diff --git a/beat_block_hammer/episode_0000002/TCP_head/metadata.json b/beat_block_hammer/episode_0000002/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..16792fe1482b905c32ca02334e998809013f5727 --- /dev/null +++ b/beat_block_hammer/episode_0000002/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 119, + 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/beat_block_hammer/episode_0000002/TCP_third/metadata.json b/beat_block_hammer/episode_0000002/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..15c747b3cc4e12b5450210bfb0bc9766c1f406de --- /dev/null +++ b/beat_block_hammer/episode_0000002/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 119, + 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/beat_block_hammer/episode_0000002/metadata.json b/beat_block_hammer/episode_0000002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2995184e9f50d8b0c9188d60d79cc636c722b2a7 --- /dev/null +++ b/beat_block_hammer/episode_0000002/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000002", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000002.hdf5", + "num_frames": 119, + "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": [ + 119, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 119, + 14 + ], + "action_shape": [ + 119, + 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 medium-sized metal hammer with the right arm and hit the block", + "Use the right arm to take the hammer for nails and strike", + "Use the handheld medium claw hammer to beat after grabbing with the right arm", + "With the right arm, grab the black and yellow hammer grip and beat the block.", + "Employ the right arm to grab the handheld medium claw hammer and hit.", + "Lift the yellow and black hammer grip and hit the block.", + "Grab the handheld medium claw hammer, then hit the block", + "Pick up the medium-sized metal hammer and strike the block", + "Grab the medium-sized metal hammer using the right arm, then beat the block", + "Lift the hammer with claw-shaped end using the right arm to hit the block.", + "Pick up the grippy handle hammer using the right arm then beat", + "Take the plastic handle metal hammer and beat the block", + "Grab the silver curved hammer head to beat the block.", + "With the right arm, grab the nail-driving hammer and hit the block", + "Pick up the yellow and black hammer grip using the right arm, hammer the block.", + "With the right arm, pick up the silver hammer and strike the block.", + "Lift the plastic handle metal hammer, then beat the block.", + "Use the hammer with claw-shaped end to hammer the block.", + "Use the right arm to grab the silver curved hammer head and beat", + "Lift the yellow and black hammer grip with the right arm then strike block", + "Grab the handheld medium claw hammer using the right arm and strike the block", + "Pick up the plastic handle metal hammer and use it on the block", + "Grab the medium-sized metal hammer with the right arm and beat the block.", + "Hold the black and yellow hammer grip then hit the block", + "Pick the grippy handle hammer and strike the block.", + "Grab the grippy handle hammer with the right arm and hit the block", + "Utilize the right arm to hold the handheld medium claw hammer and strike.", + "Pick the grippy handle hammer from the table and strike", + "Hold the handheld medium claw hammer and pound the block.", + "Pick the medium-sized metal hammer and smash the block", + "Take the black and yellow hammer grip using the right arm, hit the block.", + "Lift the handheld medium claw hammer and hit the block", + "Grab the silver hammer with the right arm and hit block", + "Grab the plastic handle metal hammer using the right arm then pound block", + "Grab the silver hammer and use it to hit", + "Grip the silver curved hammer head firmly and hit the block.", + "Pick up the hammer with claw-shaped end with the right arm, strike the block.", + "Take the nail-driving hammer and beat the block", + "Beat the block after grabbing the medium-sized metal hammer", + "Grab the hammer with claw-shaped end, then strike the block.", + "Take the nail-driving hammer and smash the block.", + "Use the right arm to grab the hammer for nails and beat block", + "Take the hammer with two-tone handle and hammer the block", + "With the right arm, grab the nail-driving hammer and hammer the block", + "Catch the hammer with two-tone handle and use it on the block.", + "Take the hammer with claw-shaped end and strike the block", + "Grab the black and yellow hammer grip with the right arm and strike block", + "Take the yellow and black hammer grip and strike the block", + "Make the right arm grab the nail-driving hammer and strike the block.", + "Grab the black and yellow hammer grip using the right arm and hit the block", + "Pick the hammer for nails with the right arm and hit the block", + "Use the right arm to take the nail-driving hammer and strike", + "Use the medium-sized metal hammer to beat after grabbing with the right arm", + "With the right arm, grab the black and yellow hammer grip and beat the block.", + "Employ the right arm to grab the handheld medium claw hammer and hit.", + "Lift the silver curved hammer head and hit the block.", + "Grab the yellow and black hammer grip, then hit the block", + "Pick up the hammer with two-tone handle and strike the block", + "Grab the yellow and black hammer grip using the right arm, then beat the block", + "Lift the hammer for nails using the right arm to hit the block.", + "Pick up the hammer for nails using the right arm then beat", + "Take the hammer with claw-shaped end and beat the block", + "Grab the hammer for nails to beat the block.", + "With the right arm, grab the handheld medium claw hammer and hit the block", + "Pick up the hammer with two-tone handle using the right arm, hammer the block.", + "With the right arm, pick up the black and yellow hammer grip and strike the block.", + "Lift the silver hammer, then beat the block.", + "Use the silver curved hammer head to hammer the block.", + "Use the right arm to grab the grippy handle hammer and beat", + "Lift the handheld medium claw hammer with the right arm then strike block", + "Grab the plastic handle metal hammer using the right arm and strike the block", + "Pick up the handheld medium claw hammer and use it on the block", + "Grab the handheld medium claw hammer with the right arm and beat the block.", + "Hold the yellow and black hammer grip then hit the block", + "Pick the grippy handle hammer and strike the block.", + "Grab the hammer for nails with the right arm and hit the block", + "Utilize the right arm to hold the plastic handle metal hammer and strike.", + "Pick the black and yellow hammer grip from the table and strike", + "Hold the black and yellow hammer grip and pound the block.", + "Pick the plastic handle metal hammer and smash the block", + "Take the black and yellow hammer grip using the right arm, hit the block.", + "Lift the hammer with two-tone handle and hit the block", + "Grab the silver curved hammer head with the right arm and hit block", + "Grab the black and yellow hammer grip using the right arm then pound block", + "Grab the yellow and black hammer grip and use it to hit", + "Grip the hammer with two-tone handle firmly and hit the block.", + "Pick up the handheld medium claw hammer with the right arm, strike the block.", + "Take the hammer for nails and beat the block", + "Beat the block after grabbing the hammer with two-tone handle", + "Grab the silver hammer, then strike the block.", + "Take the hammer for nails and smash the block.", + "Use the right arm to grab the plastic handle metal hammer and beat block", + "Take the yellow and black hammer grip and hammer the block", + "With the right arm, grab the yellow and black hammer grip and hammer the block", + "Catch the grippy handle hammer and use it on the block.", + "Take the hammer with claw-shaped end and strike the block", + "Grab the silver curved hammer head with the right arm and strike block", + "Take the nail-driving hammer and strike the block", + "Make the right arm grab the hammer with two-tone handle and strike the block.", + "Grab the silver hammer using the right arm and hit the block" + ] +} diff --git a/beat_block_hammer/episode_0000016/TCP_head/metadata.json b/beat_block_hammer/episode_0000016/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4e23a3a1bf0f166dcebc4bf1f11f4e11c6356979 --- /dev/null +++ b/beat_block_hammer/episode_0000016/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 122, + 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/beat_block_hammer/episode_0000016/metadata.json b/beat_block_hammer/episode_0000016/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f9caa7457e37618088b702b64c19033645fd4ceb --- /dev/null +++ b/beat_block_hammer/episode_0000016/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000016", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000016.hdf5", + "num_frames": 122, + "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": [ + 122, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 122, + 14 + ], + "action_shape": [ + 122, + 