right arm to pick the sauce can with rounded top cap, position it near the black kitchenpot with flat lid", |
| "Lift the red and orange sauce can and place it next to the kitchenpot for boiling food", |
| "Lift the smooth sauce can and set it next to the black kitchenpot with plastic lid handle", |
| "Move the sauce can with red lid from its spot to near the kitchenpot for boiling food", |
| "Using the right arm, lift the small metal sauce container and place it by the black kitchenpot with silver and black handles", |
| "Lift the small metal sauce container, then place it next to the black metal kitchenpot", |
| "Take the small metal sauce container using the right arm, set it next to the black kitchenpot", |
| "Grab the compact sauce can with plastic lid with the right arm and move it close to the black kitchenpot with silver handle bars", |
| "Move the red and orange sauce can to be next to the black cooking pot with silver handles", |
| "Place the red can with orange label next to the black kitchenpot with flat lid", |
| "Pick the metal body sauce can up with the right arm then place near the black kitchenpot with silver and black handles", |
| "Take the red can with orange label with the right arm, bring it, and set next to the black kitchenpot with flat lid", |
| "With the right arm, grab the cylindrical sauce can and move to the black metal kitchenpot", |
| "Pick the red can with orange label up and carefully position it beside the black kitchenpot with flat lid", |
| "Grab the red and orange sauce can, move it, and place by the black metal kitchenpot", |
| "Move the metal body sauce can beside the kitchenpot for boiling food after lifting it", |
| "Lift the small cylindrical sauce can and move it near the medium kitchenpot with smooth surface", |
| "Lift the metal body sauce can, place it by the black kitchenpot with silver and black handles", |
| "Use the right arm to grab the sauce can with rounded top cap and move it beside the kitchenpot for boiling food", |
| "Use the right arm to lift the compact sauce can with plastic lid and place it next to the black kitchenpot", |
| "Take the red and orange sauce can with the right arm, place it near the kitchenpot with metallic round lid", |
| "Bring the small metal sauce container over and set it near the medium kitchenpot with smooth surface", |
| "Grab the sturdy sauce can with glossy finish, move it to the cooking kitchenpot with sturdy handles's side", |
| "Pick up the sturdy sauce can with glossy finish with the right arm and set by the black kitchenpot with round lid", |
| "Set the cylindrical sauce can right next to the black kitchenpot with silver handle bars", |
| "Use the right arm to pick the small metal sauce container up and set it beside the medium kitchenpot with smooth surface", |
| "Grab the sauce can with printed design and move it close to the kitchenpot with metallic round lid", |
| "Use the right arm to lift the sauce can with red lid and place it near the medium kitchenpot with smooth surface", |
| "Use the right arm to move the cylindrical sauce can beside the medium kitchenpot with smooth surface", |
| "Lift the red and orange sauce can using the right arm and position it by the black metal kitchenpot", |
| "Pick the sauce can with printed design with the right arm and relocate it near the kitchenpot with metallic round lid", |
| "Use the right arm to lift the smooth sauce can, then move it next to the black cooking pot with silver handles", |
| "Pick the cylindrical sauce can up and move it next to the black kitchenpot with silver handle bars", |
| "Grab the small cylindrical sauce can with the right arm and set it near the black metal kitchenpot", |
| "Grab the sauce can with red lid with the right arm and position it beside the black metal kitchenpot", |
| "Pick up the sauce can with printed design using the right arm, transfer it beside the cooking kitchenpot with sturdy handles", |
| "Set the small cylindrical sauce can near the black kitchenpot with silver handle bars after picking it up", |
| "Place the compact sauce can with plastic lid beside the cooking kitchenpot with sturdy handles after picking it up", |
| "Lift the red and orange sauce can and set it next to the medium kitchenpot with smooth surface", |
| "Move the red can with orange label to the medium kitchenpot with smooth surface with the right arm", |
| "Lift the metal body sauce can using the right arm and drop it beside the kitchenpot with metallic round lid", |
| "Use the right arm to take the sauce can with rounded top cap to the black kitchenpot with silver handle bars", |
| "Pick up the sauce can with red lid and put it beside the cooking kitchenpot with sturdy handles", |
| "Pick the small metal sauce container and position it next to the black cooking pot with silver handles", |
| "Grab the sauce can with red lid, shift it, and place it close to the kitchenpot with metallic round lid", |
| "Use the right arm to grab the smooth sauce can, move it beside the black kitchenpot with flat lid", |
| "Lift the sturdy sauce can with glossy finish and set it beside the kitchenpot for boiling food", |
| "Take the sturdy sauce can with glossy finish to the black kitchenpot with silver and black handles using the right arm", |
| "Use the right arm to grab the sturdy sauce can with glossy finish and move it next to the medium kitchenpot with smooth surface", |
| "Use the right arm to grab the sturdy sauce can with glossy finish and transfer it near the kitchenpot with metallic round lid", |
| "Use the right arm to pick the sturdy sauce can with glossy finish, position it near the black kitchenpot with round lid", |
| "Lift the cylindrical sauce can and place it next to the black metal kitchenpot", |
| "Lift the sauce can with red lid and set it next to the black kitchenpot with plastic lid handle", |
| "Move the sauce can with rounded top cap from its spot to near the black metal kitchenpot", |
| "Using the right arm, lift the sauce can with printed design and place it by the black kitchenpot with silver and black handles", |
| "Lift the cylindrical sauce can, then place it next to the black kitchenpot with silver handle bars", |
| "Take the sauce can with rounded top cap using the right arm, set it next to the cooking kitchenpot with sturdy handles", |
| "Grab the red and orange sauce can with the right arm and move it close to the black kitchenpot", |
| "Move the sauce can with printed design to be next to the black kitchenpot with flat lid", |
| "Place the red can with orange label next to the medium kitchenpot with smooth surface", |
| "Pick the smooth sauce can up with the right arm then place near the black kitchenpot with silver handle bars", |
| "Take the small cylindrical sauce can with the right arm, bring it, and set next to the black cooking pot with silver handles", |
| "With the right arm, grab the cylindrical sauce can and move to the black cooking pot with silver handles", |
| "Pick the sauce can with printed design up and carefully position it beside the black kitchenpot with silver handle bars", |
| "Grab the small metal sauce container, move it, and place by the black kitchenpot with silver and black handles", |
| "Move the sauce can with printed design beside the medium kitchenpot with smooth surface after lifting it", |
| "Lift the sauce can with rounded top cap and move it near the black kitchenpot with round lid", |
| "Lift the cylindrical sauce can, place it by the black kitchenpot with silver and black handles", |
| "Use the right arm to grab the smooth sauce can and move it beside the kitchenpot with metallic round lid", |
| "Use the right arm to lift the smooth sauce can and place it next to the black kitchenpot with plastic lid handle", |
| "Take the cylindrical sauce can with the right arm, place it near the kitchenpot for boiling food", |
| "Bring the sauce can with printed design over and set it near the black metal kitchenpot", |
| "Grab the smooth sauce can, move it to the black kitchenpot with plastic lid handle's side", |
| "Pick up the sauce can with printed design with the right arm and set by the black kitchenpot with silver handle bars", |
| "Set the sauce can with rounded top cap right next to the black kitchenpot with silver handle bars", |
| "Use the right arm to pick the cylindrical sauce can up and set it beside the kitchenpot with metallic round lid", |
| "Grab the cylindrical sauce can and move it close to the kitchenpot for boiling food" |
| ] |
| } |
|
|
