diff --git a/click_alarmclock/episode_0000012/TCP_head/metadata.json b/click_alarmclock/episode_0000012/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c9ec356f129b7098d601e0ff680b965318683592 --- /dev/null +++ b/click_alarmclock/episode_0000012/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 79, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_alarmclock/episode_0000012/TCP_third/metadata.json b/click_alarmclock/episode_0000012/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..26f64d362e864446a7b53221e213bb76e4d0895b --- /dev/null +++ b/click_alarmclock/episode_0000012/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 79, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_alarmclock/episode_0000012/metadata.json b/click_alarmclock/episode_0000012/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..53fdf17bc8c1b0ec6f8f24bfaef0b11b1edab5f7 --- /dev/null +++ b/click_alarmclock/episode_0000012/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_alarmclock", + "episode": "episode_0000012", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_alarmclock/aloha_agilex/data/episode_0000012.hdf5", + "num_frames": 79, + "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": [ + 79, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 79, + 14 + ], + "action_shape": [ + 79, + 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": [ + "Push the central button on the digital screen alarm-clock's top side.", + "Point the left arm to press the button of the alarm-clock with digital display.", + "Hit the center of the alarm-clock with buttons on side's top button", + "Use the left arm to press the compact alarm-clock button", + "Click the button centered on the rectangular alarm-clock's top.", + "Press the center top button of the rectangular alarm-clock", + "the left arm clicks the center top button on the alarm-clock with rounded edges", + "Press the center top button on the smooth black alarm-clock with the left arm", + "Click the middle button on the digital screen alarm-clock's top side", + "Press the alarm-clock with rounded edges's top button using the left arm", + "Click the center of the palm-sized alarm-clock's top", + "Push the top button on the black alarm-clock", + "Locate and press the top button on the digital screen alarm-clock", + "Use the left arm to click the center button on the digital screen alarm-clock", + "Use the left arm to tap the palm-sized alarm-clock's top center button.", + "Click the smooth black alarm-clock's top center button using the left arm.", + "Activate the alarm-clock with rounded edges by pressing its top", + "Click the top center button of the alarm-clock with rounded edges", + "Click the center button on the alarm-clock with rounded edges's top side.", + "Ensure the left arm clicks the top center button of the alarm-clock with rounded edges", + "Use the left arm to press the black alarm-clock's top button", + "Push the top button of the palm-sized alarm-clock using the left arm", + "Use the left arm to tap the compact alarm-clock's central button.", + "Tap the alarm-clock with digital display's top button with the left arm", + "Direct the left arm to click the button found on the alarm-clock with digital display.", + "Tap the center button on the alarm-clock with rounded edges.", + "Use the left arm to press the center top of the alarm-clock with buttons on side", + "Tap the button at the black alarm-clock's top center.", + "Use the left arm to press the central button on the alarm-clock with rounded edges.", + "Use the left arm to click the top of the black matte alarm-clock", + "Press the center button on the lightweight plastic alarm-clock's top.", + "Press the top middle button of the rectangular alarm-clock", + "Click the button centered on the palm-sized alarm-clock.", + "Push the center area of the smooth black alarm-clock's top", + "Touch the compact alarm-clock's button on the top side.", + "Touch the alarm-clock with digital display's center top button with the left arm", + "Locate and press the smooth black alarm-clock's top center button", + "Use the left arm to click the top center button on the alarm-clock with buttons on side.", + "the left arm activates the rectangular alarm-clock by clicking the top button", + "Press the top button in the alarm-clock with buttons on side's center.", + "Press the top button at the alarm-clock with rounded edges's center.", + "Press the button on the alarm-clock with rounded edges's top side", + "Guide the left arm to press the centered button on the rectangular alarm-clock.", + "Use the left arm to activate the alarm-clock with buttons on side's button", + "Use the left arm to tap the black matte alarm-clock's top button center", + "the left arm presses the center top button on the black alarm-clock", + "Activate the alarm-clock with buttons on side by clicking its top button", + "Activate the alarm-clock with digital display by pressing the top button", + "Use the left arm to press the palm-sized alarm-clock's top center button.", + "Push the button on the smooth black alarm-clock's top center.", + "Push the central button on the compact alarm-clock's top side.", + "Point the left arm to press the button of the black matte alarm-clock.", + "Hit the center of the alarm-clock with digital display's top button", + "Use the left arm to press the palm-sized alarm-clock button", + "Click the button centered on the digital screen alarm-clock's top.", + "Press the center top button of the lightweight plastic alarm-clock", + "the left arm clicks the center top button on the alarm-clock with buttons on side", + "Press the center top button on the rectangular alarm-clock with the left arm", + "Click the middle button on the small alarm-clock's top side", + "Press the smooth black alarm-clock's top button using the left arm", + "Click the center of the smooth black alarm-clock's top", + "Push the top button on the alarm-clock with rounded edges", + "Locate and press the top button on the palm-sized alarm-clock", + "Use the left arm to click the center button on the smooth black alarm-clock", + "Use the left arm to tap the black matte alarm-clock's top center button.", + "Click the palm-sized alarm-clock's top center button using the left arm.", + "Activate the alarm-clock with digital display by pressing its top", + "Click the top center button of the compact alarm-clock", + "Click the center button on the lightweight plastic alarm-clock's top side.", + "Ensure the left arm clicks the top center button of the smooth black alarm-clock", + "Use the left arm to press the alarm-clock with rounded edges's top button", + "Push the top button of the digital screen alarm-clock using the left arm", + "Use the left arm to tap the small alarm-clock's central button.", + "Tap the black matte alarm-clock's top button with the left arm", + "Direct the left arm to click the button found on the alarm-clock with digital display.", + "Tap the center button on the lightweight plastic alarm-clock.", + "Use the left arm to press the center top of the lightweight plastic alarm-clock", + "Tap the button at the black alarm-clock's top center.", + "Use the left arm to press the central button on the black alarm-clock.", + "Use the left arm to click the top of the alarm-clock with buttons on side", + "Press the center button on the compact alarm-clock's top.", + "Press the top middle button of the alarm-clock with digital display", + "Click the button centered on the black alarm-clock.", + "Push the center area of the compact alarm-clock's top", + "Touch the alarm-clock with buttons on side's button on the top side.", + "Touch the rectangular alarm-clock's center top button with the left arm", + "Locate and press the black alarm-clock's top center button", + "Use the left arm to click the top center button on the palm-sized alarm-clock.", + "the left arm activates the lightweight plastic alarm-clock by clicking the top button", + "Press the top button in the small alarm-clock's center.", + "Press the top button at the rectangular alarm-clock's center.", + "Press the button on the smooth black alarm-clock's top side", + "Guide the left arm to press the centered button on the alarm-clock with digital display.", + "Use the left arm to activate the small alarm-clock's button", + "Use the left arm to tap the palm-sized alarm-clock's top button center", + "the left arm presses the center top button on the smooth black alarm-clock", + "Activate the compact alarm-clock by clicking its top button", + "Activate the palm-sized alarm-clock by pressing the top button", + "Use the left arm to press the alarm-clock with digital display's top center button.", + "Push the button on the palm-sized alarm-clock's top center." + ] +} diff --git a/click_alarmclock/episode_0000013/TCP_head/metadata.json b/click_alarmclock/episode_0000013/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0bed22b77d87852b63b6dec542802675fb386816 --- /dev/null +++ b/click_alarmclock/episode_0000013/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 100, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_alarmclock/episode_0000013/metadata.json b/click_alarmclock/episode_0000013/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b93850332c13d78c3a2a6af41cd081512a8f4a4f --- /dev/null +++ b/click_alarmclock/episode_0000013/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_alarmclock", + "episode": "episode_0000013", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_alarmclock/aloha_agilex/data/episode_0000013.hdf5", + "num_frames": 100, + "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": [ + 100, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 100, + 14 + ], + "action_shape": [ + 100, + 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": [ + "Direct the left arm to click the button found on the blue clock with green stripe.", + "the left arm activates the small plastic alarm clock by clicking the top button", + "Tap the center button on the clock with black hands.", + "Use the left arm to press the central button on the blue clock with green stripe.", + "Click the center of the blue clock with green stripe's top", + "Press the center button on the white-faced alarm clock's top.", + "Use the left arm to press the dark blue clock's top button", + "Use the left arm to activate the clock with black hands's button", + "Use the left arm to tap the rounded square-shaped alarm clock's central button.", + "Touch the blue clock with green stripe's center top button with the left arm", + "Tap the square plastic alarm clock's top button with the left arm", + "Use the left arm to tap the dark blue clock's top button center", + "Click the button centered on the clock with black hands's top.", + "Press the button on the square alarm clock's top side", + "Touch the alarm clock with green stripe's button on the top side.", + "Push the button on the blue clock with green stripe's top center.", + "Use the left arm to click the top center button on the rounded square-shaped alarm clock.", + "Use the left arm to click the center button on the rounded square-shaped alarm clock", + "Click the button centered on the rounded square-shaped alarm clock.", + "Click the clock with white dial's top center button using the left arm.", + "Point the left arm to press the button of the small plastic alarm clock.", + "the left arm clicks the center top button on the clock with black hands", + "Activate the alarm clock with green stripe by clicking its top button", + "Push the top button of the dark blue clock using the left arm", + "Press the square alarm clock's top button using the left arm", + "Locate and press the top button on the square alarm clock", + "Click the center button on the blue clock with green stripe's top side.", + "Use the left arm to press the blue clock with green stripe's top center button.", + "Ensure the left arm clicks the top center button of the clock with white dial", + "Locate and press the square plastic alarm clock's top center button", + "Guide the left arm to press the centered button on the blue clock with green stripe.", + "Activate the palm-sized dark blue clock by pressing the top button", + "Click the middle button on the square plastic alarm clock's top side", + "Hit the center of the small plastic alarm clock's top button", + "Activate the clock with black hands by pressing its top", + "Push the top button on the square plastic alarm clock", + "Press the top button in the clock with black hands's center.", + "Use the left arm to press the center