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 up the grippy handle hammer and use it on the block", + "Grab the black and yellow hammer grip using the right arm, then beat the block", + "With the right arm, grab the nail-driving hammer and hammer the block", + "Grab the yellow and black hammer grip with the right arm and hit block", + "Grab the hammer for nails to beat the block.", + "With the right arm, grab the hammer with claw-shaped end and beat the block.", + "Make the right arm grab the hammer with claw-shaped end and strike the block.", + "Grab the medium-sized metal hammer using the right arm and strike the block", + "Take the handheld medium claw hammer and smash the block.", + "Use the right arm to grab the yellow and black hammer grip and beat block", + "Utilize the right arm to hold the yellow and black hammer grip and strike.", + "Lift the silver curved hammer head, then beat the block.", + "Lift the silver curved hammer head with the right arm then strike block", + "Take the hammer with two-tone handle and beat the block", + "Grab the grippy handle hammer using the right arm then pound block", + "Hold the black and yellow hammer grip then hit the block", + "Grab the silver curved hammer head, then strike the block.", + "Use the right arm to take the hammer with two-tone handle and strike", + "Pick the hammer with claw-shaped end from the table and strike", + "Beat the block after grabbing the nail-driving hammer", + "Pick the nail-driving hammer with the right arm and hit the block", + "Take the black and yellow hammer grip and strike the block", + "With the right arm, grab the black and yellow hammer grip and hit the block", + "Lift the hammer for nails and hit the block.", + "Hold the medium-sized metal hammer and pound the block.", + "Take the nail-driving hammer and strike the block", + "Lift the medium-sized metal hammer using the right arm to hit the block.", + "Catch the yellow and black hammer grip and use it on the block.", + "Pick up the hammer with two-tone handle using the right arm then beat", + "Grab the grippy handle hammer, then hit the block", + "Pick the medium-sized metal hammer and smash the block", + "Use the right arm to grab the silver curved hammer head and beat", + "Employ the right arm to grab the yellow and black hammer grip and hit.", + "With the right arm, pick up the hammer with two-tone handle and strike the block.", + "Take the hammer with claw-shaped end and hammer the block", + "Take the silver curved hammer head using the right arm, hit the block.", + "Grab the handheld medium claw hammer with the right arm and beat the block.", + "Lift the black and yellow hammer grip and hit the block", + "Pick up the yellow and black hammer grip with the right arm, strike the block.", + "Grab the hammer with claw-shaped end with the right arm and strike block", + "Take the silver curved hammer head and beat the block", + "Grip the silver hammer firmly and hit the block.", + "Pick up the hammer for nails using the right arm, hammer the block.", + "Grab the nail-driving hammer with the right arm and hit the block", + "Grab the grippy handle hammer using the right arm and hit the block", + "Pick the black and yellow hammer grip and strike the block.", + "Use the yellow and black hammer grip to hammer the block.", + "Grab the yellow and black hammer grip and use it to hit", + "Use the silver hammer to beat after grabbing with the right arm", + "Pick up the plastic handle metal hammer and strike the block", + "Pick up the hammer with claw-shaped end and use it on the block", + "Grab the hammer with two-tone handle using the right arm, then beat the block", + "With the right arm, grab the black and yellow hammer grip and hammer the block", + "Grab the grippy handle hammer with the right arm and hit block", + "Grab the handheld medium claw hammer to beat the block.", + "With the right arm, grab the hammer for nails and beat the block.", + "Make the right arm grab the black and yellow hammer grip and strike the block.", + "Grab the grippy handle hammer using the right arm and strike the block", + "Take the silver curved hammer head and smash the block.", + "Use the right arm to grab the hammer with two-tone handle and beat block", + "Utilize the right arm to hold the hammer for nails and strike.", + "Lift the hammer for nails, then beat the block.", + "Lift the silver hammer with the right arm then strike block", + "Take the yellow and black hammer grip and beat the block", + "Grab the handheld medium claw hammer using the right arm then pound block", + "Hold the yellow and black hammer grip then hit the block", + "Grab the hammer with claw-shaped end, then strike the block.", + "Use the right arm to take the medium-sized metal hammer and strike", + "Pick the silver curved hammer head from the table and strike", + "Beat the block after grabbing the silver hammer", + "Pick the handheld medium claw hammer with the right arm and hit the block", + "Take the silver curved hammer head and strike the block", + "With the right arm, grab the black and yellow hammer grip and hit the block", + "Lift the hammer for nails and hit the block.", + "Hold the hammer with two-tone handle and pound the block.", + "Take the handheld medium claw hammer and strike the block", + "Lift the yellow and black hammer grip using the right arm to hit the block.", + "Catch the yellow and black hammer grip and use it on the block.", + "Pick up the grippy handle hammer using the right arm then beat", + "Grab the black and yellow hammer grip, then hit the block", + "Pick the medium-sized metal hammer and smash the block", + "Use the right arm to grab the hammer with claw-shaped end and beat", + "Employ the right arm to grab the hammer for nails and hit.", + "With the right arm, pick up the plastic handle metal hammer and strike the block.", + "Take the handheld medium claw hammer and hammer the block", + "Take the silver hammer using the right arm, hit the block.", + "Grab the silver hammer with the right arm and beat the block.", + "Lift the hammer with claw-shaped end and hit the block", + "Pick up the plastic handle metal hammer with the right arm, strike the block.", + "Grab the hammer with two-tone handle with the right arm and strike block", + "Take the grippy handle hammer and beat the block", + "Grip the nail-driving hammer firmly and hit the block.", + "Pick up the yellow and black hammer grip using the right arm, hammer the block.", + "Grab the yellow and black hammer grip with the right arm and hit the block", + "Grab the hammer for nails using the right arm and hit the block", + "Pick the silver curved hammer head and strike the block.", + "Use the medium-sized metal hammer to hammer the block.", + "Grab the hammer with two-tone handle and use it to hit", + "Use the hammer for nails to beat after grabbing with the right arm", + "Pick up the hammer with two-tone handle and strike the block" + ] +} diff --git a/beat_block_hammer/episode_0000045/TCP_head/metadata.json b/beat_block_hammer/episode_0000045/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e6674dbe1f5bc8963d8292954ccdbbfc241ac034 --- /dev/null +++ b/beat_block_hammer/episode_0000045/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 123, + 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/beat_block_hammer/episode_0000045/TCP_third/metadata.json b/beat_block_hammer/episode_0000045/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..339316c013c4fe6c4c56abf4c5ea6f24a1ed292e --- /dev/null +++ b/beat_block_hammer/episode_0000045/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 123, + 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/beat_block_hammer/episode_0000045/metadata.json b/beat_block_hammer/episode_0000045/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..67910e0e428c2100b2206c1451dacf7f947383c1 --- /dev/null +++ b/beat_block_hammer/episode_0000045/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000045", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000045.hdf5", + "num_frames": 123, + "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": [ + 123, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 123, + 14 + ], + "action_shape": [ + 123, + 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": [ + "Take the plastic handle metal hammer and smash the block.", + "Use the right arm to take the silver curved hammer head and strike", + "Grab the yellow and black hammer grip using the right arm, then beat the block", + "Grab the hammer with two-tone handle with the right arm and hit the block", + "Use the right arm to grab the plastic handle metal hammer and beat", + "Take the black and yellow hammer grip and beat the block", + "Grab the hammer for nails, then strike the block.", + "Grab the black and yellow hammer grip using the right arm and strike the block", + "Pick the hammer for nails with the right arm and hit the block", + "Grab the hammer for nails, then hit the block", + "Take the plastic handle metal hammer and strike the block", + "Use the right arm to grab the hammer with two-tone handle and beat block", + "Use the hammer with claw-shaped end to hammer the block.", + "Pick the