diff --git a/blocks_ranking_rgb/episode_0000040/TCP_head/metadata.json b/blocks_ranking_rgb/episode_0000040/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dd82edfc25a85a8926fdd48395941b93491196f0 --- /dev/null +++ b/blocks_ranking_rgb/episode_0000040/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 478, + 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/blocks_ranking_rgb/episode_0000040/metadata.json b/blocks_ranking_rgb/episode_0000040/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..1868052d36915fb8782609593890fa1ef173cc75 --- /dev/null +++ b/blocks_ranking_rgb/episode_0000040/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "blocks_ranking_rgb", + "episode": "episode_0000040", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/blocks_ranking_rgb/aloha_agilex/data/episode_0000040.hdf5", + "num_frames": 478, + "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": [ + 478, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 478, + 14 + ], + "action_shape": [ + 478, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block sequentially and place them in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block sequentially and place them in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right." + ] +} diff --git a/click_alarmclock/episode_0000040/TCP_third/left_state.npy b/click_alarmclock/episode_0000040/TCP_third/left_state.npy new file mode 100644 index 0000000000000000000000000000000000000000..7e01e66c280c8be57e95134d3b4f2e6cb5579f9d --- /dev/null +++ b/click_alarmclock/episode_0000040/TCP_third/left_state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ff36db7a62e00280debe1e25866fa047204b52771bef8c64408d1aaef21732a +size 2620 diff 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+ ] + }, + "frequency_hz": 15, + "instructions": [ + "Grab the smooth crusty small bread and the bread loaf with square shape and put them in the beige basket with white grid design.", + "Lift the soft doughy bread and the golden brown loaf-shaped bread and place them in the medium oval basket for bread.", + "Place the bread with golden crust and the brown bread loaf in the beige plastic breadbasket.", + "Set the two breads the smooth crusty small bread and the golden bread in the beige breadbasket.", + "Ensure the soft doughy bread and the square loaf of bread are both inside the oval perforated breadbasket white edges.", + "Deposit the golden brown bread with braided design and the soft golden baked bread inside the medium oval basket for bread.", + "Move every bread, the golden brown bread and the slice-shaped bread, into the beige plastic breadbasket.", + "Relocate the golden brown bread with braided design and the golden bread into the basket the oval perforated breadbasket white edges.", + "Take the golden brown bread with braided design and the bread loaf with square shape from the table to the white oval breadbasket.", + "Move both breads, the round bread with crusty texture and the square loaf of bread, into the white oval breadbasket.", + "Collect the bread with golden crust and the bread loaf with square shape in the smooth textured breadbasket.", + "Put the golden brown bread and the golden brown loaf-shaped bread inside the medium breadbasket with perforated sides.", + "Pick up both the round bread with braided top and the golden brown loaf-shaped bread for the basket for bread beige plastic.", + "Transfer both the small golden baked bread and the bread with rounded corners to the beige breadbasket.", + "Place both breads the golden brown bread and the golden crusted bread slice into the basket for carrying bread beige.", + "Grab the soft golden bread and the slice-shaped bread and put them in the medium plastic breadbasket oval shape.", + "Lift the 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crust edges, into the basket for bread beige plastic.", + "Collect the golden brown bread and the rectangular bread soft inside in the beige basket with white grid design.", + "Put the golden bread loaf with soft inside and the golden crusted bread slice inside the beige basket with white grid design.", + "Pick up both the bread with golden crust and the soft golden baked bread for the beige basket with white grid design.", + "Transfer both the small golden baked bread and the square loaf of bread to the basket for bread beige plastic.", + "Place both breads the small golden baked bread and the soft golden baked bread into the beige plastic breadbasket.", + "Grab the braided bread loaf and the golden brown loaf-shaped bread and put them in the white oval breadbasket.", + "Lift the bread with golden crust and the bread with firm crust edges and place them in the beige basket with white grid design.", + "Place the bread with golden crust and the golden crusted bread slice in the medium breadbasket with perforated sides.", + "Set the two breads the smooth crusty small bread and the slice-shaped bread in the medium breadbasket with perforated sides.", + "Ensure the small bread and the bread with rounded corners are both inside the smooth textured breadbasket.", + "Deposit the braided bread loaf and the bread with rounded corners inside the basket for carrying bread beige.", + "Move every bread, the small golden baked bread and the brown bread loaf, into the medium oval basket for bread.", + "Relocate the golden brown bread with braided design and the brown bread loaf into the basket the medium breadbasket with perforated sides.", + "Take the braided bread loaf and the bread loaf with square shape from the table to the beige plastic breadbasket.", + "Move both breads, the golden brown bread with braided design and the rectangular bread soft inside, into the medium oval basket for bread.", + "Collect the small golden baked bread and the rectangular bread soft inside in 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with braided