top of the alarm clock with green stripe", + "Press the top middle button of the blue clock with green stripe", + "Press the center top button of the white-faced alarm clock", + "Use the left arm to click the top of the alarm clock with green stripe", + "Press the center top button on the square alarm clock with the left arm", + "Use the left arm to tap the dark blue clock's top center button.", + "Tap the button at the alarm clock with green stripe's top center.", + "Push the center area of the small clock with rounded edges's top", + "Press the top button at the rounded square-shaped alarm clock's center.", + "Push the central button on the alarm clock with green stripe's top side.", + "Use the left arm to press the white-faced alarm clock button", + "Click the top center button of the white-faced alarm clock", + "the left arm presses the center top button on the palm-sized dark blue clock", + "Direct the left arm to click the button found on the square alarm clock.", + "the left arm activates the square plastic alarm clock by clicking the top button", + "Tap the center button on the rounded square-shaped alarm clock.", + "Use the left arm to press the central button on the small clock with rounded edges.", + "Click the center of the blue clock with green stripe's top", + "Press the center button on the clock with black hands's top.", + "Use the left arm to press the small plastic alarm clock's top button", + "Use the left arm to activate the rounded square-shaped alarm clock's button", + "Use the left arm to tap the clock with white dial's central button.", + "Touch the small plastic alarm clock's center top button with the left arm", + "Tap the small plastic alarm clock's top button with the left arm", + "Use the left arm to tap the dark blue clock's top button center", + "Click the button centered on the blue clock with green stripe's top.", + "Press the button on the blue clock with green stripe's top side", + "Touch the dark blue clock's button on the top side.", + "Push the button on the clock with white dial's top center.", + "Use the left arm to click the top center button on the small plastic alarm clock.", + "Use the left arm to click the center button on the square alarm clock", + "Click the button centered on the square plastic alarm clock.", + "Click the small clock with rounded edges's top center button using the left arm.", + "Point the left arm to press the button of the small plastic alarm clock.", + "the left arm clicks the center top button on the palm-sized dark blue clock", + "Activate the blue clock with green stripe by clicking its top button", + "Push the top button of the small clock with rounded edges using the left arm", + "Press the blue clock with green stripe's top button using the left arm", + "Locate and press the top button on the white-faced alarm clock", + "Click the center button on the blue clock with green stripe's top side.", + "Use the left arm to press the square alarm clock's top center button.", + "Ensure the left arm clicks the top center button of the clock with black hands", + "Locate and press the white-faced alarm clock's top center button", + "Guide the left arm to press the centered button on the alarm clock with green stripe.", + "Activate the square alarm clock by pressing the top button", + "Click the middle button on the square alarm clock's top side", + "Hit the center of the square alarm clock's top button", + "Activate the palm-sized dark blue clock by pressing its top", + "Push the top button on the small plastic alarm clock", + "Press the top button in the palm-sized dark blue clock's center.", + "Use the left arm to press the center top of the small clock with rounded edges", + "Press the top middle button of the alarm clock with green stripe", + "Press the center top button of the clock with black hands", + "Use the left arm to click the top of the small clock with rounded edges", + "Press the center top button on the rounded square-shaped alarm clock with the left arm", + "Use the left arm to tap the clock with white dial's top center button.", + "Tap the button at the clock with white dial's top center.", + "Push the center area of the alarm clock with green stripe's top", + "Press the top button at the small plastic alarm clock's center.", + "Push the central button on the small clock with rounded edges's top side.", + "Use the left arm to press the dark blue clock button", + "Click the top center button of the clock with black hands", + "the left arm presses the center top button on the square alarm clock" + ] +} diff --git a/click_alarmclock/episode_0000032/TCP_third/metadata.json b/click_alarmclock/episode_0000032/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..db4cded848ad32f4b2bdf89bb51c3205ffd867c4 --- /dev/null +++ b/click_alarmclock/episode_0000032/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 101, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000004/TCP_head/metadata.json b/lift_pot/episode_0000004/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..327f95ef623b5edebf315f94e23da653fbb3cd73 --- /dev/null +++ b/lift_pot/episode_0000004/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 114, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000004/metadata.json b/lift_pot/episode_0000004/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c3c39a7ff5e7d8685cb6324bc532d4a19beb6e --- /dev/null +++ b/lift_pot/episode_0000004/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "lift_pot", + "episode": "episode_0000004", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000004.hdf5", + "num_frames": 114, + "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": [ + 114, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 114, + 14 + ], + "action_shape": [ + 114, + 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": [ + "Both arms lift the dark gray stove kitchenpot upright", + "Support the cooking kitchenpot with side grips and raise it upward", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Bring the medium kitchenpot made of metal up together", + "Use arms to lift the dark gray stove kitchenpot upward", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the medium-sized kitchenpot upward with both arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise the round kitchenpot with handles together with arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Use both arms to raise the cooking kitchenpot with side grips", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Raise and hold the cooking kitchenpot with side grips together", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Raise the round kitchenpot with handles securely with arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grasp the gray kitchenpot and elevate together.", + "Lift the metal kitchenpot steadily with support", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Securely lift the gray kitchenpot together", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the dark gray stove kitchenpot up together", + "Raise the medium-sized kitchenpot upward with both hands", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the metal kitchenpot upward and hold it", + "Grab the cylindrical kitchenpot using both arms", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the kitchenpot with smooth exterior using both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the cylindrical kitchenpot with strong support", + "Lift the cooking kitchenpot with side grips upwards with care", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Lift the dark gray stove kitchenpot carefully using arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Raise the metal kitchenpot together using arms", + "Hold and raise the gray kitchenpot together", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the round kitchenpot with handles steadily using arms", + "Grip the gray kitchenpot firmly and lift", + "Both arms lift the metal kitchenpot upright", + "Support the round kitchenpot with handles and raise it upward", + "Hold the dark gray stove kitchenpot firmly with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Use arms to lift the smooth gray kitchenpot upward", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Grab the metal kitchenpot and lift it upwards", + "Lift the medium-sized kitchenpot upward with both arms", + "Secure the smooth gray kitchenpot and lift it up", + "Hold the round kitchenpot with handles and lift upward", + "Raise the round kitchenpot with handles steadily using arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Use both arms to raise the gray kitchenpot.", + "Grab the dark gray stove kitchenpot and lift together", + "Raise the cylindrical kitchenpot together with arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Use both arms to raise the medium kitchenpot made of metal", + "Grab the metal kitchenpot and lift it up", + "Raise and hold the round kitchenpot with handles together", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the round kitchenpot with handles up using your arms", + "Raise the gray kitchenpot securely with arms", + "Hold and raise the dark gray stove kitchenpot together", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the dark gray stove kitchenpot steadily with support", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Hold the round kitchenpot with handles firmly and move upward.", + "Place hands on the round kitchenpot with handles, then lift.", + "Securely lift the kitchenpot with smooth exterior together", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the cooking kitchenpot with side grips up together", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Grab the medium-sized kitchenpot using both arms", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the dark gray stove kitchenpot using both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the cooking kitchenpot with side grips upwards with care", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the dark gray stove kitchenpot carefully using arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise the dark gray stove kitchenpot together using arms", + "Hold and raise the cylindrical kitchenpot together", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Grip the kitchenpot for boiling and cooking firmly and lift" + ] +} diff --git a/lift_pot/episode_0000008/TCP_head/metadata.json b/lift_pot/episode_0000008/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..327f95ef623b5edebf315f94e23da653fbb3cd73 --- /dev/null +++ b/lift_pot/episode_0000008/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 114, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000008/TCP_third/metadata.json b/lift_pot/episode_0000008/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb75d65c6811bab9269c6a5439dd8de59eb41bc --- /dev/null +++ b/lift_pot/episode_0000008/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 114, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000008/metadata.json b/lift_pot/episode_0000008/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..156cc75c27b146bbc3e4c5476bd54ad3a745277c --- /dev/null +++ b/lift_pot/episode_0000008/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "lift_pot", + "episode": "episode_0000008", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000008.hdf5", + "num_frames": 114, + "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": [ + 114, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 114, + 14 + ], + "action_shape": [ + 114, + 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 gray cylindrical metal kitchenpot carefully using both arms.", + "Lift the gray kitchenpot upward and hold it", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Securely lift the round kitchenpot with handles together", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the kitchenpot with smooth exterior up together", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the kitchenpot with smooth exterior using both arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Secure the dark gray stove kitchenpot and lift upward.