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= 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/move_playingcard_away/episode_0000008/metadata.json b/move_playingcard_away/episode_0000008/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..95edd3305ed5fe45267f132f798ccf58e860fb48 --- /dev/null +++ b/move_playingcard_away/episode_0000008/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_playingcard_away", + "episode": "episode_0000008", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_playingcard_away/aloha_agilex/data/episode_0000008.hdf5", + "num_frames": 121, + "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": [ + 121, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 121, + 14 + ], + "action_shape": [ + 121, + 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": [ + "Use the right arm to pick up the black playing cards box and move it.", + "Pick up the small black box with cards using the right arm and shift it outward.", + "Lift the playing cards box with gold text and shift it outward.", + "Pick up the smooth black cards container and shift it further outward.", + "Grab the smooth black cards container and set it beyond the table.", + "Using the right arm, lift the rectangular box for card storage and move it outward.", + "Use the right arm to pick the rectangular box for card storage and shift it outward.", + "Grab the smooth black cards container and move it further outward.", + "Take the box with cards inside and push it further away.", + "Grab the small black box with cards using the right arm and move it outward.", + "Use the right arm to pick the smooth black cards container and move it outward.", + "Lift the box holding playing cards and push it off the table.", + "Relocate the black box with rectangular shape farther outward using the right arm.", + "Shift the rectangle-shaped cards box outward after grabbing it.", + "Lift the playing cards box with gold text and relocate it off the table.", + "Grab the rectangular box for card storage and take it away from the table.", + "Grab the box holding playing cards and move it further away.", + "Pick up the palm-sized box for playing cards and place it further away.", + "Grab the black box with rectangular shape using the right arm and push it outward.", + "Take the rectangle-shaped cards box and place it further outward.", + "Lift the rectangle-shaped cards box with the right arm and move it outward.", + "Move the cardboard playing cards box further outward after picking it up.", + "Pick up the black box with rectangular shape with the right arm and place it outward.", + "Move the box with cards inside outward from the table.", + "Lift the black box with rectangular shape and set it away from the table.", + "Pick the rectangular box for card storage and slide it further outward.", + "Place the smooth black cards container away from the table outward.", + "Grab the compact box for playing cards and shift it farther away from the table.", + "Shift the cardboard playing cards box outward by grabbing it with the right arm.", + "Pick the palm-sized box for playing cards from the table and shift it outward.", + "Lift the compact box for playing cards from the table and move it outward.", + "Pick up the cardboard playing cards box and move it away.", + "Move the playing cards box with gold text farther from the table using the right arm.", + "Lift the cardboard playing cards box using the right arm and transfer it outward.", + "Lift the rectangle-shaped cards box and slide it off the table.", + "Lift the black box with rectangular shape and place it farther away with the right arm.", + "Grab the playing cards box with gold text with the right arm and move it outward.", + "Move the rectangle-shaped cards box off the table outward.", + "With the right arm, pick up the box holding playing cards and slide it outward.", + "Use the right arm to pick up the rectangle-shaped cards box and push it outward.", + "Slide the black box with rectangular shape off the table outward.", + "Move the black playing cards box away from its position on the table.", + "Grab the box with cards inside from the table and shift it outward.", + "Pick up the cardboard playing cards box and move it farther outward.", + "Take the palm-sized box for playing cards and move it away from the table.", + "Use the right arm to grab the rectangle-shaped cards box and move it aside.", + "Use the right arm to grab the rectangle-shaped cards box and move it away.", + "Shift the playing cards box with gold text off the table to the side.", + "Take the rectangle-shaped cards box and place it beyond the table.", + "Pick the rectangle-shaped cards box and move it outward from the table.", + "Use the right arm to pick up the box with cards inside and move it.", + "Pick up the palm-sized box for playing