| { |
| "format_version": "robotwin_4d_v1", |
| "task": "stack_blocks_two", |
| "episode": "episode_0000009", |
| "embodiment": "aloha_agilex", |
| "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_two/aloha_agilex/data/episode_0000009.hdf5", |
| "num_frames": 307, |
| "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": [ |
| 307, |
| 3, |
| 4 |
| ], |
| "transform": "world_to_camera", |
| "camera_coordinates": "OpenCV: +x right, +y down, +z forward" |
| }, |
| "robot": { |
| "state_shape": [ |
| 307, |
| 14 |
| ], |
| "action_shape": [ |
| 307, |
| 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": [ |
| "Grab red block, set it in the center, then stack green block over it.", |
| "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", |
| "Use the right arm to move red block and the right arm to position green block.", |
| "Move red block and green block to the center; stack green block on top of red block.", |
| "the right arm takes red block, sets it in the center, the right arm places green block on red block.", |
| "Use the right arm to move red block and the right arm to stack green block.", |
| "Use the right arm to place red block in the center; stack green block on it with the right arm.", |
| "Set red block and green block at the center, stacking green block atop red block.", |
| "Center red block and green block on the table and stack green block on top of red block.", |
| "Set red block at the center, then stack green block over red block after placing it alongside.", |
| "Pick up red block and green block, set them at the center, then position green block above red block.", |
| "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", |
| "Bring red block to the center, then stack green block over it.", |
| "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", |
| "Shift red block and green block to the center, then position green block on red block.", |
| "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", |
| "Move red block with the right arm, then stack green block on it using the right arm.", |
| "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", |
| "Shift red block and green block to the middle, then stack green block over red block.", |
| "Move red block and green block to the center, then stack green block above red block.", |
| "Shift red block to the center and place green block on top.", |
| "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", |
| "Place red block and green block at the center and then put green block on red block.", |
| "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", |
| "Use the right arm to center red block, then stack green block with the right arm.", |
| "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", |
| "Place red block and green block together at the center, then stack green block on top.", |
| "Relocate red block and green block to the center, then layer green block over red block.", |
| "Place red block and green block in the center, then stack green block above red block.", |
| "the right arm moves red block to the center, the right arm stacks green block onto red block.", |
| "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", |
| "Set red block and green block at the table's center, then stack green block on red block.", |
| "Relocate red block to the middle and place green block on it.", |
| "Move red block to the middle and put green block on top of it.", |
| "Place red block in the center, then move green block there and stack green block on red block.", |
| "Shift red block and green block to the center and stack green block on red block.", |
| "Position red block at the center and stack green block above it.", |
| "Set red block in the center, then position green block on top of it.", |
| "Move red block to the center using the right arm, then stack green block on red block using the right arm.", |
| "Place red block and green block centrally, then stack green block on red block.", |
| "Center red block using the right arm, then stack green block with the right arm on top.", |
| "Put red block in the center, then add green block above it.", |
| "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", |
| "Position red block and green block at the center, then stack green block on red block.", |
| "Grab red block, set it in the center, then stack green block over it.", |
| "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", |
| "Use the right arm to move red block and the right arm to position green block.", |
| "Move red block and green block to the center; stack green block on top of red block.", |
| "the right arm takes red block, sets it in the center, the right arm places green block on red block.", |
| "Use the right arm to move red block and the right arm to stack green block.", |
| "Use the right arm to place red block in the center; stack green block on it with the right arm.", |
| "Set red block and green block at the center, stacking green block atop red block.", |
| "Center red block and green block on the table and stack green block on top of red block.", |
| "Set red block at the center, then stack green block over red block after placing it alongside.", |
| "Pick up red block and green block, set them at the center, then position green block above red block.", |
| "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", |
| "Bring red block to the center, then stack green block over it.", |
| "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", |
| "Shift red block and green block to the center, then position green block on red block.", |
| "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", |
| "Move red block with the right arm, then stack green block on it using the right arm.", |
| "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", |
| "Shift red block and green block to the middle, then stack green block over red block.", |
| "Move red block and green block to the center, then stack green block above red block.", |
| "Shift red block to the center and place green block on top.", |
| "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", |
| "Place red block and green block at the center and then put green block on red block.", |
| "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", |
| "Use the right arm to center red block, then stack green block with the right arm.", |
| "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", |
| "Place red block and green block together at the center, then stack green block on top.", |
| "Relocate red block and green block to the center, then layer green block over red block.", |
| "Place red block and green block in the center, then stack green block above red block.", |
| "the right arm moves red block to the center, the right arm stacks green block onto red block.", |
| "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", |
| "Set red block and green block at the table's center, then stack green block on red block.", |
| "Relocate red block to the middle and place green block on it.", |
| "Move red block to the middle and put green block on top of it.", |
| "Place red block in the center, then move green block there and stack green block on red block.", |
| "Shift red block and green block to the center and stack green block on red block.", |
| "Position red block at the center and stack green block above it.", |
| "Set red block in the center, then position green block on top of it.", |
| "Move red block to the center using the right arm, then stack green block on red block using the right arm.", |
| "Place red block and green block centrally, then stack green block on red block.", |
| "Center red block using the right arm, then stack green block with the right arm on top.", |
| "Put red block in the center, then add green block above it.", |
| "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", |
| "Position red block and green block at the center, then stack green block on red block.", |
| "Grab red block, set it in the center, then stack green block over it.", |
| "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", |
| "Use the right arm to move red block and the right arm to position green block.", |
| "Move red block and green block to the center; stack green block on top of red block.", |
| "the right arm takes red block, sets it in the center, the right arm places green block on red block.", |
| "Use the right arm to move red block and the right arm to stack green block.", |
| "Use the right arm to place red block in the center; stack green block on it with the right arm.", |
| "Set red block and green block at the center, stacking green block atop red block.", |
| "Center red block and green block on the table and stack green block on top of red block.", |
| "Set red block at the center, then stack green block over red block after placing it alongside.", |
| "Pick up red block and green block, set them at the center, then position green block above red block.", |
| "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block." |
| ] |
| } |
|
|