hammer with two-tone handle from the table and strike", + "Lift the hammer with two-tone handle and hit the block", + "Catch the nail-driving hammer and use it on the block.", + "Pick up the yellow and black hammer grip and strike the block", + "Lift the medium-sized metal hammer and hit the block.", + "Hold the plastic handle metal hammer then hit the block", + "With the right arm, grab the silver hammer and beat the block.", + "Take the black and yellow hammer grip and beat the block", + "Pick up the nail-driving hammer using the right arm, hammer the block.", + "Make the right arm grab the silver hammer and strike the block.", + "Grab the yellow and black hammer grip with the right arm and strike block", + "Pick up the silver hammer and use it on the block", + "Beat the block after grabbing the medium-sized metal hammer", + "Lift the plastic handle metal hammer, then beat the block.", + "Utilize the right arm to hold the nail-driving hammer and strike.", + "Lift the yellow and black hammer grip with the right arm then strike block", + "Use the yellow and black hammer grip to beat after grabbing with the right arm", + "With the right arm, pick up the hammer with claw-shaped end and strike the block.", + "Grab the silver hammer to beat the block.", + "Grip the hammer for nails firmly and hit the block.", + "Grab the hammer with two-tone handle with the right arm and hit block", + "Pick up the silver hammer using the right arm then beat", + "Grab the black and yellow hammer grip using the right arm and hit the block", + "Pick the silver curved hammer head and smash the block", + "Pick the silver curved hammer head and strike the block.", + "Take the medium-sized metal hammer and hammer the block", + "With the right arm, grab the nail-driving hammer and hit the block", + "Grab the hammer with claw-shaped end with the right arm and beat the block.", + "Grab the grippy handle hammer and use it to hit", + "Take the hammer with two-tone handle and strike the block", + "Employ the right arm to grab the medium-sized metal hammer and hit.", + "Lift the handheld medium claw hammer using the right arm to hit the block.", + "Pick up the grippy handle hammer with the right arm, strike the block.", + "Grab the plastic handle metal hammer using the right arm then pound block", + "Take the hammer with claw-shaped end using the right arm, hit the block.", + "With the right arm, grab the plastic handle metal hammer and hammer the block", + "Hold the hammer with claw-shaped end and pound the block.", + "Take the hammer with claw-shaped end and smash the block.", + "Use the right arm to take the hammer for nails and strike", + "Grab the hammer for nails using the right arm, then beat the block", + "Grab the hammer for nails with the right arm and hit the block", + "Use the right arm to grab the hammer for nails and beat", + "Take the handheld medium claw hammer and beat the block", + "Grab the silver curved hammer head, then strike the block.", + "Grab the hammer for nails using the right arm and strike the block", + "Pick the black and yellow hammer grip with the right arm and hit the block", + "Grab the hammer with claw-shaped end, then hit the block", + "Take the plastic handle metal hammer and strike the block", + "Use the right arm to grab the black and yellow hammer grip and beat block", + "Use the plastic handle metal hammer to hammer the block.", + "Pick the hammer with two-tone handle from the table and strike", + "Lift the nail-driving hammer and hit the block", + "Catch the black and yellow hammer grip and use it on the block.", + "Pick up the silver curved hammer head and strike the block", + "Lift the silver hammer and hit the block.", + "Hold the hammer for nails then hit the block", + "With the right arm, grab the yellow and black hammer grip and beat the block.", + "Take the nail-driving hammer and beat the block", + "Pick up the hammer with two-tone handle using the right arm, hammer the block.", + "Make the right arm grab the handheld medium claw hammer and strike the block.", + "Grab the silver curved hammer head with the right arm and strike block", + "Pick up the medium-sized metal hammer and use it on the block", + "Beat the block after grabbing the nail-driving hammer", + "Lift the hammer with claw-shaped end, then beat the block.", + "Utilize the right arm to hold the black and yellow hammer grip and strike.", + "Lift the hammer with claw-shaped end with the right arm then strike block", + "Use the hammer with two-tone handle to beat after grabbing with the right arm", + "With the right arm, pick up the hammer with claw-shaped end and strike the block.", + "Grab the medium-sized metal hammer to beat the block.", + "Grip the nail-driving hammer firmly and hit the block.", + "Grab the nail-driving hammer with the right arm and hit block", + "Pick up the black and yellow hammer grip using the right arm then beat", + "Grab the handheld medium claw hammer using the right arm and hit the block", + "Pick the hammer with claw-shaped end and smash the block", + "Pick the hammer for nails and strike the block.", + "Take the hammer with two-tone handle and hammer the block", + "With the right arm, grab the hammer with two-tone handle and hit the block", + "Grab the medium-sized metal hammer with the right arm and beat the block.", + "Grab the hammer with claw-shaped end and use it to hit", + "Take the silver hammer and strike the block", + "Employ the right arm to grab the hammer with two-tone handle and hit.", + "Lift the black and yellow hammer grip using the right arm to hit the block.", + "Pick up the silver curved hammer head with the right arm, strike the block.", + "Grab the hammer for nails using the right arm then pound block", + "Take the medium-sized metal hammer using the right arm, hit the block.", + "With the right arm, grab the plastic handle metal hammer and hammer the block", + "Hold the grippy handle hammer and pound the block." + ] +} diff --git a/click_bell/episode_0000027/TCP_head/metadata.json b/click_bell/episode_0000027/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa9813ccf95d4d0aac46ebabc0c85065dc7a9b1 --- /dev/null +++ b/click_bell/episode_0000027/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 83, + 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_bell/episode_0000027/TCP_third/metadata.json b/click_bell/episode_0000027/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ef252c549699def3a54dae037979af2a961e06e5 --- /dev/null +++ b/click_bell/episode_0000027/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 83, + 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_bell/episode_0000027/metadata.json b/click_bell/episode_0000027/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..68f73e0d1d086481ecc7fd4a9a63466847098f09 --- /dev/null +++ b/click_bell/episode_0000027/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000027", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000027.hdf5", + "num_frames": 83, + "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": [ + 83, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 83, + 14 + ], + "action_shape": [ + 83, + 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": [ + "Click the top center of the small blue and brown bell on table.", + "Push the center of the smooth blue bell using the right arm.", + "Use the right arm to press the smooth blue bell's top section.", + "Locate the bell with brown base and click its top center.", + "Tap the round bell's top center with the right arm.", + "Press the center of the bell with brown base using the right arm.", + "Press the specified top area of the brown-bottomed bell.", + "Pinpoint the blue dome-shaped bell and click its top center.", + "Guide the right arm to click the compact bell with round base's top center.", + "Press the center top of the small blue and brown bell.", + "Activate the smooth blue bell by pressing its top center.", + "Use the right arm to touch the round bell's top center.", + "Press the blue bell's top center on the table.", + "Click the smooth blue bell's top center using the right arm.", + "Press the top center of the bell with protruding knob on table.", + "Make the right arm interact with the flat-topped bell's top center.", + "Ask the right arm to interact with the blue bell's top.", + "Direct the right arm to touch the flat-topped bell's top.", + "Click using the right arm on the compact bell with round base's center.", + "Press down the top of the small blue and brown bell using the right arm.", + "Direct the right arm to click the top of the flat-topped bell.", + "Click the bell with circular body's using the right arm", + "Command the right arm to press the bell with circular body's top.", + "Tap the top center of the metal bell with plastic parts.", + "Tap the bell with brown base's top center with the right arm.", + "Have the right arm click at the bell with brown base's top center.", + "Press the blue bell's top center with the right arm firmly.", + "Click the designated center of the metal bell with plastic parts.", + "Push the bell with protruding knob's on the table", + "Click the bell with circular