cards using the right arm and shift it outward.", + "Lift the box with cards inside and shift it outward.", + "Pick up the black box with rectangular shape and shift it further outward.", + "Grab the black box with rectangular shape and set it beyond the table.", + "Using the right arm, lift the palm-sized box for playing cards and move it outward.", + "Use the right arm to pick the playing cards box with gold text and shift it outward.", + "Grab the small black box with cards and move it further outward.", + "Take the rectangle-shaped cards box and push it further away.", + "Grab the box holding playing cards using the right arm and move it outward.", + "Use the right arm to pick the playing cards box with gold text and move it outward.", + "Lift the rectangle-shaped cards box and push it off the table.", + "Relocate the palm-sized box for playing cards farther outward using the right arm.", + "Shift the rectangular box for card storage outward after grabbing it.", + "Lift the box with cards inside and relocate it off the table.", + "Grab the compact box for playing cards and take it away from the table.", + "Grab the black playing cards box and move it further away.", + "Pick up the rectangle-shaped cards box and place it further away.", + "Grab the compact box for playing cards using the right arm and push it outward.", + "Take the palm-sized box for playing cards and place it further outward.", + "Lift the palm-sized box for playing cards with the right arm and move it outward.", + "Move the rectangle-shaped cards box further outward after picking it up.", + "Pick up the compact box for playing cards with the right arm and place it outward.", + "Move the black playing cards box outward from the table.", + "Lift the cardboard playing cards box and set it away from the table.", + "Pick the rectangular box for card storage and slide it further outward.", + "Place the rectangular box for card storage away from the table outward.", + "Grab the playing cards box with gold text and shift it farther away from the table.", + "Shift the smooth black cards container outward by grabbing it with the right arm.", + "Pick the compact box for playing cards from the table and shift it outward.", + "Lift the cardboard playing cards box from the table and move it outward.", + "Pick up the box holding playing cards and move it away.", + "Move the small black box with cards farther from the table using the right arm.", + "Lift the box holding playing cards using the right arm and transfer it outward.", + "Lift the smooth black cards container and slide it off the table.", + "Lift the compact box for playing cards and place it farther away with the right arm.", + "Grab the compact box for playing cards with the right arm and move it outward.", + "Move the playing cards box with gold text off the table outward.", + "With the right arm, pick up the black box with rectangular shape and slide it outward.", + "Use the right arm to pick up the palm-sized box for playing cards and push it outward.", + "Slide the smooth black cards container off the table outward.", + "Move the rectangle-shaped cards box away from its position on the table.", + "Grab the smooth black cards container from the table and shift it outward.", + "Pick up the black box with rectangular shape and move it farther outward.", + "Take the black box with rectangular shape and move it away from the table.", + "Use the right arm to grab the box with cards inside and move it aside.", + "Use the right arm to grab the box holding playing cards and move it away.", + "Shift the cardboard playing cards box off the table to the side.", + "Take the cardboard playing cards box and place it beyond the table.", 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"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/stack_blocks_two/episode_0000045/TCP_head/metadata.json b/stack_blocks_two/episode_0000045/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7567eead46a87681b9a822dbb123c4a89f0aa5cc --- /dev/null +++ b/stack_blocks_two/episode_0000045/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 333, + 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/stack_blocks_two/episode_0000045/metadata.json b/stack_blocks_two/episode_0000045/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b5685cda0aecfe0b000091bc44cd3c0b037ee6 --- /dev/null +++ b/stack_blocks_two/episode_0000045/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "stack_blocks_two", + "episode": "episode_0000045", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_two/aloha_agilex/data/episode_0000045.hdf5", + "num_frames": 333, + "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": [ + 333, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 333, + 14 + ], + "action_shape": [ + 333, + 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": [ + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block at the center and stack green block above it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block at the center and stack green block above it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to center red block, then stack green block with the right arm." + ] +} diff --git a/stack_bowls_three/episode_0000047/TCP_head/metadata.json b/stack_bowls_three/episode_0000047/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..57f9717ea8496761cfaa6deb25096ac7de62297a --- /dev/null +++ b/stack_bowls_three/episode_0000047/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 513, + 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/stack_bowls_three/episode_0000047/metadata.json b/stack_bowls_three/episode_0000047/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f4d429dcca30d9bc529b71912d2a4371a937f575 --- /dev/null +++ b/stack_bowls_three/episode_0000047/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "stack_bowls_three", + "episode": "episode_0000047", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_three/aloha_agilex/data/episode_0000047.hdf5", + "num_frames": 513, + "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": [ + 513, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 513, + 14 + ], + "action_shape": [ + 513, + 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": [ + "Position the rounded bowl with light blue color one on top of the other largest to smallest.", + "Arrange the bowl with shiny texture one on top of another.", + "Grab the ceramic bowl with earthy brown trim, arrange them vertically.", + "Lift each the curved bowl light blue shade and stack it over the previous one.", + "Place the first the dark inside bowl light blue outside, then align the others on top using the arm.", + "Take each the blue bowl with slightly rounded base and place them one by one on top.", + "Place three the ceramic bowl on top of each other.", + "Use arms to place each the ceramic bowl with earthy brown trim atop the previous one.", + "Place one the dark inside bowl light blue outside down and carefully stack the others above it.", + "Hold the ceramic bowl with earthy brown trim, place them one after another.", + "Carefully stack the rounded bowl with light blue color piece by piece.", + "Align bowls the blue bowl with slightly rounded base in descending size, forming a stack.", + "Organize bowls the small bowl with brown edge by stacking them in size order.", + "Stack the blue bowl without arms in a vertical sequence.", + "Stack the dark inside bowl light blue outside by arranging them sequentially.", + "Take the bottom the rounded bowl with light blue color and sequentially pile the other two above.", + "Align and stack the rounded bowl with light blue color step by step using arms.", + "Grab the first the medium-sized bowl for holding food, position the second, then add the third.", + "Stack all three the bowl with brown outer rim directly on top of each other.", + "Pick up each the blue bowl and set them one over another.", + "Stack all the small bowl with brown edge sequentially while handling one at a time.", + "Pick each the bowl with brown outer rim and stack them in order one on top of another.", + "Position the first the glazed bowl with curved sides, and sequentially add the two above it.", + "Place the bottom the small bowl with brown edge, then add the other two on top.", + "Arrange the small bowl with brown edge with the largest bowl at the base.", + "Align the second the rounded bowl with light blue color atop the first, then add the third above.", + "Start with the first the ceramic bowl, adding the next two in sequence.", + "Grab the bowl with brown outer rim, stack from largest at the base to the smallest.", + "Form a tower with bowls the glazed bowl with curved sides, placing smallest last.", + "Stack the curved bowl light blue shade from the base up to the top.", + "Place the first the glazed bowl with curved sides down, then stack the next two above it.", + "Take the glazed bowl with curved sides, stack them from bottom to top.", + "Arrange all three the blue bowl with slightly rounded base into a vertical stack.", + "Use the arm to stack the rounded bowl with light blue color one by one.", + "Stack all three the blue bowl with slightly rounded base by placing one on top of another.", + "Start with the bottom the rounded bowl with light blue color and finish stacking.", + "Place the first the medium-sized bowl for holding food down, then stack the remaining two.", + "Place the bowl with shiny texture in a stack with the largest at the foundation.", + "Stack the small bowl with brown edge sequentially using your arms.", + "Position the second the blue bowl over the first, then the third on top.", + "Grab a the ceramic