| { |
| "format_version": "robotwin_4d_v1", |
| "task": "move_can_pot", |
| "episode": "episode_0000009", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000009.hdf5", |
| "num_frames": 156, |
| "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": [ |
| 156, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 156, |
| 14 |
| ], |
| "action_shape": [ |
| 156, |
| 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 sturdy sauce can with glossy finish using the left arm and position it by the cylindrical kitchenpot", |
| "Lift the sturdy sauce can with glossy finish using the left arm and drop it beside the kitchenpot for boiling and cooking", |
| "Move the sturdy sauce can with glossy finish to the medium-sized kitchenpot with the left arm", |
| "Take the small metal sauce container with the left arm, place it near the metal kitchenpot", |
| "Use the left arm to grab the small cylindrical sauce can and transfer it near the medium kitchenpot made of metal", |
| "Place the small metal sauce container next to the metal kitchenpot", |
| "Use the left arm to lift the sauce can with printed design and place it near the dark gray stove kitchenpot", |
| "Grab the red can with orange label, move it to the metal kitchenpot's side", |
| "Use the left arm to pick the red and orange sauce can, position it near the round kitchenpot with handles", |
| "Lift the small cylindrical sauce can, place it by the cooking kitchenpot with side grips", |
| "Pick the small cylindrical sauce can with the left arm and relocate it near the dark gray stove kitchenpot", |
| "Pick the cylindrical sauce can and position it next to the medium-sized kitchenpot", |
| "Use the left arm to grab the red and orange sauce can and move it beside the gray cylindrical metal kitchenpot", |
| "Grab the small cylindrical sauce can with the left arm and move it close to the cylindrical kitchenpot", |
| "Move the smooth sauce can to be next to the medium kitchenpot made of metal", |
| "Grab the sturdy sauce can with glossy finish, move it, and place by the round kitchenpot with handles", |
| "Take the smooth sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior", |
| "Use the left arm to grab the sturdy sauce can with glossy finish, move it beside the dark gray stove kitchenpot", |
| "Pick up the small cylindrical sauce can with the left arm and set by the gray kitchenpot", |
| "Lift the red and orange sauce can and set it next to the gray kitchenpot", |
| "Use the left arm to grab the compact sauce can with plastic lid and move it next to the cylindrical kitchenpot", |
| "Set the sauce can with rounded top cap near the cylindrical kitchenpot after picking it up", |
| "Take the red and orange sauce can to the smooth gray kitchenpot using the left arm", |
| "Use the left arm to pick the sauce can with printed design up and set it beside the gray kitchenpot", |
| "Grab the sauce can with printed design, shift it, and place it close to the medium kitchenpot made of metal", |
| "Pick up the metal body sauce can and put it beside the cooking kitchenpot with side grips", |
| "Using the left arm, lift the compact sauce can with plastic lid and place it by the medium kitchenpot made of metal", |
| "Bring the sauce can with rounded top cap over and set it near the metal kitchenpot", |
| "Set the sauce can with rounded top cap right next to the metal kitchenpot", |
| "Use the left arm to lift the sauce can with printed design and place it next to the dark gray stove kitchenpot", |
| "Grab the sturdy sauce can with glossy finish and move it close to the gray cylindrical metal kitchenpot", |
| "Use the left arm to move the cylindrical sauce can beside the cylindrical kitchenpot", |
| "Use the left arm to take the metal body sauce can to the medium-sized kitchenpot", |
| "Lift the sturdy sauce can with glossy finish and place it next to the cylindrical kitchenpot", |
| "Pick the red and orange sauce can up with the left arm then place near the dark gray stove kitchenpot", |
| "Move the metal body sauce can from its spot to near the gray kitchenpot", |
| "Move the red and orange sauce can beside the cylindrical kitchenpot after lifting it", |
| "Grab the sauce can with printed design with the left arm and position it beside the dark gray stove kitchenpot", |
| "Take the sturdy sauce can with glossy finish using the left arm, set it next to the gray kitchenpot", |
| "Lift the sauce can with printed design, then place it next to the round kitchenpot with handles", |
| "Pick the red and orange sauce can up and carefully position it beside the smooth gray kitchenpot", |
| "Pick up the sauce can with rounded top cap using the left arm, transfer it beside the smooth gray kitchenpot", |
| "Lift the small cylindrical sauce can and set it next to the medium kitchenpot made of metal", |
| "Lift the small cylindrical sauce can and move it near the cooking kitchenpot with side grips", |
| "Grab the sauce can with printed design with the left arm and set it near the metal kitchenpot", |
| "Place the sauce can with printed design beside the medium kitchenpot made of metal after picking it up", |
| "Lift the small metal sauce container and set it beside the kitchenpot for boiling and cooking", |
| "Pick the sturdy sauce can with glossy finish up and move it next to the gray kitchenpot", |
