| { |
| "format_version": "robotwin_4d_v1", |
| "task": "move_can_pot", |
| "episode": "episode_0000007", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000007.hdf5", |
| "num_frames": 173, |
| "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": [ |
| 173, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 173, |
| 14 |
| ], |
| "action_shape": [ |
| 173, |
| 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": [ |
| "Lift the sauce can, place it by the pot with lid and sturdy handles", |
| "Set the plastic lid sauce can near the round pot with dark gray knob after picking it up", |
| "Use the right arm to grab the white plastic lid sauce can and move it beside the kitchenpot with smooth texture", |
| "Using the right arm, lift the sauce can with glossy finish and place it by the gray kitchenpot", |
| "Take the medium sauce can with white lid to the kitchenpot used for cooking meals using the right arm", |
| "Pick the cylindrical sauce can up and move it next to the medium-sized smooth gray cooking pot", |
| "Move the rounded-edge sauce can to the metal cooking pot with the right arm", |
| "Pick the rounded-edge sauce can with the right arm and relocate it near the kitchenpot with smooth texture", |
| "Lift the sauce can with glossy finish and set it next to the rounded pot with metal lid", |
| "Use the right arm to grab the sauce can and move it next to the pot with lid and sturdy handles", |
| "Set the sauce can right next to the rounded pot with metal lid", |
| "Grab the yellow brown sauce can with the right arm and set it near the dark gray pot with side handles", |
| "Lift the white plastic lid sauce can and move it near the rounded pot with metal lid", |
| "Grab the round sauce can with yellow pattern, shift it, and place it close to the rounded pot with metal lid", |
| "Use the right arm to move the plastic lid sauce can beside the pot with round lid", |
| "Use the right arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot with smooth texture", |
| "Bring the white plastic lid sauce can over and set it near the medium-sized smooth gray cooking pot", |
| "Pick the cylindrical sauce can up and carefully position it beside the round pot with dark gray knob", |
| "Grab the sauce can with the right arm and position it beside the kitchenpot used for cooking meals", |
| "Lift the plastic lid sauce can, then place it next to the kitchenpot used for cooking meals", |
| "Move the rounded-edge sauce can to be next to the rounded pot with metal lid", |
| "Grab the yellow brown sauce can, move it to the kitchenpot used for cooking meals's side", |
| "Lift the yellow brown sauce can and set it next to the round pot with dark gray knob", |
| "Pick the round sauce can with yellow pattern up with the right arm then place near the medium gray pot with handles", |
| "Use the right arm to grab the medium sauce can with white lid, move it beside the kitchenpot with smooth texture", |
| "Use the right arm to pick the plastic lid sauce can, position it near the rounded pot with metal lid", |
| "Grab the sauce can with glossy finish with the right arm and move it close to the kitchenpot with smooth texture", |
| "With the right arm, grab the cylindrical sauce can and move to the pot with round lid", |
| "Take the sauce can with the right arm, place it near the pot with round lid", |
| "Pick the cylindrical sauce can and position it next to the pot with round lid", |
| "Lift the medium sauce can with white lid and set it beside the gray pot for boiling food", |
| "Take the rounded-edge sauce can using the right arm, set it next to the dark gray pot with side handles", |
| "Move the sauce can with sealed top beside the metal cooking pot after lifting it", |
| "Take the round sauce can with yellow pattern with the right arm, bring it, and set next to the gray pot for boiling food", |
| "Use the right arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot", |
| "Pick up the sauce can with sealed top with the right arm and set by the pot with lid and sturdy handles", |
| "Lift the plastic lid sauce can using the right arm and position it by the gray pot for boiling food", |
| "Pick up the rounded-edge sauce can and put it beside the metal cooking pot", |
| "Place the round sauce can with yellow pattern beside the medium gray pot with handles after picking it up", |
| "Lift the rounded-edge sauce can using the right arm and drop it beside the metal cooking pot", |
| "Pick up the sauce can using the right arm, transfer it beside the kitchenpot with smooth texture", |
| "Move the yellow brown sauce can from its spot to near the metal cooking pot", |
| "Grab the medium sauce can with white lid and move it close to the medium-sized smooth gray cooking pot", |
| "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized smooth gray cooking pot", |
| "Use the right arm to lift the hand-sized sauce can and place it next to the medium gray pot with handles", |
| "Use the right arm to pick the round sauce can with yellow pattern up and set it beside the gray pot for boiling food", |
| "Use the right arm to lift the cylindrical sauce can and place it near the gray pot for boiling food", |
| "Use the right arm to take the sauce can to the metal cooking pot", |