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the smooth gray kitchenpot steadily with support", + "Bring the kitchenpot with smooth exterior upwards together", + "Raise the cylindrical kitchenpot with strong support", + "Raise the smooth gray kitchenpot securely with arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Hold and raise the medium kitchenpot made of metal together", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Grab the medium-sized kitchenpot and lift it up", + "Grasp the metal kitchenpot and elevate together.", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the gray kitchenpot up using your arms", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Hold the metal kitchenpot and lift upward", + "Use both arms to raise the dark gray stove kitchenpot", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the round kitchenpot with handles together using arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Grab the kitchenpot with smooth exterior and lift together", + "Bring the medium-sized kitchenpot up together", + "Raise the smooth gray kitchenpot upward with both hands", + "Grab the medium kitchenpot made of metal using both arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Secure the smooth gray kitchenpot and lift it up", + "Hold and raise the kitchenpot with smooth exterior together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Both arms lift the gray kitchenpot upright", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Raise and hold the cylindrical kitchenpot together", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold the dark gray stove kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior up together", + "Take hold of the cylindrical kitchenpot and lift up", + "Pick up the dark gray stove kitchenpot with both arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the round kitchenpot with handles firmly and move upward.", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Lift the cylindrical kitchenpot steadily with support", + "Bring the gray kitchenpot upwards together", + "Raise the cylindrical kitchenpot with strong support", + "Raise the kitchenpot with smooth exterior securely with arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Hold and raise the metal kitchenpot together", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the gray kitchenpot steadily using arms", + "Raise the gray kitchenpot steadily using arms", + "Grab the medium-sized kitchenpot and lift it up", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the medium-sized kitchenpot up using your arms", + "Carry the cylindrical kitchenpot securely using arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Hold the metal kitchenpot firmly, then lift.", + "Hold the cylindrical kitchenpot and lift upward", + "Use both arms to raise the dark gray stove kitchenpot", + "Raise the smooth gray kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise the kitchenpot with smooth exterior together using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Grab the medium kitchenpot made of metal and lift together", + "Bring the kitchenpot for boiling and cooking up together", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Grab the metal kitchenpot using both arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the smooth gray kitchenpot upwards with care", + "Hold the gray kitchenpot firmly with arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Hold and raise the kitchenpot for boiling and cooking together", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Both arms lift the smooth gray kitchenpot upright", + "Hold the medium kitchenpot made of metal firmly and lift it" + ] +} diff --git a/lift_pot/episode_0000037/TCP_head/metadata.json b/lift_pot/episode_0000037/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..327f95ef623b5edebf315f94e23da653fbb3cd73 --- /dev/null +++ b/lift_pot/episode_0000037/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 114, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000037/TCP_third/metadata.json b/lift_pot/episode_0000037/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb75d65c6811bab9269c6a5439dd8de59eb41bc --- /dev/null +++ b/lift_pot/episode_0000037/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 114, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000037/metadata.json b/lift_pot/episode_0000037/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b487fd954d71ce4bad82d2fd683e61c77eedb90e --- /dev/null +++ b/lift_pot/episode_0000037/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "lift_pot", + "episode": "episode_0000037", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000037.hdf5", + "num_frames": 114, + "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": [ + 114, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 114, + 14 + ], + "action_shape": [ + 114, + 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 the gray cylindrical metal kitchenpot and lift together", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Lift the gray kitchenpot upwards with care", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the medium-sized kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Support the medium-sized kitchenpot and raise it upward", + "Both arms lift the round kitchenpot with handles upright", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Carry the round kitchenpot with handles securely using arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Raise the round kitchenpot with handles upward with both hands", + "Use both arms to raise the cooking kitchenpot with side grips", + "Raise and hold the gray kitchenpot together", + "Raise the metal kitchenpot with strong support", + "Raise the cylindrical kitchenpot using both arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Raise the kitchenpot for boiling and cooking together with arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Hold the smooth gray kitchenpot and lift upward", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the round kitchenpot with handles steadily with support", + "Secure the medium-sized kitchenpot and lift it up", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Secure the medium-sized kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the medium kitchenpot made of metal together using arms", + "Bring the kitchenpot with smooth exterior up together", + "Hold and raise the smooth gray kitchenpot together", + "Hold the medium-sized kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Lift the smooth gray kitchenpot up using your arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Grab the metal kitchenpot using both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Use both arms to raise the metal kitchenpot.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Securely lift the gray kitchenpot together", + "Lift the kitchenpot for boiling and cooking up together", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the kitchenpot for boiling and cooking and lift together", + "Place hands on the metal kitchenpot, then lift.", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Lift the metal kitchenpot using both arms now.", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the round kitchenpot with handles securely with arms", + "Support the cylindrical kitchenpot and raise it upward", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Grip the gray kitchenpot firmly and lift", + "Carry the gray kitchenpot securely using arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Use both arms to raise the medium kitchenpot made of metal", + "Raise and hold the dark gray stove kitchenpot together", + "Raise the medium kitchenpot made of metal with strong support", + "Raise the cylindrical kitchenpot using both arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Raise the medium-sized kitchenpot together with arms", + "Use arms to lift the gray kitchenpot upward", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the metal kitchenpot evenly with arms", + "Lift the round kitchenpot with handles upward with both arms", + "Bring the round kitchenpot with handles upwards together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Secure the cylindrical kitchenpot and lift it up", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Secure the smooth gray kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the medium kitchenpot made of metal together using arms", + "Bring the medium-sized kitchenpot up together", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the metal kitchenpot with both arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Lift the round kitchenpot with handles up using your arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Grab the medium kitchenpot made of metal using both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Grasp the gray kitchenpot and elevate together.", + "Use both arms to raise the round kitchenpot with handles.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Securely lift the cylindrical kitchenpot together", + "Lift the smooth gray kitchenpot up together", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Hold and raise the gray cylindrical metal kitchenpot together" + ] +} diff --git a/lift_pot/episode_0000044/TCP_head/metadata.json b/lift_pot/episode_0000044/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..86da66e085095ef097dda5de509a89cefa21de13 --- /dev/null +++ b/lift_pot/episode_0000044/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 112, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000044/TCP_third/metadata.json b/lift_pot/episode_0000044/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7ec2cc9948efea0bc0c3b5c134125298d15ab236 --- /dev/null +++ b/lift_pot/episode_0000044/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 112, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/lift_pot/episode_0000044/metadata.json b/lift_pot/episode_0000044/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f8822e1c79e793734c9219764f1a04976355f08e --- /dev/null +++ b/lift_pot/episode_0000044/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "lift_pot", + "episode": "episode_0000044", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000044.hdf5", + "num_frames": 112, + "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": [ + 112, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 112, + 14 + ], + "action_shape": [ + 112, + 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 the metal kitchenpot and lift it upwards", + "Raise the metal kitchenpot together using arms", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the smooth gray kitchenpot steadily with support", + "Grasp the round kitchenpot with handles and elevate together.", + "Use both arms to raise the medium kitchenpot made of metal.", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the gray kitchenpot upward with both arms", + "Use arms to lift the metal kitchenpot upward", + "Carry the smooth gray kitchenpot securely using arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold and raise the smooth gray kitchenpot together", + "Hold the round kitchenpot with handles firmly and lift it", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the cooking kitchenpot with side grips up together", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Raise the medium-sized kitchenpot with strong support", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the round kitchenpot with handles steadily using arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grab the metal kitchenpot using both arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Both arms lift the medium-sized kitchenpot upright", + "Raise the medium-sized kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the gray kitchenpot upward and hold it", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Raise the kitchenpot for boiling and cooking together with arms", + "Lift the round kitchenpot with handles upwards with care", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Raise and hold the dark gray stove kitchenpot together", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Securely lift the smooth gray kitchenpot together", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Hold the medium-sized kitchenpot with both arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Use both arms to raise the metal kitchenpot", + "Bring the kitchenpot for boiling and cooking up together", + "Bring the round kitchenpot with handles upwards together", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Grab the smooth gray kitchenpot and lift together", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the metal kitchenpot upward with both hands", + "Take hold of the metal kitchenpot and lift up", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the metal kitchenpot together using arms", + "Hold the gray kitchenpot and lift upward", + "Lift the round kitchenpot with handles steadily with support", + "Grasp