body at its top center on table.", + "Press down the flat-topped bell's top center gently.", + "Click the top center of the metal bell with plastic parts on table.", + "Push the center of the small blue and brown bell using the right arm.", + "Use the right arm to press the blue bell's top section.", + "Locate the bell with brown base and click its top center.", + "Tap the blue bell's top center with the right arm.", + "Press the center of the blue dome-shaped bell using the right arm.", + "Press the specified top area of the smooth blue bell.", + "Pinpoint the brown-bottomed bell and click its top center.", + "Guide the right arm to click the smooth blue bell's top center.", + "Press the center top of the metal bell with plastic parts.", + "Activate the smooth blue bell by pressing its top center.", + "Use the right arm to touch the small blue and brown bell's top center.", + "Press the metal bell with plastic parts's top center on the table.", + "Click the blue dome-shaped bell's top center using the right arm.", + "Press the top center of the blue dome-shaped bell on table.", + "Make the right arm interact with the blue bell's top center.", + "Ask the right arm to interact with the bell with circular body's top.", + "Direct the right arm to touch the bell with brown base's top.", + "Click using the right arm on the round bell's center.", + "Press down the top of the bell with circular body using the right arm.", + "Direct the right arm to click the top of the compact bell with round base.", + "Click the compact bell with round base's using the right arm", + "Command the right arm to press the brown-bottomed bell's top.", + "Tap the top center of the compact bell with round base.", + "Tap the flat-topped bell's top center with the right arm.", + "Have the right arm click at the metal bell with plastic parts's top center.", + "Press the blue bell's top center with the right arm firmly.", + "Click the designated center of the bell with brown base.", + "Push the compact bell with round base's on the table", + "Click the small blue and brown bell at its top center on table.", + "Press down the bell with circular body's top center gently.", + "Click the top center of the blue bell on table.", + "Push the center of the bell with brown base using the right arm.", + "Use the right arm to press the compact bell with round base's top section.", + "Locate the metal bell with plastic parts and click its top center.", + "Tap the bell with protruding knob's top center with the right arm.", + "Press the center of the bell with brown base using the right arm.", + "Press the specified top area of the small blue and brown bell.", + "Pinpoint the brown-bottomed bell and click its top center.", + "Guide the right arm to click the blue bell's top center.", + "Press the center top of the smooth blue bell.", + "Activate the flat-topped bell by pressing its top center.", + "Use the right arm to touch the flat-topped bell's top center.", + "Press the small blue and brown bell's top center on the table.", + "Click the bell with protruding knob's top center using the right arm.", + "Press the top center of the bell with protruding knob on table.", + "Make the right arm interact with the bell with brown base's top center.", + "Ask the right arm to interact with the bell with circular body's top.", + "Direct the right arm to touch the round bell's top.", + "Click using the right arm on the flat-topped bell's center.", + "Press down the top of the smooth blue bell using the right arm.", + "Direct the right arm to click the top of the smooth blue bell.", + "Click the blue bell's using the right arm", + "Command the right arm to press the smooth blue bell's top.", + "Tap the top center of the small blue and brown bell.", + "Tap the bell with brown base's top center with the right arm.", + "Have the right arm click at the metal bell with plastic parts's top center.", + "Press the blue dome-shaped bell's top center with the right arm firmly.", + "Click the designated center of the bell with brown base.", + "Push the bell with circular body's on the table", + "Click the flat-topped bell at its top center on table.", + "Press down the bell with protruding knob's top center gently.", + "Click the top center of the bell with brown base on table.", + "Push the center of the flat-topped bell using the right arm.", + "Use the right arm to press the bell with brown base's top section.", + "Locate the metal bell with plastic parts and click its top center.", + "Tap the blue bell's top center with the right arm.", + "Press the center of the smooth blue bell using the right arm.", + "Press the specified top area of the small blue and brown bell." + ] +} diff --git a/click_bell/episode_0000029/TCP_third/metadata.json b/click_bell/episode_0000029/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..26f64d362e864446a7b53221e213bb76e4d0895b --- /dev/null +++ b/click_bell/episode_0000029/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/move_can_pot/episode_0000004/TCP_head/metadata.json b/move_can_pot/episode_0000004/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..db5fa31100b161346a45ea384cdeb577384f3223 --- /dev/null +++ b/move_can_pot/episode_0000004/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 157, + 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/move_can_pot/episode_0000004/TCP_third/metadata.json b/move_can_pot/episode_0000004/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8cccab38e66574762e6b7d043297a675aaa32272 --- /dev/null +++ b/move_can_pot/episode_0000004/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 157, + 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/move_can_pot/episode_0000004/metadata.json b/move_can_pot/episode_0000004/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7c5f099c2ddc6d5880f6e1962acfd15a5f953ba4 --- /dev/null +++ b/move_can_pot/episode_0000004/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000004", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000004.hdf5", + "num_frames": 157, + "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": [ + 157, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 157, + 14 + ], + "action_shape": [ + 157, + 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 left arm to move the smooth sauce can beside the cooking pot with two handles", + "Use the left arm to take the sauce can with flat top to the kitchenpot with plastic knob on lid", + "Set the medium-sized red sauce can right next to the blue-lid kitchenpot", + "Lift the medium-sized red sauce can, then place it next to the kitchenpot with plastic knob on lid", + "Set the sauce can with white details near the blue-lid kitchenpot after picking it up", + "Move the smooth sauce can to the gray cylindrical pot with the left arm", + "Pick the sauce can with flat top and position it next to the round blue-lid kitchenpot for stovetop", + "Lift the cylindrical sauce can and set it next to the metal kitchenpot with brown handles", + "Use the left arm to grab the red sauce can for holding condiments, move it beside the blue-lid kitchenpot", + "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot with brown handles", + "Using the left arm, lift the medium-sized red sauce can and place it by the gray pot with blue circular lid", + "Place the red sauce can for holding condiments beside the gray pot with blue circular lid after picking it up", + "Use the left arm to grab the smooth sauce can and move it next to the metal pot with dark handles", + "Bring the sauce can with flat top over and set it near the blue-lid kitchenpot", + "Pick the red can with gold patterns with the left arm and relocate it near the cooking pot with two handles", + "Take the sauce can with flat top to the gray pot with blue circular lid using the left arm", + "Take the red cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot", + "Move the red plastic sauce can from its spot to near the metal pot with dark handles", + "Grab the red sauce can, move it to the kitchenpot with plastic knob on lid's side", + "Use the left arm to lift the red cylindrical sauce can and place it next to the gray cylindrical pot", + "Lift the medium-sized red sauce can, place it by the gray cylindrical pot", + "Lift the red cylindrical sauce can using the left arm and position it by the kitchenpot with plastic knob on lid", + "Use the left arm to lift the red sauce can, then move it next to the matte gray pot with durable lid", + "With the left arm, grab the red plastic sauce can and move to the pots for boiling and cooking", + "Grab the medium-sized red sauce can, shift it, and place it close to the kitchenpot with plastic knob on lid", + "Pick up the sauce can with flat top using the left arm, transfer it beside the blue kitchenpot lid with black knob", + "Grab the cylindrical sauce can with the left arm and move it close to the round blue-lid kitchenpot for stovetop", + "Pick up the red plastic sauce can and put it beside the gray kitchenpot", + "Move the red and gold sauce can beside the matte gray pot with durable lid after lifting it", + "Use the left arm to lift the red cylindrical sauce can and place