| "Place the sauce can next to the gray pot for boiling food", |
| "Lift the sauce can and place it next to the pot with lid and sturdy handles", |
| "Lift the sauce can with glossy finish, place it by the gray kitchenpot", |
| "Set the sauce can with glossy finish near the gray pot for boiling food after picking it up", |
| "Use the right arm to grab the medium sauce can with white lid and move it beside the rounded pot with metal lid", |
| "Using the right arm, lift the sauce can with sealed top and place it by the kitchenpot with smooth texture", |
| "Take the hand-sized sauce can to the round pot with dark gray knob using the right arm", |
| "Pick the sauce can up and move it next to the pot with lid and sturdy handles", |
| "Move the plastic lid sauce can to the metal cooking pot with the right arm", |
| "Pick the white plastic lid sauce can with the right arm and relocate it near the round pot with dark gray knob", |
| "Lift the white plastic lid sauce can and set it next to the medium-sized smooth gray cooking pot", |
| "Use the right arm to grab the yellow brown sauce can and move it next to the medium-sized smooth gray cooking pot", |
| "Set the brown and yellow cylindrical sauce can right next to the kitchenpot used for cooking meals", |
| "Grab the sauce can with the right arm and set it near the pot with round lid", |
| "Lift the sauce can and move it near the gray pot for boiling food", |
| "Grab the plastic lid sauce can, shift it, and place it close to the gray kitchenpot", |
| "Use the right arm to move the yellow brown sauce can beside the kitchenpot with smooth texture", |
| "Use the right arm to grab the hand-sized sauce can and transfer it near the medium-sized smooth gray cooking pot", |
| "Bring the yellow brown sauce can over and set it near the pot with round lid", |
| "Pick the cylindrical sauce can up and carefully position it beside the pot with round lid", |
| "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the round pot with dark gray knob", |
| "Lift the hand-sized sauce can, then place it next to the round pot with dark gray knob", |
| "Move the sauce can with glossy finish to be next to the kitchenpot with smooth texture", |
| "Grab the sauce can, move it to the kitchenpot used for cooking meals's side", |
| "Lift the round sauce can with yellow pattern and set it next to the metal cooking pot", |
| "Pick the sauce can with sealed top up with the right arm then place near the metal cooking pot", |
| "Use the right arm to grab the cylindrical sauce can, move it beside the medium gray pot with handles", |
| "Use the right arm to pick the sauce can, position it near the medium-sized smooth gray cooking pot", |
| "Grab the medium sauce can with white lid with the right arm and move it close to the metal cooking pot", |
| "With the right arm, grab the sauce can with sealed top and move to the medium-sized smooth gray cooking pot", |
| "Take the sauce can with the right arm, place it near the kitchenpot used for cooking meals", |
| "Pick the rounded-edge sauce can and position it next to the dark gray pot with side handles", |
| "Lift the hand-sized sauce can and set it beside the dark gray pot with side handles", |
| "Take the white plastic lid sauce can using the right arm, set it next to the round pot with dark gray knob", |
| "Move the sauce can with sealed top beside the medium-sized smooth gray cooking pot after lifting it", |
| "Take the cylindrical sauce can with the right arm, bring it, and set next to the medium-sized smooth gray cooking pot", |
| "Use the right arm to lift the round sauce can with yellow pattern, then move it next to the dark gray pot with side handles", |
| "Pick up the brown and yellow cylindrical sauce can with the right arm and set by the round pot with dark gray knob", |
| "Lift the yellow brown sauce can using the right arm and position it by the medium gray pot with handles", |
| "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot with smooth texture", |
| "Place the hand-sized sauce can beside the pot with round lid after picking it up", |
| "Lift the cylindrical sauce can using the right arm and drop it beside the pot with lid and sturdy handles", |
| "Pick up the yellow brown sauce can using the right arm, transfer it beside the gray pot for boiling food", |
| "Move the white plastic lid sauce can from its spot to near the medium gray pot with handles", |
| "Grab the brown and yellow cylindrical sauce can and move it close to the gray kitchenpot", |
| "Grab the sauce can with sealed top, move it, and place by the dark gray pot with side handles", |
| "Use the right arm to lift the plastic lid sauce can and place it next to the gray kitchenpot", |
| "Use the right arm to pick the brown and yellow cylindrical sauce can up and set it beside the medium-sized smooth gray cooking pot", |
| "Use the right arm to lift the rounded-edge sauce can and place it near the pot with round lid", |
| "Use the right arm to take the rounded-edge sauce can to the medium-sized smooth gray cooking pot", |
| "Place the brown and yellow cylindrical sauce can next to the metal cooking pot", |
| "Lift the brown and yellow cylindrical sauce can and place it next to the metal cooking pot" |
| ] |
| } |
|
|