the metal kitchenpot and elevate together.", + "Use both arms to raise the dark gray stove kitchenpot.", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Carry the cooking kitchenpot with side grips securely using arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Hold and raise the gray kitchenpot together", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Pick up the cylindrical kitchenpot with careful lifting", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the cylindrical kitchenpot up together", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Raise the dark gray stove kitchenpot with strong support", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Lift the smooth gray kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Lift the cylindrical kitchenpot using both arms now.", + "Grab the dark gray stove kitchenpot using both arms", + "Pick up the cylindrical kitchenpot with both arms", + "Both arms lift the round kitchenpot with handles upright", + "Raise the kitchenpot for boiling and cooking using both arms", + "Raise the medium-sized kitchenpot securely with arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise the metal kitchenpot steadily using arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Raise and hold the medium-sized kitchenpot together", + "Lift the medium-sized kitchenpot carefully using arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Securely lift the cooking kitchenpot with side grips together", + "Engage arms to grip and lift the smooth gray 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+z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_burger_fries/episode_0000005/metadata.json b/place_burger_fries/episode_0000005/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dd91f09020557dcb14895408aa67f0c86e3fa607 --- /dev/null +++ b/place_burger_fries/episode_0000005/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_burger_fries", + "episode": "episode_0000005", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_burger_fries/aloha_agilex/data/episode_0000005.hdf5", + "num_frames": 260, + "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": [ + 260, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 260, + 14 + ], + "action_shape": [ + 260, + 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": [ + "Using dual arms, lift the hamburg with uneven top and the red box with golden sticks and drop them on the plastic tray for carrying items.", + "Take the round, soft bread hamburg and the thin crispy potato fries together, then place them onto the tray for holding items.", + "Take the hamburg with patterned brown surface and the red box with golden sticks with both arms and set on the plastic tray for carrying items.", + "Lift the hamburg with white patches and the small red fries packet and position them on the beige tray.", + "Grab the brownish round hamburg and the rectangular red fries packet and position them on the light beige smooth tray.", + "Using both arms, set the smooth hamburg and the red fries packet onto the rectangular beige tray for objects.", + "Set the bread bun hamburg and the red container with yellow fries on the tray with smooth plastic surface using two arms.", + "Move the round hamburg and the small red fries packet with dual arms to the medium rectangular flat tray.", + "Lift the bread bun hamburg and the bright red fries holder simultaneously, then set both on the tray with rounded rectangular shape.", + "Transfer the bread bun hamburg and the red box with golden sticks to the beige tray with both arms", + "Pick the medium-sized hamburg, the rectangular red fries packet, and place them on the smooth light beige plastic tray using both arms.", + "Take the medium, squishy hamburg and the red fries packet to the tray with rounded rectangular shape and set them there.", + "Move the soft brown bread hamburg and the red box with golden sticks onto the medium beige tray with flat base with both arms.", + "Use both arms to transfer the smooth hamburg and the red container with yellow fries to the beige tray.", + "Use dual arms to grab the hamburg with uneven top and the small red fries packet and set them on the rectangular beige tray for objects.", + "Pick the light brown hamburg and the bright red fries holder at the same time, then place them on the smooth light beige plastic tray.", + "Using both arms, grab the brownish round hamburg and the McDonald's logo on red fries box for the tray with smooth plastic surface.", + "Place the round, soft bread hamburg and the bright red fries holder onto the smooth rectangular tray after picking them up.", + "Grab the round hamburg and the red fries packet simultaneously, then set them on the flat tray with rounded corners.", + "Move the brownish round hamburg and the crispy fries in hand-sized pouch to the tray for holding items with both arms", + "Position the light brown hamburg and the red container with yellow fries on the flat tray with rounded corners with both arms.", + "Grab the light brown hamburg and the rectangular red fries packet simultaneously, then set them on the tray with smooth plastic surface", + "Pick the hamburg with white patches and the red box with golden sticks, and set them on the plastic tray for carrying items.", + "Pick up the bread bun hamburg and the red box with golden sticks simultaneously, then place them on the medium beige tray with flat base", + "With dual arms, move the medium-sized hamburg and the red container with yellow fries onto the flat tray with rounded corners.", + "Using both arms, pick the brownish round hamburg and the McDonald's fries bag and drop them on the tray with smooth plastic surface.", + "Use both arms to move the hamburg with patterned brown surface and the red container with yellow fries to the medium rectangular flat tray.", + "Move the medium-sized hamburg and the small red fries packet to the flat tray with rounded corners using both arms.", + "Use dual arms to place the round hamburg and the red container with yellow fries onto the medium beige tray with flat base", + "Place both the hamburg with uneven top and the McDonald's fries bag on the medium rectangular flat tray after grabbing them with both arms.", + "Place the light brown hamburg and the rectangular red fries packet on the rectangular beige tray for objects after picking them up.", + "Set the medium, squishy hamburg and the crispy fries in hand-sized pouch down on the rectangular beige tray for objects after picking them.", + "Grab the hamburg with patterned brown surface and the thin crispy potato fries simultaneously, then set both onto the flat tray with rounded corners.", + "Using dual arms, move the brownish round hamburg and the red fries packet onto the smooth light beige plastic tray.", + "With two arms, pick the hamburg with uneven top and the crispy fries in hand-sized pouch for the tray with smooth plastic surface.", + "Lift the hamburg with patterned brown surface and the golden fries in smooth red pouch, placing them neatly on the beige tray.", + "Pick up the medium, squishy hamburg and the red box with golden sticks together and place them on the flat tray with rounded corners.", + "Place the medium-sized hamburg and the red box with golden sticks together onto the tray for holding items.", + "Lift the brownish round hamburg and the red fries packet, position them on the medium rectangular flat tray", + "Pick up the brownish round hamburg and the crispy fries in hand-sized pouch simultaneously, then place them onto the tray with smooth plastic surface.", + "Take the round, soft bread hamburg and the red container with yellow fries, place them onto the rectangular beige tray for objects.", + "Pick up the hamburg with uneven top and the thin crispy potato fries, then put them on the flat tray with rounded corners", + "Use dual arms to move the smooth hamburg and the rectangular red fries packet onto the tray for holding items", + "Lift the bread bun hamburg and the red fries packet with separate arms and place them on the medium beige tray with flat base.", + "Grab the medium-sized hamburg and the red box with golden sticks, then put them on the tray with smooth plastic surface.", + "Pick up the hamburg with uneven top and the McDonald's logo on red fries box, then put both on the medium rectangular flat tray.", + "Place the brownish round hamburg and the golden fries in smooth red pouch onto the smooth rectangular tray using dual arms", + "Grab the smooth hamburg and the thin crispy potato fries, use both arms to set on the light beige smooth tray.", + "Put the hamburg with white patches and the rectangular red fries packet on the medium rectangular flat tray using both arms", + "Grab the hamburg with patterned brown surface with one arm and the red fries packet with the other for the plastic tray for carrying items.", + "Using dual arms, lift the soft brown bread hamburg and the small red fries packet and drop them on the rectangular beige tray for objects.", + "Take the light brown hamburg and the golden fries in red packaging together, then place them onto the beige tray.", + "Take the hamburg with patterned brown surface and the red fries packet with both arms and set on the smooth rectangular tray.", + "Lift the hamburg with patterned brown surface and the McDonald's fries bag and position them on the tray for holding items.", + "Grab the hamburg with uneven top and the thin crispy potato fries and position them on the flat tray with rounded corners.", + "Using both arms, set the hamburg with uneven top and the McDonald's fries bag onto the light beige smooth tray.", + "Set the hamburg with uneven top and the McDonald's logo on red fries box on the medium rectangular flat tray using two arms.", + "Move the hamburg with uneven top and the thin crispy potato fries with dual arms to the medium rectangular flat tray.", + "Lift the soft brown bread hamburg and the McDonald's fries bag simultaneously, then set both on the tray for holding items.", + "Transfer the light brown hamburg and the McDonald's fries bag to the rectangular beige tray for objects with both arms", + "Pick the round hamburg, the crispy fries in hand-sized pouch, and place them on the medium beige tray with flat base using both arms.", + "Take the medium-sized hamburg and the red container with yellow fries to the smooth light beige plastic tray and set them there.", + "Move the bread bun hamburg and the red fries packet onto the medium rectangular flat tray with both arms.", + "Use both arms to transfer the round hamburg and the golden fries in red packaging to the beige tray.", + "Use dual arms to grab the smooth hamburg and the McDonald's fries bag and set them on the light beige smooth tray.", + "Pick the soft brown bread hamburg and the golden fries in smooth red pouch at the same time, then place them on the light beige smooth tray.", + "Using both arms, grab the medium, squishy hamburg and the golden fries in red packaging for the flat tray with rounded corners.", + "Place the brownish round hamburg and the small red fries packet onto the medium beige tray with flat base after picking them up.", + "Grab the smooth hamburg and the bright red fries holder simultaneously, then set them on the smooth light beige plastic tray.", + "Move the hamburg with white patches and the small red fries packet to the tray with rounded rectangular shape with both arms", + "Position the soft brown bread hamburg and the golden fries in red packaging on the tray with rounded rectangular shape with both arms.", + "Grab the round, soft bread hamburg and the crispy fries in hand-sized pouch simultaneously, then set them on the tray with smooth plastic surface", + "Pick the hamburg with uneven top and the rectangular red fries packet, and set them on the tray with smooth plastic surface.", + "Pick up the hamburg with patterned brown surface and the McDonald's logo on red fries box simultaneously, then place them on the tray with rounded rectangular shape", + "With dual arms, move the brownish round hamburg and the McDonald's logo on red fries box onto the medium beige tray with flat base.", + "Using both arms, pick the brownish round hamburg and the McDonald's fries bag and drop them on the smooth light beige plastic tray.", + "Use both arms to move the soft brown bread hamburg and the red fries packet to the tray with rounded rectangular shape.", + "Move the round, soft bread hamburg and the red fries packet to the smooth light beige plastic tray using both arms.", + "Use dual arms to place