it near the kitchenpot with plastic knob on lid", + "Use the left arm to grab the sauce can with white details and transfer it near the cooking pot with two handles", + "Pick up the red sauce can for holding condiments with the left arm and set by the pots for boiling and cooking", + "Grab the red and gold sauce can and move it close to the round blue-lid kitchenpot for stovetop", + "Move the red cylindrical sauce can to be next to the metal pot with dark handles", + "Pick the medium-sized red sauce can up and move it next to the blue-lid kitchenpot", + "Lift the red can with gold patterns and move it near the metal pot with dark handles", + "Place the sauce can with flat top next to the metal kitchenpot with brown handles", + "Grab the smooth sauce can with the left arm and position it beside the cooking pot with two handles", + "Grab the red plastic sauce can with the left arm and set it near the kitchenpot with plastic knob on lid", + "Pick the red can with gold patterns up with the left arm then place near the metal pot with dark handles", + "Use the left arm to pick the red plastic sauce can up and set it beside the gray cylindrical pot", + "Lift the red and gold sauce can and set it beside the cooking pot with two handles", + "Grab the red cylindrical sauce can, move it, and place by the round blue-lid kitchenpot for stovetop", + "Pick the red cylindrical sauce can up and carefully position it beside the pots for boiling and cooking", + "Lift the red and gold sauce can using the left arm and drop it beside the cooking pot with two handles", + "Lift the cylindrical sauce can and place it next to the gray kitchenpot", + "Lift the smooth sauce can and set it next to the round blue-lid kitchenpot for stovetop", + "Use the left arm to pick the sauce can with flat top, position it near the gray kitchenpot", + "Take the sauce can with flat bottom using the left arm, set it next to the kitchenpot with plastic knob on lid", + "Use the left arm to grab the red and gold sauce can and move it beside the pots for boiling and cooking", + "Use the left arm to move the red plastic sauce can beside the blue kitchenpot lid with black knob", + "Use the left arm to take the sauce can with flat top to the blue kitchenpot lid with black knob", + "Set the red sauce can for holding condiments right next to the metal kitchenpot with brown handles", + "Lift the sauce can with flat bottom, then place it next to the cooking pot with two handles", + "Set the smooth sauce can near the kitchenpot with plastic knob on lid after picking it up", + "Move the smooth sauce can to the cooking pot with two handles with the left arm", + "Pick the sauce can with flat bottom and position it next to the gray pot with blue circular lid", + "Lift the cylindrical sauce can and set it next to the kitchenpot with plastic knob on lid", + "Use the left arm to grab the sauce can with flat bottom, move it beside the metal pot with dark handles", + "Take the red plastic sauce can with the left arm, place it near the blue kitchenpot lid with black knob", + "Using the left arm, lift the red sauce can for holding condiments and place it by the metal pot with dark handles", + "Place the red cylindrical sauce can beside the cooking pot with two handles after picking it up", + "Use the left arm to grab the cylindrical sauce can and move it next to the round blue-lid kitchenpot for stovetop", + "Bring the sauce can with white details over and set it near the kitchenpot with plastic knob on lid", + "Pick the red plastic sauce can with the left arm and relocate it near the blue-lid kitchenpot", + "Take the red plastic sauce can to the metal pot with dark handles using the left arm", + "Take the medium-sized red sauce can with the left arm, bring it, and set next to the blue kitchenpot lid with black knob", + "Move the smooth sauce can from its spot to near the gray pot with blue circular lid", + "Grab the red cylindrical sauce can, move it to the pots for boiling and cooking's side", + "Use the left arm to lift the red sauce can for holding condiments and place it next to the cooking pot with two handles", + "Lift the sauce can with white details, place it by the gray cylindrical pot", + "Lift the red cylindrical sauce can using the left arm and position it by the matte gray pot with durable lid", + "Use the left arm to lift the red cylindrical sauce can, then move it next to the matte gray pot with durable lid", + "With the left arm, grab the sauce can with white details and move to the gray kitchenpot", + "Grab the red sauce can for holding condiments, shift it, and place it close to the blue kitchenpot lid with black knob", + "Pick up the red sauce can for holding condiments using the left arm, transfer it beside the matte gray pot with durable lid", + "Grab the medium-sized red sauce can with the left arm and move it close to the round blue-lid kitchenpot for stovetop", + "Pick up the cylindrical sauce can and put it beside the pots for boiling and cooking", + "Move the smooth sauce can beside the cooking pot with two handles after lifting it", + "Use the left arm to lift the red sauce can and place it near the gray kitchenpot", + "Use the left arm to grab the sauce can with white details and transfer it near the gray pot with blue circular lid", + "Pick up the sauce can with flat top with the left arm and set by the gray kitchenpot", + "Grab the sauce can with white details and move it close to the gray cylindrical pot", + "Move the sauce can with white details to be next to the metal kitchenpot with brown handles", + "Pick the sauce can with white details up and move it next to the pots for boiling and cooking", + "Lift the red can with gold patterns and move it near the gray cylindrical pot", + "Place the red sauce can for holding condiments next to the matte gray pot with durable lid", + "Grab the red plastic sauce can with the left arm and position it beside the blue kitchenpot lid with black knob", + "Grab the sauce can with flat top with the left arm and set it near the gray pot with blue circular lid", + "Pick the smooth sauce can up with the left arm then place near the blue kitchenpot lid with black knob", + "Use the left arm to pick the red and gold sauce can up and set it beside the cooking pot with two handles", + "Lift the red plastic sauce can and set it beside the gray kitchenpot", + "Grab the sauce can with flat bottom, move it, and place by the metal kitchenpot with brown handles", + "Pick the cylindrical sauce can up and carefully position it beside the blue kitchenpot lid with black knob", + "Lift the sauce can with flat top using the left arm and drop it beside the gray cylindrical pot", + "Lift the red cylindrical sauce can and place it next to the metal pot with dark handles", + "Lift the red sauce can for holding condiments and set it next to the matte gray pot with durable lid", + "Use the left arm to pick the red can with gold patterns, position it near the kitchenpot with plastic knob on lid", + "Take the red cylindrical sauce can using the left arm, set it next to the cooking pot with two handles", + "Use the left arm to grab the sauce can with flat bottom and move it beside the cooking pot with two handles" + ] +} diff --git a/move_can_pot/episode_0000008/TCP_head/metadata.json b/move_can_pot/episode_0000008/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..24baf806cf77605345dd80e4b28a58791e7708e6 --- /dev/null +++ b/move_can_pot/episode_0000008/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 149, + 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/move_can_pot/episode_0000008/TCP_third/metadata.json b/move_can_pot/episode_0000008/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bb093b74de0aa102cfd1f3530667f5951d564d51 --- /dev/null +++ b/move_can_pot/episode_0000008/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 149, + 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/move_can_pot/episode_0000008/metadata.json b/move_can_pot/episode_0000008/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8d0f910e26f7db01d185085bb8073a2cab168e8d --- /dev/null +++ b/move_can_pot/episode_0000008/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000008", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000008.hdf5", + "num_frames": 149, + "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": [ + 149, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 149, + 14 + ], + "action_shape": [ + 149, + 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 printed label sauce can, move it, and place by the gray kitchenpot", + "Pick up the brown top sauce can using the right arm, transfer it beside the gray cylindrical metal kitchenpot", + "Grab the sauce can for condiments with the right arm and set it near the gray kitchenpot", + "Grab the yellow and brown sauce can and move it close to the cylindrical kitchenpot", + "Use the right arm to lift the medium sauce can and place it near the medium-sized kitchenpot", + "Set the brown top sauce can near the kitchenpot with smooth exterior after picking it up", + "Lift the sauce can with ingredient information using the right arm and position it by