design and the golden crusted bread slice are both inside the medium oval basket for bread.", + "Deposit the golden bread loaf with soft inside and the golden brown loaf-shaped bread inside the beige breadbasket.", + "Move every bread, the bread with golden crust and the golden crusted bread slice, into the basket for bread beige plastic.", + "Relocate the golden bread loaf with soft inside and the rectangular bread soft inside into the basket the medium oval basket for bread.", + "Take the bread with golden crust and the bread with rounded corners from the table to the medium oval basket for bread.", + "Move both breads, the round bread with braided top and the bread loaf with square shape, into the basket for carrying bread beige.", + "Collect the small bread and the brown bread loaf in the beige basket with white grid design.", + "Put the soft doughy bread and the brown bread loaf inside the beige basket with white grid design.", + "Pick up both the smooth crusty small bread and the rectangular bread soft inside for the basket for carrying bread beige.", + "Transfer both the round bread with braided top and the rectangular bread soft inside to the beige breadbasket.", + "Place both breads the golden bread loaf with soft inside and the rectangular bread soft inside into the beige basket with white grid design.", + "Grab the braided bread loaf and the slice-shaped bread and put them in the medium breadbasket with perforated sides.", + "Lift the soft doughy bread and the slice-shaped bread and place them in the white oval breadbasket.", + "Place the golden brown bread with braided design and the bread loaf with square shape in the beige basket with white grid design.", + "Set the two breads the soft golden bread and the brown bread loaf in the medium plastic breadbasket oval shape.", + "Ensure the round bread with crusty texture and the bread with golden surface color are both inside the basket for carrying bread beige.", + "Deposit the golden brown 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from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_cans_plasticbox/episode_0000029/metadata.json b/place_cans_plasticbox/episode_0000029/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..be82d4126f249ff4ed2c7b06aca3d7730b15f725 --- /dev/null +++ b/place_cans_plasticbox/episode_0000029/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_cans_plasticbox", + "episode": "episode_0000029", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_cans_plasticbox/aloha_agilex/data/episode_0000029.hdf5", + "num_frames": 304, + "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": [ + 304, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 304, + 14 + ], + "action_shape": [ + 304, + 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 red and white beverage can and the metallic can with rounded edges together, then drop each into the smooth blue plasticbox with handle", + "Grab the red drink can with white lid and the red can with gold illustrations together, then insert each into the light blue plasticbox.", + "First move the red soda can with green accents to the plasticbox for keeping items safe, then move the metallic soda can into the plasticbox for keeping items safe.", + "Lift the cylindrical metal can and the compact metal drink can together, then place each in the plasticbox with smooth plastic texture.", + "Use arms to set the smooth red can and the bright red drink container can into the plasticbox with smooth plastic texture.", + "Utilize the arms to deposit both the smooth red can and the red can into the smooth blue plasticbox with handle.", + "Pick and drop the red drink can with white lid and the red can with gold illustrations into the plasticbox for keeping items safe.", + "Use both arms to place the red can with decorative label and the red can with gold illustrations into the smooth blue plasticbox with handle.", + "Place the cylindrical can with flat surfaces and the metallic soda can in the smooth blue plasticbox with handle using both arms.", + "Place the cylindrical metal can in the plasticbox with rounded corners and lid, follow with the smooth red soda can using each arm.", + "Place the red soda can with green accents and the gold patterned beverage can into the durable plasticbox with side handle using both arms.", + "Using dual arms, place the red shiny can with green label and the palm-sized drink can inside the plasticbox with rounded corners and lid", + "Pick the red and white beverage can and the metallic can with rounded edges together, then move both into the light blue plasticbox.", + "Use both arms to pick the metal can with red base and the compact metal drink can together for the light blue plasticbox.", + "Transfer the can with flat silver bottom and the gold patterned beverage can into the plasticbox with hinged lid using dual arms", + "Use your arms to set the metal can with red base and the red and gold cylindrical can gently into the light blue rectangular storage plasticbox.", + "Pick the drink can with smooth red finish and the red beverage can with curved top simultaneously, then place them inside the plasticbox with rounded corners and lid.", + "After grasping the can with flat silver bottom and the red and gold cylindrical can together, place each into the light blue plasticbox.", + "Employ both arms to pick the red drink can with white lid and the metallic can with rounded edges, and place them inside the smooth blue plasticbox with handle.", + "Grab the red shiny can with green label and the red beverage can with curved top together, then transfer them to the plasticbox with hinged lid.", + "Use both arms to place the red and white beverage can and the red beverage can with curved top inside the light blue plasticbox.", + "Use both arms to move the smooth red can and the smooth red soda can into the boxy