the brownish round hamburg and the golden fries in red packaging onto the flat tray with rounded corners", + "Place both the smooth hamburg and the red fries packet on the plastic tray for carrying items after grabbing them with both arms.", + "Place the round, soft bread hamburg and the thin crispy potato fries on the smooth light beige plastic tray after picking them up.", + "Set the medium-sized hamburg and the red fries packet down on the light beige smooth tray after picking them.", + "Grab the brownish round hamburg and the crispy fries in hand-sized pouch simultaneously, then set both onto the tray with smooth plastic surface.", + "Using dual arms, move the bread bun hamburg and the small red fries packet onto the smooth rectangular tray.", + "With two arms, pick the brownish round hamburg and the thin crispy potato fries for the tray with rounded rectangular shape.", + "Lift the round hamburg and the McDonald's logo on red fries box, placing them neatly on the smooth light beige plastic tray.", + "Pick up the soft brown bread hamburg and the thin crispy potato fries together and place them on the smooth light beige plastic tray.", + "Place the medium, squishy hamburg and the red box with golden sticks together onto the medium beige tray with flat base.", + "Lift the medium, squishy hamburg and the golden fries in smooth red pouch, position them on the tray for holding items", + "Pick up the brownish round hamburg and the McDonald's logo on red fries box simultaneously, then place them onto the beige tray.", + "Take the medium-sized hamburg and the red box with golden sticks, place them onto the medium rectangular flat tray.", + "Pick up the round hamburg and the McDonald's logo on red fries box, then put them on the smooth rectangular tray", + "Use dual arms to move the round, soft bread hamburg and the McDonald's logo on red fries box onto the tray with rounded rectangular shape", + "Lift the round, soft bread hamburg and the McDonald's logo on red fries box with separate arms and place them on the beige tray.", + "Grab the medium, squishy hamburg and the small red fries packet, then put them on the medium beige tray with flat base.", + "Pick up the hamburg with white patches and the thin crispy potato fries, then put both on the flat tray with rounded corners.", + "Place the medium, squishy hamburg and the crispy fries in hand-sized pouch onto the tray with smooth plastic surface using dual arms", + "Grab the hamburg with patterned brown surface and the thin crispy potato fries, use both arms to set on the medium beige tray with flat base.", + "Put the medium, squishy hamburg and the small red fries packet on the plastic tray for carrying items using both arms", + "Grab the bread bun hamburg with one arm and the small red fries packet with the other for the flat tray with rounded corners." + ] +} diff --git a/place_burger_fries/episode_0000013/TCP_third/metadata.json b/place_burger_fries/episode_0000013/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..9a1cb32c4cf98d1a97c32a062ce64e750d510703 --- /dev/null +++ b/place_burger_fries/episode_0000013/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 258, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_burger_fries/episode_0000033/TCP_head/metadata.json b/place_burger_fries/episode_0000033/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..77af539cadb9d77ad72380f5cf6916e0b7d5240e --- /dev/null +++ b/place_burger_fries/episode_0000033/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 271, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_burger_fries/episode_0000033/TCP_third/metadata.json b/place_burger_fries/episode_0000033/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..149053dadb5c6d5cee4160417d48c43cb0c77243 --- /dev/null +++ b/place_burger_fries/episode_0000033/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 271, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_burger_fries/episode_0000033/metadata.json b/place_burger_fries/episode_0000033/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7ac01ce07c9f43bb975e133a8cfb498658cd9b20 --- /dev/null +++ b/place_burger_fries/episode_0000033/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_burger_fries", + "episode": "episode_0000033", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_burger_fries/aloha_agilex/data/episode_0000033.hdf5", + "num_frames": 271, + "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": [ + 271, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 271, + 14 + ], + "action_shape": [ + 271, + 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": [ + "Pick the white hamburg with creased wrapper and the Handheld fries pack bright red color at the same time, then place them on the flat tray with smooth surface.", + "Move the yellow and brown patterned hamburg and the Palm-sized red fries container to the rectangular plastic tray using both arms.", + "Take the white hamburg with yellow and brown stains and the Potato fries packaged in red carton, place them onto the brown tray.", + "Pick up the yellow and brown patterned hamburg and the Small red box fries inside simultaneously, then place them on the rectangular plastic tray", + "Grab the rectangular hamburg wrap with printed design with one arm and the Potato fries packaged in red carton with the other for the flat brown tray with raised edges.", + "Put the hamburg with yellow and brown marks and the Golden fries sticks in red carton on the rectangular tray using both arms", + "Position the hamburg with yellow and brown marks and the Potato fries packaged in red carton on the brown tray with both arms.", + "Use dual arms to grab the white hamburg and the Potato fries packaged in red carton and set them on the smooth plastic tray.", + "Lift the hamburg with printed illustrations and the Palm-sized red fries container with separate arms and place them on the tray for holding things.", + "Use both arms to move the white hamburg and the Light yellow fries in red holder to the rectangular tray.", + "Grab the white hamburg with yellow and brown stains and the Potato fries packaged in red carton, then put them on the smooth plastic tray.", + "Using both arms, set the white hamburg and the Rectangular red carton holding fries onto the flat brown tray with raised edges.", + "Take the wrapped hamburg with white plastic-like cover and the Bright red box with fries inside with both arms and set on the medium-sized dark brown tray.", + "With dual arms, move the hamburg with printed illustrations and the Palm-sized red fries container onto the tray with slightly raised edges.", + "Place the smooth white hamburg wrap with yellow spots and the Open-top red box filled with fries on the medium-sized dark brown tray after picking them up.", + "Take the rectangular hamburg wrap with printed design and the Bright red box with fries inside to the brown tray and set them there.", + "Use dual arms to move the white hamburg with yellow and brown stains and the Rectangular red carton holding fries onto the brown tray with rim", + "Pick up the wrapped hamburg with white plastic-like cover and the Rectangular red carton holding fries simultaneously, then place them onto the medium-sized dark brown tray.", + "Lift the white hamburg and the Open-top red box filled with fries, position them on the brown tray", + "Place the wrapped hamburg with white plastic-like cover and the Light yellow fries in red holder onto the brown tray with rim using dual arms", + "Pick up the hamburg with printed illustrations and the Palm-sized red fries container, then put them on the dark rectangular serving tray", + "Take the rectangular hamburg wrap with printed design and the Red fries box together, then place them onto the medium dark brown tray.", + "Using dual arms, lift the hamburg with yellow and brown marks and the Red fries box and drop them on the dark rectangular serving tray.", + "Pick the rectangular hamburg wrap with printed design and the Bright red box with fries inside, and set them on the tray with slightly raised edges.", + "Move the white hamburg with creased wrapper and the Bright red box with fries inside onto the rectangular plastic tray with both arms.", + "Using both arms, grab the rectangular hamburg wrap with printed design and the Palm-sized red fries container for the tray with slightly raised edges.", + "Grab the rectangular hamburg wrap with printed design and the Red fries box simultaneously, then set them on the dark rectangular serving tray.", + "Pick up the hamburg with yellow and brown marks and the Handheld fries pack bright red color, then put both on the medium-sized dark brown tray.", + "Use both arms to transfer the hamburg with crumpled edges and the Open-top red box filled with fries to the medium-sized dark brown tray.", + "Pick up the smooth white hamburg wrap with yellow spots and the Red fries box together and place them on the flat tray with smooth surface.", + "Place both the palm-sized hamburg packaging and the Bright red box with fries inside on the rectangular tray after grabbing them with both arms.", + "Grab the white hamburg and the Golden fries crispy red package container simultaneously, then set them on the flat brown tray with raised edges", + "Using dual arms, move the white hamburg and the Golden fries sticks in red carton onto the brown tray with rim.", + "Move the wrapped hamburg with white plastic-like cover and the Potato fries packaged in red carton to the medium dark brown tray with both arms", + "Using both arms, pick the white hamburg with creased wrapper and the Open-top red box filled with fries and drop them on the tray for holding things.", + "Lift the hamburg with crumpled edges and the Light yellow fries in red holder simultaneously, then set both on the tray with slightly raised edges.", + "Place the white hamburg with creased wrapper and the Palm-sized red fries container onto the rectangular plastic tray after picking them up.", + "Place the rectangular hamburg wrap with printed design and the Small red box fries inside together onto the medium-sized dark brown tray.", + "Pick the wrapped hamburg with white plastic-like cover, the Palm-sized red fries container, and place them on the smooth plastic tray using both arms.", + "Transfer the white hamburg with creased wrapper and the Golden fries sticks in red carton to the smooth plastic tray with both arms", + "Grab the white hamburg with creased wrapper and the Palm-sized red fries container and position them on the rectangular tray.", + "With two arms, pick the smooth white hamburg packaging and the Open-top red box filled with fries for the flat brown tray with raised edges.", + "Grab the palm-sized hamburg packaging and the Light yellow fries in red holder, use both arms to set on the medium dark brown tray.", + "Set the hamburg with crumpled edges and the French fries in red packaging down on the tray with slightly raised edges after picking them.", + "Lift the smooth white hamburg wrap with yellow spots and the Light yellow fries in red holder and position them on the brown tray.", + "Set the rectangular hamburg wrap with printed design and the Palm-sized red fries container on the tray with slightly raised edges using two arms.", + "Move the white hamburg with creased wrapper and the Potato fries packaged in red carton with dual arms to the rectangular plastic tray.", + "Use dual arms to place the white hamburg with creased wrapper and the Golden fries crispy red package container onto the medium-sized dark brown tray", + "Grab the hamburg with yellow and brown marks and the Light yellow fries in red holder simultaneously, then set both onto the tray for holding things.", + "Lift the white hamburg with creased wrapper and the Potato fries packaged in red carton, placing them neatly on the rectangular tray.", + "Pick the hamburg with printed illustrations and the Small red box fries inside at the same time, then place them on the brown tray with rim.", + "Move the smooth white hamburg packaging and the Handheld fries pack bright red color to the medium-sized dark brown tray using both arms.", + "Take the yellow and brown patterned hamburg and the Bright red box with fries inside, place them onto the tray with slightly raised edges.", + "Pick up the smooth white hamburg wrap with yellow spots and the Palm-sized red fries container simultaneously, then place them on the flat brown tray with raised edges", + "Grab the rectangular hamburg wrap with printed design with one arm and the Golden fries crispy red