| { |
| "format_version": "robotwin_4d_v1", |
| "task": "stack_blocks_three", |
| "episode": "episode_0000005", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_three/aloha_agilex/data/episode_0000005.hdf5", |
| "num_frames": 486, |
| "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": [ |
| 486, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 486, |
| 14 |
| ], |
| "action_shape": [ |
| 486, |
| 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": [ |
| "Stack red block, green block, and blue block centrally with blue block on top.", |
| "Build the centered tower by adding green block to red block, then blue block to green block.", |
| "Complete a centered stack with red block supporting green block, and green block supporting blue block.", |
| "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.", |
| "Place red block with the left arm, then green block with the right arm, then blue block with the right arm.", |
| "Position red block centrally and build upward with green block and then blue block.", |
| "Stack the blocks bottom-up: red block, then green block, then blue block.", |
| "At the center, place green block on red block, followed by blue block on green block.", |
| "Build upward from red block to green block to blue block at the table's center.", |
| "With the left arm, place red block; with the right arm, add green block; with the right arm, add blue block.", |
| "Create a stack with red block at the bottom, green block in the middle, and blue block on top.", |
| "Move red block to the center, add green block, then add blue block.", |
| "Place red block beneath green block and green block beneath blue block in one centered tower.", |
| "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.", |
| "Put red block at the base and stack green block and blue block above it in order.", |
| "Set red block at the center and stack green block and blue block above it.", |
| "Center red block, then put green block on red block and blue block on green block.", |
| "Form a three-block tower: red block bottom, green block middle, blue block top.", |
| "Use the left arm for red block, the right arm for green block, and the right arm for blue block, stacking bottom-up.", |
| "Using the left arm, the right arm, and the right arm, build a stack with red block below green block below blue block.", |
| "Place red block at the center, then green block on red block, then blue block on green block.", |
| "Use the left arm, the right arm, and the right arm to stack red block, green block, and blue block from bottom to top.", |
| "Stack green block on red block, then stack blue block on green block at the center.", |
| "Make red block the base, set green block on it, and set blue block on green block.", |
| "Move red block, green block, and blue block using the left arm, the right arm, and the right arm to form a centered stack.", |
| "Move red block, green block, and blue block into a tower with red block as its base.", |
| "Set red block down first, place green block on it, and finish with blue block.", |
| "Place red block as the base, green block above it, and blue block at the top.", |
| "Arrange blue block above green block and green block above red block at the center.", |
| "Build a centered stack with red block below green block and green block below blue block.", |
| "Stack red block, green block, and blue block centrally with blue block on top.", |
| "Build the centered tower by adding green block to red block, then blue block to green block.", |
| "Complete a centered stack with red block supporting green block, and green block supporting blue block.", |
| "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.", |
| "Place red block with the left arm, then green block with the right arm, then blue block with the right arm.", |
| "Position red block centrally and build upward with green block and then blue block.", |
| "Stack the blocks bottom-up: red block, then green block, then blue block.", |
| "At the center, place green block on red block, followed by blue block on green block.", |
| "Build upward from red block to green block to blue block at the table's center.", |
| "With the left arm, place red block; with the right arm, add green block; with the right arm, add blue block.", |
| "Create a stack with red block at the bottom, green block in the middle, and blue block on top.", |
| "Move red block to the center, add green block, then add blue block.", |
| "Place red block beneath green block and green block beneath blue block in one centered tower.", |
| "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.", |
| "Put red block at the base and stack green block and blue block above it in order.", |
| "Set red block at the center and stack green block and blue block above it.", |
| "Center red block, then put green block on red block and blue block on green block.", |
| "Form a three-block tower: red block bottom, green block middle, blue block top.", |
| "Use the left arm for red block, the right arm for green block, and the right arm for blue block, stacking bottom-up.", |
| "Using the left arm, the right arm, and the right arm, build a stack with red block below green block below blue block.", |
| "Place red block at the center, then green block on red block, then blue block on green block.", |
| "Use the left arm, the right arm, and the right arm to stack red block, green block, and blue block from bottom to top.", |
| "Stack green block on red block, then stack blue block on green block at the center.", |
| "Make red block the base, set green block on it, and set blue block on green block.", |
| "Move red block, green block, and blue block using the left arm, the right arm, and the right arm to form a centered stack.", |
| "Move red block, green block, and blue block into a tower with red block as its base.", |
| "Set red block down first, place green block on it, and finish with blue block.", |
| "Place red block as the base, green block above it, and blue block at the top.", |
| "Arrange blue block above green block and green block above red block at the center.", |
| "Build a centered stack with red block below green block and green block below blue block.", |
| "Stack red block, green block, and blue block centrally with blue block on top.", |
| "Build the centered tower by adding green block to red block, then blue block to green block.", |
| "Complete a centered stack with red block supporting green block, and green block supporting blue block.", |
| "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.", |
| "Place red block with the left arm, then green block with the right arm, then blue block with the right arm.", |
| "Position red block centrally and build upward with green block and then blue block.", |
| "Stack the blocks bottom-up: red block, then green block, then blue block.", |
| "At the center, place green block on red block, followed by blue block on green block.", |
| "Build upward from red block to green block to blue block at the table's center.", |
| "With the left arm, place red block; with the right arm, add green block; with the right arm, add blue block.", |
| "Create a stack with red block at the bottom, green block in the middle, and blue block on top.", |
| "Move red block to the center, add green block, then add blue block.", |
| "Place red block beneath green block and green block beneath blue block in one centered tower.", |
| "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.", |
| "Put red block at the base and stack green block and blue block above it in order.", |
| "Set red block at the center and stack green block and blue block above it.", |
| "Center red block, then put green block on red block and blue block on green block.", |
| "Form a three-block tower: red block bottom, green block middle, blue block top.", |
| "Use the left arm for red block, the right arm for green block, and the right arm for blue block, stacking bottom-up.", |
| "Using the left arm, the right arm, and the right arm, build a stack with red block below green block below blue block.", |
| "Place red block at the center, then green block on red block, then blue block on green block.", |
| "Use the left arm, the right arm, and the right arm to stack red block, green block, and blue block from bottom to top.", |
| "Stack green block on red block, then stack blue block on green block at the center.", |
| "Make red block the base, set green block on it, and set blue block on green block.", |
| "Move red block, green block, and blue block using the left arm, the right arm, and the right arm to form a centered stack.", |
| "Move red block, green block, and blue block into a tower with red block as its base.", |
| "Set red block down first, place green block on it, and finish with blue block.", |
| "Place red block as the base, green block above it, and blue block at the top.", |
| "Arrange blue block above green block and green block above red block at the center.", |
| "Build a centered stack with red block below green block and green block below blue block.", |
| "Stack red block, green block, and blue block centrally with blue block on top.", |
| "Build the centered tower by adding green block to red block, then blue block to green block.", |
| "Complete a centered stack with red block supporting green block, and green block supporting blue block.", |
| "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.", |
| "Place red block with the left arm, then green block with the right arm, then blue block with the right arm.", |
| "Position red block centrally and build upward with green block and then blue block.", |
| "Stack the blocks bottom-up: red block, then green block, then blue block.", |
| "At the center, place green block on red block, followed by blue block on green block.", |
| "Build upward from red block to green block to blue block at the table's center.", |
| "With the left arm, place red block; with the right arm, add green block; with the right arm, add blue block." |
| ] |
| } |
|
|