the medium-sized kitchenpot", + "Lift the sauce can for condiments and set it beside the gray cylindrical metal kitchenpot", + "Pick the printed label sauce can with the right arm and relocate it near the dark gray stove kitchenpot", + "Move the sauce can with brown lid from its spot to near the dark gray stove kitchenpot", + "Bring the medium sauce can over and set it near the metal kitchenpot", + "With the right arm, grab the yellow and brown sauce can and move to the dark gray stove kitchenpot", + "Pick the brown top sauce can up with the right arm then place near the round kitchenpot with handles", + "Lift the yellow and brown sauce can and set it next to the gray cylindrical metal kitchenpot", + "Use the right arm to grab the yellow and brown sauce can and transfer it near the kitchenpot with smooth exterior", + "Take the yellow label sauce can using the right arm, set it next to the round kitchenpot with handles", + "Use the right arm to lift the metal sauce can and place it next to the gray kitchenpot", + "Pick the cylindrical sauce can and position it next to the round kitchenpot with handles", + "Grab the smooth cylindrical sauce can with the right arm and move it close to the metal kitchenpot", + "Use the right arm to move the sauce can for condiments beside the dark gray stove kitchenpot", + "Place the sauce can with ingredient information next to the round kitchenpot with handles", + "Take the sauce can with brown lid with the right arm, bring it, and set next to the cylindrical kitchenpot", + "Use the right arm to grab the sauce can with brown lid and move it next to the metal kitchenpot", + "Use the right arm to pick the cylindrical sauce can, position it near the medium-sized kitchenpot", + "Pick the yellow label sauce can up and move it next to the medium kitchenpot made of metal", + "Place the sauce can with ingredient information beside the dark gray stove kitchenpot after picking it up", + "Lift the printed label sauce can, then place it next to the smooth gray kitchenpot", + "Using the right arm, lift the printed label sauce can and place it by the medium kitchenpot made of metal", + "Use the right arm to lift the cylindrical sauce can, then move it next to the kitchenpot with smooth exterior", + "Pick up the brown sauce can and put it beside the round kitchenpot with handles", + "Lift the yellow and brown sauce can, place it by the medium-sized kitchenpot", + "Take the sauce can with brown lid with the right arm, place it near the kitchenpot for boiling and cooking", + "Lift the printed label sauce can and move it near the medium-sized kitchenpot", + "Lift the sauce can with brown lid using the right arm and drop it beside the gray cylindrical metal kitchenpot", + "Grab the sauce can with brown lid with the right arm and position it beside the round kitchenpot with handles", + "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot with smooth exterior", + "Move the sauce can for condiments to the dark gray stove kitchenpot with the right arm", + "Set the smooth cylindrical sauce can right next to the metal kitchenpot", + "Pick up the smooth cylindrical sauce can with the right arm and set by the medium-sized kitchenpot", + "Use the right arm to grab the printed label sauce can, move it beside the smooth gray kitchenpot", + "Use the right arm to grab the smooth cylindrical sauce can and move it beside the kitchenpot with smooth exterior", + "Move the sauce can with ingredient information beside the medium-sized kitchenpot after lifting it", + "Lift the yellow label sauce can and place it next to the medium kitchenpot made of metal", + "Grab the cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot", + "Lift the sauce can with brown lid and set it next to the round kitchenpot with handles", + "Grab the cylindrical sauce can, move it to the medium kitchenpot made of metal's side", + "Move the sauce can with ingredient information to be next to the medium-sized kitchenpot", + "Use the right arm to take the metal sauce can to the kitchenpot for boiling and cooking", + "Take the yellow and brown sauce can to the smooth gray kitchenpot using the right arm", + "Use the right arm to pick the brown top sauce can up and set it beside the medium kitchenpot made of metal", + "Grab the smooth cylindrical sauce can, move it, and place by the medium kitchenpot made of metal", + "Pick up the medium sauce can using the right arm, transfer it beside the medium kitchenpot made of metal", + "Grab the brown sauce can with the right arm and set it near the smooth gray kitchenpot", + "Grab the brown sauce can and move it close to the cylindrical kitchenpot", + "Use the right arm to lift the sauce can for condiments and place it near the kitchenpot with smooth exterior", + "Set the sauce can with ingredient information near the dark gray stove kitchenpot after picking it up", + "Lift the metal sauce can using the right arm and position it by the kitchenpot with smooth exterior", + "Lift the brown sauce can and set it beside the medium kitchenpot made of metal", + "Pick the yellow label sauce can with the right arm and relocate it near the cooking kitchenpot with side grips", + "Move the sauce can for condiments from its spot to near the metal kitchenpot", + "Bring the yellow label sauce can over and set it near the dark gray stove kitchenpot", + "With the right arm, grab the printed label sauce can and move to the cylindrical kitchenpot", + "Pick the sauce can for condiments up with the right arm then place near the kitchenpot for boiling and cooking", + "Lift the yellow label sauce can and set it next to the cylindrical kitchenpot", + "Use the right arm to grab the sauce can with ingredient information and transfer it near the metal kitchenpot", + "Take the printed label sauce can using the right arm, set it next to the round kitchenpot with handles", + "Use the right arm to lift the smooth cylindrical sauce can and place it next to the gray kitchenpot", + "Pick the medium sauce can and position it next to the medium kitchenpot made of metal", + "Grab the sauce can with ingredient information with the right arm and move it close to the dark gray stove kitchenpot", + "Use the right arm to move the sauce can for condiments beside the kitchenpot for boiling and cooking", + "Place the metal sauce can next to the medium-sized kitchenpot", + "Take the sauce can for condiments with the right arm, bring it, and set next to the gray kitchenpot", + "Use the right arm to grab the metal sauce can and move it next to the medium-sized kitchenpot", + "Use the right arm to pick the sauce can with ingredient information, position it near the metal kitchenpot", + "Pick the brown top sauce can up and move it next to the gray kitchenpot", + "Place the brown top sauce can beside the cylindrical kitchenpot after picking it up", + "Lift the smooth cylindrical sauce can, then place it next to the medium kitchenpot made of metal", + "Using the right arm, lift the cylindrical sauce can and place it by the metal kitchenpot", + "Use the right arm to lift the brown sauce can, then move it next to the gray kitchenpot", + "Pick up the printed label sauce can and put it beside the kitchenpot for boiling and cooking", + "Lift the sauce can with ingredient information, place it by the kitchenpot for boiling and cooking", + "Take the sauce can for condiments with the right arm, place it near the medium kitchenpot made of metal", + "Lift the brown top sauce can and move it near the gray kitchenpot", + "Lift the brown top sauce can using the right arm and drop it beside the medium-sized kitchenpot", + "Grab the sauce can for condiments with the right arm and position it beside the gray kitchenpot", + "Pick the printed label sauce can up and carefully position it beside the cylindrical kitchenpot", + "Move the cylindrical sauce can to the medium-sized kitchenpot with the right arm", + "Set the yellow and brown sauce can right next to the kitchenpot with smooth exterior", + "Pick up the smooth cylindrical sauce can with the right arm and set by the smooth gray kitchenpot", + "Use the right arm to grab the sauce can for condiments, move it beside the gray kitchenpot", + "Use the right arm to grab the printed label sauce can and move it beside the medium kitchenpot made of metal", + "Move the smooth cylindrical sauce can beside the kitchenpot for boiling and cooking after 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"extrinsics": { + "shape": [ + 144, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 144, + 14 + ], + "action_shape": [ + 144, + 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 the kids' toycar in bright blue in position on the displaystand with angled support.", + "Pick up the hand-sized rolling toycar and set it on the compact angled black displaystand.", + "Set the blue toycar with yellow roof accents on the plastic matte displaystand after moving it", + "Grab and place the bright blue toycar with roof buttons directly on the black displaystand.", + "Transfer the hand-sized rolling toycar using the right arm to the black displaystand.", + "Set the compact glossy blue toycar in position on