package container with the other for the flat brown tray with raised edges.", + "Put the hamburg with crumpled edges and the Rectangular red carton holding fries on the flat tray with smooth surface using both arms", + "Position the smooth white hamburg packaging and the Bright red box with fries inside on the medium dark brown tray with both arms.", + "Use dual arms to grab the wrapped hamburg with white plastic-like cover and the French fries in red packaging and set them on the rectangular tray.", + "Lift the white hamburg and the Small red box fries inside with separate arms and place them on the medium dark brown tray.", + "Use both arms to move the hamburg with yellow and brown marks and the Golden fries crispy red package container to the flat brown tray with raised edges.", + "Grab the yellow and brown patterned hamburg and the Bright red box with fries inside, then put them on the smooth plastic tray.", + "Using both arms, set the palm-sized hamburg packaging and the Rectangular red carton holding fries onto the brown tray with rim.", + "Take the white hamburg with yellow and brown stains and the Golden fries sticks in red carton with both arms and set on the medium dark brown tray.", + "With dual arms, move the wrapped hamburg with white plastic-like cover and the Bright red box with fries inside onto the dark rectangular serving tray.", + "Place the hamburg with printed illustrations and the Open-top red box filled with fries on the brown tray with rim after picking them up.", + "Take the hamburg with printed illustrations and the Golden fries sticks in red carton to the medium dark brown tray and set them there.", + "Use dual arms to move the smooth white hamburg packaging and the Open-top red box filled with fries onto the flat tray with smooth surface", + "Pick up the smooth white hamburg packaging and the Golden fries sticks in red carton simultaneously, then place them onto the rectangular tray.", + "Lift the rectangular hamburg wrap with printed design and the Golden fries sticks in red carton, position them on the rectangular tray", + "Place the wrapped hamburg with white plastic-like cover and the Open-top red box filled with fries onto the brown tray with rim using dual arms", + "Pick up the white hamburg with yellow and brown stains and the Bright red box with fries inside, then put them on the smooth plastic tray", + "Take the wrapped hamburg with white plastic-like cover and the Golden fries sticks in red carton together, then place them onto the smooth plastic tray.", + "Using dual arms, lift the smooth white hamburg wrap with yellow spots and the Golden fries sticks in red carton and drop them on the rectangular plastic tray.", + "Pick the smooth white hamburg packaging and the Handheld fries pack bright red color, and set them on the dark rectangular serving tray.", + "Move the smooth white hamburg packaging and the Golden fries sticks in red carton onto the brown tray with both arms.", + "Using both arms, grab the hamburg with yellow and brown marks and the Light yellow fries in red holder for the dark rectangular serving tray.", + "Grab the hamburg with printed illustrations and the Bright red box with fries inside simultaneously, then set them on the rectangular tray.", + "Pick up the hamburg with printed illustrations and the Palm-sized red fries container, then put both on the flat brown tray with raised edges.", + "Use both arms to transfer the hamburg with printed illustrations and the Light yellow fries in red holder to the rectangular plastic tray.", + "Pick up the hamburg with yellow and brown marks and the Open-top red box filled with fries together and place them on the tray for holding things.", + "Place both the hamburg with crumpled edges and the Rectangular red carton holding fries on the flat brown tray with raised edges after grabbing them with both arms.", + "Grab the white hamburg with creased wrapper and the French fries in red packaging simultaneously, then set them on the tray with slightly raised edges", + "Using dual arms, move the hamburg with crumpled edges and the Golden fries sticks in red carton onto the flat brown tray with raised edges.", + "Move the hamburg with crumpled edges and the Red fries box to the rectangular plastic tray with both arms", + "Using both arms, pick the wrapped hamburg with white plastic-like cover and the Golden fries crispy red package container and drop them on the tray for holding things.", + "Lift the white hamburg with creased wrapper and the Rectangular red carton holding fries simultaneously, then set both on the flat tray with smooth surface.", + "Place the smooth white hamburg packaging and the Palm-sized red fries container onto the dark rectangular serving tray after picking them up.", + "Place the white hamburg with yellow and brown stains and the Handheld fries pack bright red color together onto the tray with slightly raised edges.", + "Pick the yellow and brown patterned hamburg, the Palm-sized red fries container, and place them on the flat tray with smooth surface using both arms.", + "Transfer the smooth white hamburg packaging and the Golden fries sticks in red carton to the dark rectangular serving tray with both arms", + "Grab the smooth white hamburg packaging and the Handheld fries pack bright red color and position them on the brown tray.", + "With two arms, pick the white hamburg with yellow and brown stains and the Bright red box with fries inside for the tray with slightly raised edges.", + "Grab the hamburg with printed illustrations and the Red fries box, use both arms to set on the flat tray with smooth surface.", + "Set the white hamburg with creased wrapper and the Light yellow fries in red holder down on the flat tray with smooth surface after picking them.", + "Lift the white hamburg and the Small red box fries inside and position them on the rectangular tray.", + "Set the white hamburg and the Small red box fries inside on the tray for holding things using two arms.", + "Move the smooth white hamburg wrap with yellow spots and the French fries in red packaging with dual arms to the dark rectangular serving tray.", + "Use dual arms to place the smooth white hamburg packaging and the Potato fries packaged in red carton onto the brown tray", + "Grab the hamburg with printed illustrations and the French fries in red packaging simultaneously, then set both onto the brown tray with rim.", + "Lift the hamburg with crumpled edges and the Golden fries sticks in red carton, placing them neatly on the flat tray with smooth surface." + ] +} diff --git a/place_burger_fries/episode_0000035/TCP_head/metadata.json b/place_burger_fries/episode_0000035/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..48df450b38d450181083bcf165202fa472d0432f --- /dev/null +++ b/place_burger_fries/episode_0000035/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 259, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_burger_fries/episode_0000035/metadata.json b/place_burger_fries/episode_0000035/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ce7a58828886fecfe1f27c01ecbb9aee45da0775 --- /dev/null +++ b/place_burger_fries/episode_0000035/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_burger_fries", + "episode": "episode_0000035", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_burger_fries/aloha_agilex/data/episode_0000035.hdf5", + "num_frames": 259, + "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": [ + 259, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 259, + 14 + ], + "action_shape": [ + 259, + 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": [ + "Using both arms, set the white hamburg with yellow and brown stains and the golden fries in red packaging onto the flat tray with smooth surface.", + "Use dual arms to place the white hamburg with creased wrapper and the red fries packet onto the brown tray", + "Use dual arms to grab the white hamburg and the thin crispy potato fries and set them on the rectangular plastic tray.", + "Move the hamburg with crumpled edges and the red box with golden sticks with dual arms to the rectangular tray.", + "Grab the wrapped hamburg with white plastic-like cover and the small red fries packet simultaneously, then set both onto the rectangular plastic tray.", + "Pick up the white hamburg with creased wrapper and the thin crispy potato fries together and place them on the medium-sized dark brown tray.", + "Lift the smooth white hamburg wrap with yellow spots and the red fries packet simultaneously, then set both on the dark rectangular serving tray.", + "Place the yellow and brown patterned hamburg and the red fries packet on the tray with slightly raised edges after picking them up.", + "Take the white hamburg with yellow and brown stains and the bright red fries holder together, then place them onto the brown tray.", + "Pick up the white hamburg with yellow and brown stains and the thin crispy potato fries simultaneously, then place them on the brown tray", + "Pick up the smooth white hamburg packaging and the McDonald's fries bag, then put both on the medium-sized dark brown tray.", + "With two arms, pick the hamburg with printed illustrations and the red fries packet for the flat tray with smooth surface.", + "Using dual arms, move the white hamburg with creased wrapper and the rectangular red fries packet onto the medium-sized dark brown tray.", + "Transfer the white hamburg with creased wrapper and the bright red fries holder to the medium dark brown tray with both arms", + "Set the smooth white hamburg wrap with yellow spots and the red container with yellow fries down on the tray for holding things after picking them.", + "Pick up the white hamburg with creased wrapper and the red fries packet simultaneously, then place them onto the dark rectangular serving tray.", + "Grab the rectangular hamburg wrap with printed design and the crispy fries in hand-sized pouch simultaneously, then set them on the smooth plastic tray", + "Grab the hamburg with crumpled edges and the red box with golden sticks simultaneously, then set them on the flat brown tray with raised edges.", + "Grab the rectangular hamburg wrap with printed design and the bright red fries holder and position them on the medium dark brown tray.", + "Place the yellow and brown patterned hamburg and the golden fries in smooth red pouch onto the tray with slightly raised edges after picking them up.", + "Using both arms, pick the wrapped hamburg with white plastic-like cover and the crispy fries in hand-sized pouch and drop them on the brown tray.", + "Put the white hamburg and the McDonald's logo on red fries box on the flat brown tray with raised edges using both arms", + "Take the white hamburg with yellow and brown stains and the thin crispy potato fries with both arms and set on the brown tray with rim.", + "Pick the smooth white hamburg wrap with yellow spots and the red box with golden sticks at the same time, then place them on the flat tray with smooth surface.", + "Use both arms to transfer the rectangular hamburg wrap with printed design and the golden fries in red packaging to the rectangular plastic tray.", + "Lift the white hamburg and the golden fries in smooth red pouch, placing them neatly on the tray for holding things.", + "Place the rectangular hamburg wrap with printed design and the thin crispy potato fries onto the medium dark brown tray using dual arms", + "Lift the white hamburg and the rectangular red fries packet and position them on the medium-sized dark brown tray.", + "With dual arms, move the wrapped hamburg with white plastic-like cover and the bright red fries holder onto the tray with slightly raised edges.", + "Using both arms, grab the white hamburg and the golden fries in smooth red pouch for the tray for holding things.", + "Set the smooth white hamburg wrap with yellow spots and the red box with golden sticks on the smooth plastic tray using two arms.", + "Using dual arms, lift the smooth white hamburg wrap with yellow spots and the thin crispy potato fries and drop them on the smooth plastic tray.", + "Pick the wrapped hamburg with white plastic-like cover and the small red fries packet, and set them on the tray with slightly raised edges.", + "Use both arms to move the hamburg with crumpled edges and the red container with yellow fries to the rectangular plastic tray.", + "Grab the smooth white hamburg wrap with yellow spots and the crispy fries in hand-sized pouch, use both arms to set on the brown tray.", + "Move the hamburg with crumpled edges and