bowl, set it down, and stack the rest on it.", + "Sequentially stack the curved bowl light blue shade using arms to align them.", + "Stack the bowl with brown outer rim, starting with the largest bowl at the bottom.", + "Start with one the curved bowl light blue shade, and stack the other two on top.", + "Place each the blue bowl on top of the previous one.", + "Arrange the three the ceramic bowl with earthy brown trim by stacking them one over the other.", + "Pick up the curved bowl light blue shade and stack them from biggest to smallest.", + "Place the bowls the dark inside bowl light blue outside in a stacking order.", + "Lift each the ceramic bowl with earthy brown trim and stack them together neatly.", + "Use arms to stack each the dark inside bowl light blue outside carefully.", + "Position the ceramic bowl one on top of the other largest to smallest.", + "Arrange the bowl with shiny texture one on top of another.", + "Grab the blue bowl, arrange them vertically.", + "Lift each the blue bowl and stack it over the previous one.", + "Place the first the small bowl with brown edge, then align the others on top using the arm.", + "Take each the bowl with shiny texture and place them one by one on top.", + "Place three the ceramic bowl on top of each other.", + "Use arms to place each the glazed bowl with curved sides atop the previous one.", + "Place one the blue bowl with slightly rounded base down and carefully stack the others above it.", + "Hold the glazed bowl with curved sides, place them one after another.", + "Carefully stack the glazed bowl with curved sides piece by piece.", + "Align bowls the bowl with brown outer rim in descending size, forming a stack.", + "Organize bowls the small bowl with brown edge by stacking them in size order.", + "Stack the dark inside bowl light blue outside without arms in a vertical sequence.", + "Stack the ceramic bowl by arranging them sequentially.", + "Take the bottom the glazed bowl with curved sides and sequentially pile the other two above.", + "Align and stack the bowl with brown outer rim step by step using arms.", + "Grab the first the bowl with shiny texture, position the second, then add the third.", + "Stack all three the glazed bowl with curved sides directly on top of each other.", + "Pick up each the glazed bowl with curved sides and set them one over another.", + "Stack all the rounded bowl with light blue color sequentially while handling one at a time.", + "Pick each the ceramic bowl and stack them in order one on top of another.", + "Position the first the glazed bowl with curved sides, and sequentially add the two above it.", + "Place the bottom the ceramic bowl, then add the other two on top.", + "Arrange the blue bowl with the largest bowl at the base.", + "Align the second the blue bowl atop the first, then add the third above.", + "Start with the first the bowl with brown outer rim, adding the next two in sequence.", + "Grab the blue bowl, stack from largest at the base to the smallest.", + "Form a tower with bowls the small bowl with brown edge, placing smallest last.", + "Stack the small bowl with brown edge from the base up to the top.", + "Place the first the bowl with brown outer rim down, then stack the next two above it.", + "Take the ceramic bowl, stack them from bottom to top.", + "Arrange all three the small bowl with brown edge into a vertical stack.", + "Use the arm to stack the glazed bowl with curved sides one by one.", + "Stack all three the ceramic bowl with earthy brown trim by placing one on top of another.", + "Start with the bottom the glazed bowl with curved sides and finish stacking.", + "Place the first the bowl with shiny texture down, then stack the remaining two.", + "Place the small bowl with brown edge in a stack with the largest at the foundation.", + "Stack the curved bowl light blue shade sequentially using your arms.", + "Position the second the glazed bowl with curved sides over the first, then the third on top.", + "Grab a the small bowl with brown edge, set it down, and stack the rest on it.", + "Sequentially stack the glazed bowl with curved sides using arms to align them.", + "Stack the blue bowl with slightly rounded base, starting with the largest bowl at the bottom.", + "Start with one the medium-sized bowl for holding food, and stack the other two on top.", + "Place each the dark inside bowl light blue outside on top of the previous one.", + "Arrange the three the small bowl with brown edge by stacking them one over the other.", + "Pick up the blue bowl with slightly rounded base and stack them from biggest to smallest.", + "Place the bowls the ceramic bowl in a stacking order.", + "Lift each the bowl with shiny texture and stack them together neatly.", + "Use arms to stack each the blue bowl with slightly rounded base carefully." + ] +}