the plastic matte displaystand.", + "Place the toycar with dark gray windows on the matte black displaystand.", + "Move the hand-sized rolling toycar to the hand-held black displaystand and set it there.", + "Move the hand-sized rolling toycar to the plastic matte displaystand using the right arm.", + "Pick the compact glossy blue toycar and position it on the smooth black rectangular displaystand", + "Bring the toycar with black wheels to the matte black displaystand and set it in place.", + "Locate the plastic toycar with smooth finish, pick it up, and place on the plastic black displaystand for display.", + "Grab the bright blue toycar with roof buttons and set it onto the smooth black rectangular displaystand.", + "Use the right arm to lift the bright blue toycar with roof buttons and set on the medium black angled displaystand.", + "Place the toycar featuring black and white wheels precisely on the plastic matte displaystand.", + "Move the toycar with rounded edges onto the black displaystand.", + "Use the right arm to move the toycar with rounded edges onto the angled black displaystand.", + "Place the hand-sized rolling toycar precisely on top of the smooth black rectangular displaystand.", + "Select the right arm, grab the toycar featuring black and white wheels, and move it to the compact angled black displaystand", + "Take the hand-sized rolling toycar with the right arm and put it on the compact angled black displaystand.", + "Grab the plastic toycar with smooth finish with the right arm and place on the plastic matte displaystand.", + "Lift the toycar with dark gray windows and position on the black displaystand", + "Grab the kids' toycar in bright blue and set it on the compact angled black displaystand", + "Pick the toycar featuring black and white wheels up and place on the smooth black rectangular displaystand", + "Position the toycar made of plastic material on the matte black displaystand.", + "Lift the toycar with dark gray windows with the right arm and align it on the compact angled black displaystand.", + "Take the small plastic toycar and set it on the matte black displaystand", + "Grab the small plastic toycar using the right arm and place it on the medium black angled displaystand", + "Use the right arm to lift the blue toycar with yellow roof accents and set it on the compact angled black displaystand", + "Put the toycar made of plastic material on the plastic matte displaystand after picking it", + "Grab and move the blue toycar with yellow roof accents to position it on the displaystand with angled support.", + "Pick the bright blue toycar with roof buttons with the right arm and place on the matte black displaystand.", + "Pick up the bright blue toycar with roof buttons and drop it on the hand-held black displaystand.", + "Pick up the kids' toycar in bright blue with the right arm and set it on the hand-held black displaystand", + "Pick up the toycar featuring black and white wheels using the right arm and set it on the black displaystand.", + "Grab and put the plastic toycar with smooth finish on the medium black angled displaystand", + "Lift the toycar made of plastic material and position it on the smooth black rectangular displaystand", + "Set the hand-sized rolling toycar on the plastic matte displaystand using the right arm", + "Position the hand-sized rolling toycar on the displaystand for holding items with the right arm", + "Pick the bright blue toycar with roof buttons and place it carefully onto the displaystand with angled support.", + "Carefully place the toycar featuring black and white wheels onto the angled black displaystand.", + "Grab the toycar with black wheels with the right arm and move to the displaystand for holding items", + "With the right arm, pick the toycar featuring black and white wheels and position it on the plastic black displaystand for display", + "Use the right arm to position the toycar featuring black and white wheels on the plastic black displaystand for display.", + "Use the right arm to grab the plastic toycar with smooth finish and place on the angled black displaystand.", + "Move the toycar with black wheels using the right arm and place on the compact angled black displaystand", + "Place the toycar with dark gray windows on the displaystand for holding items after grabbing it", + "Lift the toycar with rounded edges with the right arm and position on the matte black displaystand.", + "Move the plastic toycar with smooth finish to the compact angled black displaystand and release it", + "Transfer the toycar with black wheels to the hand-held black displaystand securely with the right arm.", + "Set the hand-sized rolling toycar in position on the hand-held black displaystand.", + "Pick up the hand-sized rolling toycar and set it on the plastic matte displaystand.", + "Set the hand-sized rolling toycar on the smooth black rectangular displaystand after moving it", + "Grab and place the small plastic toycar directly on the angled black displaystand.", + "Transfer the toycar made of plastic material using the right arm to the plastic black displaystand for display.", + "Set the toycar with black wheels in position on the hand-held black displaystand.", + "Place the blue toycar with yellow roof accents on the displaystand with angled support.", + "Move the plastic toycar with smooth finish to the displaystand with angled support and set it there.", + "Move the small plastic toycar to the hand-held black displaystand using the right arm.", + "Pick the toycar with dark gray windows and position it on the medium black angled displaystand", + "Bring the toycar with rounded edges to the plastic black displaystand for display and set it in place.", + "Locate the hand-sized rolling toycar, pick it up, and place on the matte black displaystand.", + "Grab the blue toycar with yellow roof accents and set it onto the black displaystand.", + "Use the right arm to lift the blue toycar with yellow roof accents and set on the displaystand for holding items.", + "Place the compact glossy blue toycar precisely on the displaystand with angled support.", + "Move the toycar featuring black and white wheels onto the displaystand with angled support.", + "Use the right arm to move the small plastic toycar onto the displaystand for holding items.", + "Place the blue toycar with yellow roof accents precisely on top of the displaystand with angled support.", + "Select the right arm, grab the blue toycar with yellow roof accents, and move it to the displaystand with smooth finish", + "Take the toycar with dark gray windows with the right arm and put it on the angled black displaystand.", + "Grab the blue toycar with yellow roof accents with the right arm and place on the plastic matte displaystand.", + "Lift the toycar with black wheels and position on the displaystand with angled support", + "Grab the small plastic toycar and set it on the displaystand for holding items", + "Pick the toycar featuring black and white wheels up and place on the compact angled black displaystand", + "Position the blue toycar with yellow roof accents on the plastic black displaystand for display.", + "Lift the toycar with rounded edges with the right arm and align it on the compact angled black displaystand.", + "Take the blue toycar with yellow roof accents and set it on the smooth black rectangular displaystand", + "Grab the toycar with dark gray windows using the right arm and place it on the hand-held black displaystand", + "Use the right arm to lift the bright blue toycar with roof buttons and set it on the smooth black rectangular displaystand", + "Put the bright blue toycar with roof buttons on the angled black displaystand after picking it", + "Grab and move the toycar made of plastic material to position it on the black displaystand.", + "Pick the toycar made of plastic material with the right arm and place on the compact angled black displaystand.", + "Pick up the toycar with dark gray windows and drop it on the matte black displaystand.", + "Pick up the blue toycar with yellow roof accents with the right arm and set it on the displaystand for holding items", + "Pick up the hand-sized rolling toycar using the right arm and set it on the displaystand with smooth finish.", + "Grab and put the hand-sized rolling toycar on the plastic matte displaystand", + "Lift the hand-sized rolling toycar and position it on the medium black angled displaystand", + "Set the kids' toycar in bright blue on the smooth black rectangular displaystand using the right arm", + "Position the small plastic toycar on the hand-held black displaystand with the right arm", + "Pick the bright blue toycar with roof buttons and place it carefully onto the hand-held black displaystand.", + "Carefully place the kids' toycar in bright blue onto the plastic black displaystand for display.", + "Grab the blue toycar with yellow roof accents with the right arm and move to the black displaystand", + "With the right arm, pick the hand-sized rolling toycar and position it on the displaystand for holding items", + "Use the right arm to position the kids' toycar in bright blue on the smooth black