the small red fries packet to the rectangular plastic tray using both arms.", + "Pick the white hamburg with creased wrapper, the small red fries packet, and place them on the flat brown tray with raised edges using both arms.", + "Use dual arms to move the hamburg with crumpled edges and the golden fries in red packaging onto the tray with slightly raised edges", + "Lift the hamburg with crumpled edges and the red container with yellow fries, position them on the tray with slightly raised edges", + "Take the white hamburg with yellow and brown stains and the rectangular red fries packet, place them onto the smooth plastic tray.", + "Grab the wrapped hamburg with white plastic-like cover and the red fries packet, then put them on the dark rectangular serving tray.", + "Position the rectangular hamburg wrap with printed design and the McDonald's fries bag on the flat brown tray with raised edges with both arms.", + "Place both the white hamburg and the rectangular red fries packet on the brown tray with rim after grabbing them with both arms.", + "Move the hamburg with crumpled edges and the thin crispy potato fries to the medium-sized dark brown tray with both arms", + "Place the hamburg with printed illustrations and the red container with yellow fries together onto the rectangular plastic tray.", + "Move the white hamburg with yellow and brown stains and the red box with golden sticks onto the flat brown tray with raised edges with both arms.", + "Lift the rectangular hamburg wrap with printed design and the crispy fries in hand-sized pouch with separate arms and place them on the dark rectangular serving tray.", + "Pick up the smooth white hamburg wrap with yellow spots and the rectangular red fries packet, then put them on the rectangular tray", + "Grab the wrapped hamburg with white plastic-like cover with one arm and the red container with yellow fries with the other for the medium-sized dark brown tray.", + "Take the palm-sized hamburg packaging and the golden fries in red packaging to the medium-sized dark brown tray and set them there.", + "Using both arms, set the hamburg with printed illustrations and the red fries packet onto the tray with slightly raised edges.", + "Use dual arms to place the smooth white hamburg packaging and the red box with golden sticks onto the rectangular tray", + "Use dual arms to grab the yellow and brown patterned hamburg and the McDonald's fries bag and set them on the dark rectangular serving tray.", + "Move the wrapped hamburg with white plastic-like cover and the crispy fries in hand-sized pouch with dual arms to the smooth plastic tray.", + "Grab the hamburg with printed illustrations and the golden fries in red packaging simultaneously, then set both onto the rectangular plastic tray.", + "Pick up the hamburg with printed illustrations and the rectangular red fries packet together and place them on the flat tray with smooth surface.", + "Lift the smooth white hamburg packaging and the red box with golden sticks simultaneously, then set both on the flat tray with smooth surface.", + "Place the yellow and brown patterned hamburg and the golden fries in smooth red pouch on the tray with slightly raised edges after picking them up.", + "Take the yellow and brown patterned hamburg and the crispy fries in hand-sized pouch together, then place them onto the tray with slightly raised edges.", + "Pick up the white hamburg with creased wrapper and the red container with yellow fries simultaneously, then place them on the dark rectangular serving tray", + "Pick up the white hamburg and the red container with yellow fries, then put both on the tray with slightly raised edges.", + "With two arms, pick the hamburg with crumpled edges and the crispy fries in hand-sized pouch for the flat tray with smooth surface.", + "Using dual arms, move the white hamburg with yellow and brown stains and the red fries packet onto the tray with slightly raised edges.", + "Transfer the white hamburg with creased wrapper and the rectangular red fries packet to the rectangular tray with both arms", + "Set the white hamburg and the McDonald's logo on red fries box down on the flat brown tray with raised edges after picking them.", + "Pick up the hamburg with crumpled edges and the red container with yellow fries simultaneously, then place them onto the rectangular plastic tray.", + "Grab the white hamburg and the red container with yellow fries simultaneously, then set them on the tray for holding things", + "Grab the white hamburg with yellow and brown stains and the bright red fries holder simultaneously, then set them on the flat tray with smooth surface.", + "Grab the hamburg with yellow and brown marks and the red box with golden sticks and position them on the brown tray with rim.", + "Place the hamburg with yellow and brown marks and the small red fries packet onto the smooth plastic tray after picking them up.", + "Using both arms, pick the hamburg with printed illustrations and the McDonald's logo on red fries box and drop them on the brown tray.", + "Put the smooth white hamburg wrap with yellow spots and the red fries packet on the tray with slightly raised edges using both arms", + "Take the white hamburg with yellow and brown stains and the golden fries in smooth red pouch with both arms and set on the tray with slightly raised edges.", + "Pick the white hamburg with creased wrapper and the red fries packet at the same time, then place them on the flat brown tray with raised edges.", + "Use both arms to transfer the wrapped hamburg with white plastic-like cover and the crispy fries in hand-sized pouch to the rectangular plastic tray.", + "Lift the hamburg with printed illustrations and the bright red fries holder, placing them neatly on the medium dark brown tray.", + "Place the smooth white hamburg packaging and the red container with yellow fries onto the dark rectangular serving tray using dual arms", + "Lift the hamburg with yellow and brown marks and the golden fries in red packaging and position them on the flat tray with smooth surface.", + "With dual arms, move the wrapped hamburg with white plastic-like cover and the crispy fries in hand-sized pouch onto the tray with slightly raised edges.", + "Using both arms, grab the hamburg with crumpled edges and the McDonald's logo on red fries box for the tray with slightly raised edges.", + "Set the yellow and brown patterned hamburg and the McDonald's fries bag on the rectangular tray using two arms.", + "Using dual arms, lift the yellow and brown patterned hamburg and the McDonald's fries bag and drop them on the rectangular tray.", + "Pick the white hamburg with yellow and brown stains and the red container with yellow fries, and set them on the dark rectangular serving tray.", + "Use both arms to move the hamburg with crumpled edges and the thin crispy potato fries to the tray with slightly raised edges.", + "Grab the palm-sized hamburg packaging and the crispy fries in hand-sized pouch, use both arms to set on the rectangular plastic tray.", + "Move the white hamburg and the thin crispy potato fries to the brown tray using both arms.", + "Pick the white hamburg, the crispy fries in hand-sized pouch, and place them on the medium dark brown tray using both arms.", + "Use dual arms to move the hamburg with printed illustrations and the small red fries packet onto the dark rectangular serving tray", + "Lift the rectangular hamburg wrap with printed design and the small red fries packet, position them on the brown tray", + "Take the hamburg with yellow and brown marks and the rectangular red fries packet, place them onto the rectangular tray.", + "Grab the rectangular hamburg wrap with printed design and the crispy fries in hand-sized pouch, then put them on the brown tray with rim.", + "Position the hamburg with crumpled edges and the thin crispy potato fries on the flat tray with smooth surface with both arms.", + "Place both the smooth white hamburg packaging and the McDonald's logo on red fries box on the brown tray with rim after grabbing them with both arms.", + "Move the palm-sized hamburg packaging and the red box with golden sticks to the flat tray with smooth surface with both arms", + "Place the hamburg with crumpled edges and the crispy fries in hand-sized pouch together onto the tray with slightly raised edges.", + "Move the yellow and brown patterned hamburg and the rectangular red fries packet onto the flat tray with smooth surface with both arms.", + "Lift the white hamburg with yellow and brown stains and the golden fries in red packaging with separate arms and place them on the flat brown tray with raised edges.", + "Pick up the smooth white hamburg packaging and the red box with golden sticks, then put them on the tray for holding things", + "Grab the smooth white hamburg wrap with yellow spots with one arm and the McDonald's fries bag with the other for the brown tray with rim.", + "Take the white hamburg with yellow and brown stains and the golden fries in red packaging to the smooth plastic tray and set them there." + ] +} diff --git a/place_burger_fries/episode_0000036/TCP_head/metadata.json b/place_burger_fries/episode_0000036/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..841c6ec16836139c64e3128cab6d3f20b20d016c --- /dev/null +++ b/place_burger_fries/episode_0000036/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 258, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_burger_fries/episode_0000036/metadata.json b/place_burger_fries/episode_0000036/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc2682387943ecd3838828786d5b8482d7b7abf --- /dev/null +++ b/place_burger_fries/episode_0000036/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_burger_fries", + "episode": "episode_0000036", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_burger_fries/aloha_agilex/data/episode_0000036.hdf5", + "num_frames": 258, + "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": [ + 258, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 258, + 14 + ], + "action_shape": [ + 258, + 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": [ + "Place the hamburg box with rounded edges and the Open-top red box filled with fries onto the bright orange tray with glossy finish after picking them up.", + "Set the hamburg box with rounded edges and the Bright red box with fries inside down on the bright orange rectangular tray after picking them.", + "Move the yellow bottom hamburg box and the Red fries box to the orange tray with smooth surface with both arms", + "Lift the hamburg box with lid and the Golden fries crispy red package container, placing them neatly on the orange tray.", + "Pick the box with green hamburg lid, the French fries in red packaging, and place them on the medium-sized plastic tray using both arms.", + "Grab the yellow and green hamburg holder and the French fries in red packaging, use both arms to set on the bright orange tray with glossy finish.", + "Lift the rectangular hamburg box and the Open-top red box filled with fries and position them on the rectangular tray.", + "Place the yellow bottom hamburg box and the Red fries box together onto the bright orange rectangular tray.", + "Lift the rectangular hamburg container with smooth finish and the Red fries box with separate arms and place them on the medium-sized plastic tray.", + "Grab the smooth hamburg box and the Rectangular red carton holding fries simultaneously, then set both onto the plastic tray with shiny texture.", + "Using dual arms, lift the rectangular hamburg container with smooth finish and the Handheld fries pack bright red color and drop them on the bright orange rectangular tray.", + "Pick the small hamburg box and the Bright red box with fries inside, and set them on the smooth plastic tray.", + "Lift the hamburg box with rounded edges and the Handheld fries pack bright red color simultaneously, then set both on the bright orange tray for serving.", + "Using both arms, set the hamburg box with lid and the Potato fries packaged in red carton onto the smooth plastic tray.", + "Put the small hamburg box and the Light yellow fries in red holder on the bright orange tray for serving using both arms", + "Pick up the yellow bottom hamburg box and the Golden fries crispy red package container together and place them on the rectangular tray.", + "Grab the rectangular hamburg box with one arm and the Palm-sized red fries container with the other for the smooth plastic tray.", + "Grab the yellow and green hamburg holder and the