| "Use the left arm to lift the small metal sauce container, then move it next to the gray kitchenpot", |
| "With the left arm, grab the smooth sauce can and move to the medium kitchenpot made of metal", |
| "Lift the red and orange sauce can using the left arm and position it by the cylindrical kitchenpot", |
| "Lift the small metal sauce container using the left arm and drop it beside the metal kitchenpot", |
| "Move the small metal sauce container to the gray cylindrical metal kitchenpot with the left arm", |
| "Take the red can with orange label with the left arm, place it near the kitchenpot for boiling and cooking", |
| "Use the left arm to grab the red can with orange label and transfer it near the kitchenpot for boiling and cooking", |
| "Place the sauce can with printed design next to the metal kitchenpot", |
| "Use the left arm to lift the cylindrical sauce can and place it near the kitchenpot for boiling and cooking", |
| "Grab the smooth sauce can, move it to the cylindrical kitchenpot's side", |
| "Use the left arm to pick the small cylindrical sauce can, position it near the medium-sized kitchenpot", |
| "Lift the red and orange sauce can, place it by the medium kitchenpot made of metal", |
| "Pick the sauce can with rounded top cap with the left arm and relocate it near the kitchenpot with smooth exterior", |
| "Pick the sauce can with rounded top cap and position it next to the gray kitchenpot", |
| "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot for boiling and cooking", |
| "Grab the metal body sauce can with the left arm and move it close to the kitchenpot for boiling and cooking", |
| "Move the smooth sauce can to be next to the round kitchenpot with handles", |
| "Grab the cylindrical sauce can, move it, and place by the cooking kitchenpot with side grips", |
| "Take the red can with orange label with the left arm, bring it, and set next to the cooking kitchenpot with side grips", |
| "Use the left arm to grab the sauce can with printed design, move it beside the medium-sized kitchenpot", |
| "Pick up the small metal sauce container with the left arm and set by the medium kitchenpot made of metal", |
| "Lift the sauce can with red lid and set it next to the round kitchenpot with handles", |
| "Use the left arm to grab the sauce can with rounded top cap and move it next to the round kitchenpot with handles", |
| "Set the sturdy sauce can with glossy finish near the kitchenpot with smooth exterior after picking it up", |
| "Take the metal body sauce can to the gray cylindrical metal kitchenpot using the left arm", |
| "Use the left arm to pick the sturdy sauce can with glossy finish up and set it beside the kitchenpot for boiling and cooking", |
| "Grab the smooth sauce can, shift it, and place it close to the gray kitchenpot", |
| "Pick up the metal body sauce can and put it beside the gray kitchenpot", |
| "Using the left arm, lift the sauce can with rounded top cap and place it by the metal kitchenpot", |
| "Bring the small metal sauce container over and set it near the kitchenpot with smooth exterior", |
| "Set the red can with orange label right next to the metal kitchenpot", |
| "Use the left arm to lift the sturdy sauce can with glossy finish and place it next to the smooth gray kitchenpot", |
| "Grab the cylindrical sauce can and move it close to the gray cylindrical metal kitchenpot", |
| "Use the left arm to move the sauce can with printed design beside the medium kitchenpot made of metal", |
| "Use the left arm to take the small metal sauce container to the smooth gray kitchenpot", |
| "Lift the smooth sauce can and place it next to the gray kitchenpot", |
| "Pick the red and orange sauce can up with the left arm then place near the dark gray stove kitchenpot", |
| "Move the cylindrical sauce can from its spot to near the kitchenpot with smooth exterior", |
| "Move the red can with orange label beside the medium kitchenpot made of metal after lifting it", |
| "Grab the red and orange sauce can with the left arm and position it beside the medium-sized kitchenpot", |
| "Take the red and orange sauce can using the left arm, set it next to the round kitchenpot with handles", |
| "Lift the red and orange sauce can, then place it next to the gray cylindrical metal kitchenpot", |
| "Pick the smooth sauce can up and carefully position it beside the medium kitchenpot made of metal", |
| "Pick up the sturdy sauce can with glossy finish using the left arm, transfer it beside the medium kitchenpot made of metal", |
| "Lift the sauce can with rounded top cap and set it next to the medium-sized kitchenpot", |
| "Lift the small metal sauce container and move it near the kitchenpot with smooth exterior", |
| "Grab the sturdy sauce can with glossy finish with the left arm and set it near the smooth gray kitchenpot", |
| "Place the compact sauce can with plastic lid beside the cylindrical kitchenpot after picking it up", |
| "Lift the smooth sauce can and set it beside the gray cylindrical metal kitchenpot", |
| "Pick the compact sauce can with plastic lid up and move it next to the kitchenpot for boiling and cooking", |
| "Use the left arm to lift the sauce can with rounded top cap, then move it next to the dark gray stove kitchenpot", |
| "With the left arm, grab the small cylindrical sauce can and move to the dark gray stove kitchenpot" |
| ] |
| } |
|
|