rectangular displaystand.", + "Use the right arm to grab the toycar with black wheels and place on the displaystand with smooth finish.", + "Move the hand-sized rolling toycar using the right arm and place on the angled black displaystand", + "Place the toycar with black wheels on the displaystand with smooth finish after grabbing it", + "Lift the blue toycar with yellow roof accents with the right arm and position on the smooth black rectangular displaystand.", + "Move the blue toycar with yellow roof accents to the medium black angled displaystand and release it", + "Transfer the small plastic toycar to the angled black displaystand securely with the right arm." + ] +} diff --git a/place_phone_stand/episode_0000029/images/head_view/000000.png b/place_phone_stand/episode_0000029/images/head_view/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..441cf040d94fbf3ab36a998d70a73dfe229d4f14 --- /dev/null +++ b/place_phone_stand/episode_0000029/images/head_view/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d36ddc58f3a88d93d7cf57c7490fa8195a6c760fed0a73ce840803bc5aa93a8 +size 41198 diff --git a/place_phone_stand/episode_0000029/images/head_view/000001.png b/place_phone_stand/episode_0000029/images/head_view/000001.png new file mode 100644 index 0000000000000000000000000000000000000000..d7d21f5307aff0e6975d285d96bc202fc817de48 --- /dev/null +++ b/place_phone_stand/episode_0000029/images/head_view/000001.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ae3e1b42f97d4875b0760d44f12ec82f98b9ce5868ca82ce1461b38c5b8e363 +size 41140 diff --git 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+ "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": [ + "Press down on the stapler the blue stapler with silver staple tray firmly.", + "Push down on the blue stapler for paper fastening to staple papers.", + "Use one arm the left arm to press the blue rectangular stapler with curves.", + "Press the handy blue stapler with metal parts to complete the task.", + "Push the compact bright blue stapler until it staples.", + "Push the stapler the simple stapler with the left arm.", + "Push down on the stapler the plastic stapler with metallic interior.", + "Push down forcefully on the stapler the blue stapler with white accents.", + "Push the plastic stapler with metallic interior down firmly.", + "Press down on the blue stapler until it functions.", + "Apply force to the simple stapler with the left arm", + "Apply pressure to the plastic stapler with silver mechanism firmly", + "Press on the simple stapler to activate it.", + "Firmly press down on the compact bright blue stapler to staple.", + "Use your arm the left arm to push the plastic stapler with metallic interior down.", + "Press the plastic stapler with silver mechanism downward using your arm the left arm.", + "Apply enough force to the blue stapler for paper fastening to press it.", + "Press on the plastic stapler with silver mechanism using the left arm.", + "Push down on the plastic stapler with silver mechanism firmly.", + "Use one arm to press the simple stapler.", + "Push the stapler the handy blue stapler with metal parts to activate it.", + "Lower the left arm onto the stapler the plastic stapler with metallic interior.", + "Lower the simple stapler using an arm", + "Firmly press the plastic stapler with silver mechanism using an arm.", + "Push the blue stapler for paper fastening using one arm", + "Engage the blue stapler by using the left arm to press it.", + "Apply force to the blue stapler for paper fastening to staple.", + "Push the stapler the plastic stapler with metallic interior to operate it.", + "Firmly push down on the handy blue stapler with metal parts.", + "Apply pressure to the plastic stapler with metallic interior with the left arm.", + "Press the stapler the compact bright blue stapler using an arm the left arm.", + "Apply pressure on the stapler with blue plastic handle until it works.", + "Push down hard on the blue stapler with the left arm.", + "Operate the handy blue stapler with metal parts by pressing it with the left arm.", + "Apply pressure to the handy blue stapler with metal parts using one arm the left arm.", + "Press the blue stapler to staple the sheets together.", + "Use an arm to press the compact bright blue stapler", + "Push down on the blue stapler for paper fastening to staple", + "Firmly push the plastic stapler with silver mechanism using the left arm to operate it.", + "Apply one arm the left arm to press the blue stapler with white accents firmly.", + "Push down firmly on the handy blue stapler with metal parts to complete.", + "Apply pressure to the blue stapler with the left arm.", + "Push the blue stapler with silver staple tray down completely", + "Place pressure on the blue stapler to staple.", + "Press the blue stapler with white accents firmly to staple", + "Press the plastic stapler with silver mechanism until it works", + "Simply press the stapler the blue rectangular stapler with curves downward.", + "Push down on the stapler the simple stapler.", + "Push the top of the blue rectangular stapler with curves down", + "Use your the left arm to press the stapler the stapler with blue plastic handle.", + "Press down on the stapler the stapler with blue plastic handle firmly.", + "Push down on the blue rectangular stapler with curves to staple papers.", + "Use one arm the left arm to press the handy blue stapler with metal parts.", + "Press the plastic stapler with metallic interior to complete the task.", + "Push the compact bright blue stapler until it staples.", + "Push the stapler the simple stapler with the left arm.", + "Push down on the stapler the bright blue smooth stapler.", + "Push down forcefully on the stapler the stapler with blue plastic handle.", + "Push the handy blue stapler with metal parts down firmly.", + "Press down on the blue stapler for paper fastening until it functions.", + "Apply force to the blue rectangular stapler with curves with the left arm", + "Apply pressure to the bright blue smooth stapler firmly", + "Press on the blue stapler for paper fastening to activate it.", + "Firmly press down on the blue stapler with silver staple tray to staple.", + "Use your arm the left arm to push the blue stapler with silver staple tray down.", + "Press the blue stapler downward using your arm the left arm.", + "Apply enough force to the compact bright blue stapler to press it.", + "Press on the blue rectangular stapler with curves using the left arm.", + "Push down on the plastic stapler with silver mechanism firmly.", + "Use one arm to press the blue stapler with white accents.", + "Push the stapler the blue stapler to activate it.", + "Lower the left arm onto the stapler the plastic stapler with metallic interior.", + "Lower the handy blue stapler with metal parts using an arm", + "Firmly press the blue stapler with silver staple tray using an arm.", + "Push the blue stapler with white accents using one arm", + "Engage the compact bright blue stapler by using the left arm to press it.", + "Apply force to the compact bright blue stapler to staple.", + "Push the stapler the blue rectangular stapler with curves to operate it.", + "Firmly push down on the blue rectangular stapler with curves.", + "Apply pressure to the stapler with blue plastic handle with the left arm.", + "Press the stapler the blue stapler with white accents using an arm the left arm.", + "Apply pressure on the compact bright blue stapler until it works.", + "Push down hard on the simple stapler with the left arm.", + "Operate the blue stapler by pressing it with the left arm.", + "Apply pressure to the bright blue smooth stapler using one arm the left arm.", + "Press the blue stapler with silver staple tray to staple the sheets together.", + "Use an arm to press the blue stapler with silver staple tray", + "Push down on the blue stapler for paper fastening to staple", + "Firmly push the blue stapler with white accents using the left arm to operate it.", + "Apply one arm the left arm to press the plastic stapler with silver mechanism firmly.", + "Push down firmly on the bright blue smooth stapler to complete.", + "Apply pressure to the blue stapler with silver staple tray with the left arm.", + "Push the blue stapler with silver staple tray down completely", + "Place pressure on the blue stapler with silver staple tray to staple.", + "Press the plastic stapler with metallic interior firmly to staple", + "Press the plastic stapler with metallic interior until it works", + "Simply press the stapler the blue stapler downward.", + "Push down on the stapler the stapler with blue plastic handle.", + "Push the top of the blue stapler with silver staple tray down", + "Use your the left arm to press the stapler the plastic stapler with silver mechanism." + ] +} diff --git a/press_stapler/episode_0000049/TCP_third/metadata.json b/press_stapler/episode_0000049/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb75d65c6811bab9269c6a5439dd8de59eb41bc --- /dev/null +++ b/press_stapler/episode_0000049/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) @ 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