Bright red box with fries inside simultaneously, then set them on the orange tray", + "Take the yellow bottom hamburg box and the Palm-sized red fries container with both arms and set on the orange tray.", + "Pick up the green and yellow hamburg container and the Small red box fries inside simultaneously, then place them onto the orange tray with smooth surface.", + "Using dual arms, move the rectangular hamburg box and the Light yellow fries in red holder onto the bright orange rectangular tray.", + "Use dual arms to place the small hamburg box and the French fries in red packaging onto the bright orange tray with glossy finish", + "Lift the box with green hamburg lid and the Small red box fries inside, position them on the bright orange rectangular tray", + "Pick up the yellow and green hamburg holder and the Handheld fries pack bright red color, then put both on the medium bright orange tray.", + "Take the rectangular hamburg container with smooth finish and the Red fries box, place them onto the plastic tray with shiny texture.", + "Use both arms to transfer the green top hamburg box and the Open-top red box filled with fries to the plastic tray with shiny texture.", + "Pick the rectangular hamburg container with smooth finish and the Golden fries sticks in red carton at the same time, then place them on the plastic tray for holding items.", + "Set the rectangular hamburg box and the Light yellow fries in red holder on the smooth plastic tray using two arms.", + "Position the small hamburg box and the Open-top red box filled with fries on the medium-sized plastic tray with both arms.", + "Move the green top hamburg box and the Bright red box with fries inside onto the rectangular tray with both arms.", + "Pick up the green and yellow hamburg container and the Golden fries crispy red package container simultaneously, then place them on the plastic tray with shiny texture", + "Take the rectangular hamburg container with smooth finish and the Red fries box to the medium-sized plastic tray and set them there.", + "Use dual arms to grab the box with green hamburg lid and the Small red box fries inside and set them on the bright orange tray with glossy finish.", + "Place the rectangular hamburg box and the Small red box fries inside on the bright orange rectangular tray after picking them up.", + "Use dual arms to move the small hamburg box and the Small red box fries inside onto the plastic tray with shiny texture", + "With dual arms, move the yellow bottom hamburg box and the Bright red box with fries inside onto the medium-sized plastic tray.", + "Pick up the hamburg box with rounded edges and the Rectangular red carton holding fries, then put them on the orange tray with smooth surface", + "Move the rectangular hamburg container with smooth finish and the Bright red box with fries inside to the plastic tray with shiny texture using both arms.", + "Take the rectangular hamburg box and the Bright red box with fries inside together, then place them onto the plastic tray for holding items.", + "Use both arms to move the hamburg box with rounded edges and the Golden fries sticks in red carton to the smooth plastic tray.", + "Grab the rectangular hamburg box and the Bright red box with fries inside, then put them on the bright orange rectangular tray.", + "With two arms, pick the rectangular hamburg container with smooth finish and the Open-top red box filled with fries for the plastic tray with shiny texture.", + "Using both arms, grab the easy-to-carry hamburg box and the Golden fries sticks in red carton for the bright orange rectangular tray.", + "Grab the green and yellow hamburg container and the Red fries box simultaneously, then set them on the bright orange tray for serving.", + "Using both arms, pick the green and yellow hamburg container and the Rectangular red carton holding fries and drop them on the medium bright orange tray.", + "Place the small hamburg box and the Small red box fries inside onto the bright orange tray with glossy finish using dual arms", + "Place both the smooth hamburg box and the Handheld fries pack bright red color on the smooth plastic tray after grabbing them with both arms.", + "Transfer the green top hamburg box and the Open-top red box filled with fries to the smooth plastic tray with both arms", + "Grab the hamburg box with lid and the Handheld fries pack bright red color and position them on the bright orange tray for serving.", + "Move the rectangular hamburg box and the Potato fries packaged in red carton with dual arms to the smooth plastic tray.", + "Place the green and yellow hamburg container and the Small red box fries inside onto the plastic tray for holding items after picking them up.", + "Set the smooth hamburg box and the Open-top red box filled with fries down on the orange tray after picking them.", + "Move the smooth hamburg box and the Open-top red box filled with fries to the medium bright orange tray with both arms", + "Lift the yellow and green hamburg holder and the Small red box fries inside, placing them neatly on the orange tray with smooth surface.", + "Pick the box with green hamburg lid, the Rectangular red carton holding fries, and place them on the bright orange tray for serving using both arms.", + "Grab the hamburg box with lid and the Bright red box with fries inside, use both arms to set on the smooth plastic tray.", + "Lift the yellow bottom hamburg box and the Golden fries sticks in red carton and position them on the smooth glossy orange medium tray.", + "Place the box with green hamburg lid and the Golden fries crispy red package container together onto the bright orange tray for serving.", + "Lift the small hamburg box and the Handheld fries pack bright red color with separate arms and place them on the smooth plastic tray.", + "Grab the hamburg box with lid and the Rectangular red carton holding fries simultaneously, then set both onto the orange tray with smooth surface.", + "Using dual arms, lift the smooth hamburg box and the Golden fries crispy red package container and drop them on the plastic tray for holding items.", + "Pick the green and yellow hamburg container and the Potato fries packaged in red carton, and set them on the rectangular tray.", + "Lift the box with green hamburg lid and the Bright red box with fries inside simultaneously, then set both on the plastic tray with shiny texture.", + "Using both arms, set the yellow bottom hamburg box and the Light yellow fries in red holder onto the plastic tray for holding items.", + "Put the hamburg box with rounded edges and the Light yellow fries in red holder on the medium bright orange tray using both arms", + "Pick up the easy-to-carry hamburg box and the Handheld fries pack bright red color together and place them on the plastic tray for holding items.", + "Grab the box with green hamburg lid with one arm and the Rectangular red carton holding fries with the other for the orange tray.", + "Grab the yellow and green hamburg holder and the Palm-sized red fries container simultaneously, then set them on the smooth plastic tray", + "Take the rectangular hamburg container with smooth finish and the Potato fries packaged in red carton with both arms and set on the orange tray with smooth surface.", + "Pick up the rectangular hamburg box and the Golden fries crispy red package container simultaneously, then place them onto the plastic tray with shiny texture.", + "Using dual arms, move the box with green hamburg lid and the Rectangular red carton holding fries onto the bright orange tray with glossy finish.", + "Use dual arms to place the rectangular hamburg box and the Red fries box onto the bright orange rectangular tray", + "Lift the yellow bottom hamburg box and the Small red box fries inside, position them on the medium-sized plastic tray", + "Pick up the smooth hamburg box and the Bright red box with fries inside, then put both on the bright orange rectangular tray.", + "Take the rectangular hamburg container with smooth finish and the Handheld fries pack bright red color, place them onto the plastic tray with shiny texture.", + "Use both arms to transfer the easy-to-carry hamburg box and the Light yellow fries in red holder to the bright orange tray with glossy finish.", + "Pick the rectangular hamburg box and the Open-top red box filled with fries at the same time, then place them on the plastic tray with shiny texture.", + "Set the hamburg box with lid and the Bright red box with fries inside on the medium bright orange tray using two arms.", + "Position the green top hamburg box and the Palm-sized red fries container on the medium-sized plastic tray with both arms.", + "Move the easy-to-carry hamburg box and the Golden fries sticks in red carton onto the smooth glossy orange medium tray with both arms.", + "Pick up the box with green hamburg lid and the Open-top red box filled with fries simultaneously, then place them on the plastic tray for holding items", + "Take the easy-to-carry hamburg box and the Golden fries sticks in red carton to the orange tray with smooth surface and set them there.", + "Use dual arms to grab the hamburg box with rounded edges and the Palm-sized red fries container and set them on the smooth glossy orange medium tray.", + "Place the yellow and green hamburg holder and the Palm-sized red fries container on the rectangular tray after picking them up.", + "Use dual arms to move the easy-to-carry hamburg box and the Potato fries packaged in red carton onto the medium-sized plastic tray", + "With dual arms, move the yellow bottom hamburg box and the Open-top red box filled with fries onto the smooth plastic tray.", + "Pick up the easy-to-carry hamburg box and the Bright red box with fries inside, then put them on the bright orange tray for serving", + "Move the rectangular hamburg container with smooth finish and the Rectangular red carton holding fries to the medium-sized plastic tray using both arms.", + "Take the yellow and green hamburg holder and the Small red box fries inside together, then place them onto the bright orange rectangular tray.", + "Use both arms to move the hamburg box with rounded edges and the Handheld fries pack bright red color to the bright orange rectangular tray.", + "Grab the rectangular hamburg container with smooth finish and the Rectangular red carton holding fries, then put them on the orange tray with smooth surface.", + "With two arms, pick the hamburg box with rounded edges and the Golden fries crispy red package container for the orange tray.", + "Using both arms, grab the hamburg box with lid and the Golden fries crispy red package container for the plastic tray with shiny texture.", + "Grab the hamburg box with rounded edges and the Rectangular red carton holding fries simultaneously, then set them on the plastic tray with shiny texture.", + "Using both arms, pick the yellow bottom hamburg box and the Red fries box and drop them on the plastic tray for holding items.", + "Place the box with green hamburg lid and the Open-top red box filled with fries onto the orange tray with smooth surface using dual arms", + "Place both the box with green hamburg lid and the French fries in red packaging on the orange tray with smooth surface after grabbing them with both arms.", + "Transfer the hamburg box with lid and the French fries in red packaging to the rectangular tray with both arms", + "Grab the yellow bottom hamburg box and the French fries in red packaging and position them on the bright orange rectangular tray.", + "Move the rectangular hamburg container with smooth finish and the Rectangular red carton holding fries with dual arms to the smooth plastic tray." + ] +} diff --git a/place_object_basket/episode_0000010/TCP_third/left_state.npy b/place_object_basket/episode_0000010/TCP_third/left_state.npy new file mode 100644 index 0000000000000000000000000000000000000000..7f0863b53edccdd55dfe0bff452944a9220368d1 --- /dev/null +++ b/place_object_basket/episode_0000010/TCP_third/left_state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:154ecfa09d7988cb305d86276e7582b94551aa0b280b525f2a7c0885cfc6d8bb +size 7296 diff --git a/place_object_basket/episode_0000010/TCP_third/right_state.npy b/place_object_basket/episode_0000010/TCP_third/right_state.npy new file mode 100644 index 0000000000000000000000000000000000000000..85477c33b7a2ff5ef1d693f775fb3e7d21da19da --- /dev/null +++ b/place_object_basket/episode_0000010/TCP_third/right_state.npy @@ -0,0 +1,3 @@ +version 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