light blue plasticbox.", + "Both arms lift the red can with decorative label and the red beverage can with curved top, then place them in the plasticbox for carrying items.", + "Place the cylindrical metal can into the durable plasticbox with side handle, then place the metallic can with rounded edges into the durable plasticbox with side handle.", + "Pick up the red soda can with green accents and the gold-decorated aluminum can with separate arms, then fill the light blue rectangular storage plasticbox.", + "Move the medium-sized soda can and the compact metal drink can into the plasticbox with rounded corners and lid using separate arms.", + "Place the metal can with red base and the metallic soda can into the durable plasticbox with side handle with dual arms", + "Drop the red can with decorative label and the red and gold cylindrical can into the light blue plasticbox with both arms", + "Move the cylindrical metal can to the plasticbox for carrying items and repeat with the gold patterned beverage can.", + "Pick the cylindrical metal can and the smooth red soda can together, then move each into the rectangular plasticbox with rounded edges", + "Use both arms to grab the drink can with smooth red finish and the gold-decorated aluminum can, place them in the boxy light blue plasticbox.", + "First grasp the red and white beverage can and the metallic can with rounded edges together, then place both in the plasticbox with smooth plastic texture.", + "Use both arms, position the medium-sized soda can and the gold-decorated aluminum can within the plasticbox with rounded corners and lid.", + "Grip the red and white beverage can and the gold patterned beverage can simultaneously, then insert both into the plasticbox for keeping items safe.", + "Grasp the smooth red can and the red can with gold illustrations simultaneously, then place both in the plasticbox with rounded corners and lid.", + "Begin with the cylindrical can with flat surfaces, place it in the light blue rectangular storage plasticbox, finish with the gold-decorated aluminum can into the light blue rectangular storage plasticbox.", + "Pick the drink can with smooth red finish and the gold-decorated aluminum can together, then put both inside the plasticbox for keeping items safe.", + "Grasp the drink can with smooth red finish and the gold patterned beverage can together; transfer the drink can with smooth red finish, then the gold patterned beverage can, to the boxy light blue plasticbox.", + "Lift the red can with decorative label and the gold patterned beverage can simultaneously, then set them into the plasticbox with smooth plastic texture.", + "Lift the medium-sized soda can and the compact metal drink can, and stick them into the durable plasticbox with side handle", + "Use both arms to move the drink can with smooth red finish and the red can with gold illustrations into the durable plasticbox with side handle", + "Lift the red soda can with green accents and the bright red drink container can, then set them inside the blue plasticbox for storing things", + "Lift the red and white beverage can and the metallic soda can together, then place both in the plasticbox for keeping items safe.", + "Transfer the smooth red can to the plasticbox for keeping items safe, then transfer the red and gold cylindrical can to the plasticbox for keeping items safe.", + "Pick the drink can with smooth red finish and the red and gold cylindrical can together; place the drink can with smooth red finish, then the red and gold cylindrical can, in the plasticbox with smooth plastic texture.", + "Use dual arms to pick the can with flat silver bottom and the smooth red soda can, placing both in the boxy light blue plasticbox.", + "Transfer the can with flat silver bottom into the light blue plasticbox, then position the gold patterned beverage can within the light blue plasticbox.", + "With both arms, transfer the cylindrical metal can and the red can with gold illustrations into the plasticbox for carrying items.", + "Pick the red can with decorative label and the palm-sized drink can using both arms and put them in the light blue rectangular storage plasticbox", + "Use the arms to transfer the drink can with smooth red finish and the red beverage can with curved top into the plasticbox for carrying items.", + "Pick the red can with decorative label and the smooth red soda can together, then drop each into the plasticbox for keeping items safe", + "Grab the red drink can with white lid and the gold patterned beverage can together, then insert each into the light blue plasticbox.", + "First move the medium-sized soda can to the smooth blue plasticbox with handle, then move the red can with gold illustrations into the smooth blue plasticbox with handle.", + "Lift the metal can with red base and the red can together, then place each in the plasticbox with smooth plastic texture.", + "Use arms to set the red and white beverage can and the red can into the plasticbox with rounded corners and lid.", + "Utilize the arms to deposit both the red drink can with white lid and the palm-sized drink can into the plasticbox with rounded corners and lid.", + "Pick and drop the red can with decorative label and the smooth red soda can into the blue plasticbox for storing things.", + "Use both arms to place the red can with decorative label and the red beverage can with curved top into the light blue plasticbox.", + "Place the metal can with red base and the gold-decorated aluminum can in the durable plasticbox with side handle using both arms.", + "Place the medium-sized soda can in the light blue plasticbox, follow with the metallic can with rounded edges using each arm.", + "Place the red shiny can with green label and the red can with gold illustrations into the boxy light blue plasticbox using both arms.", + "Using dual arms, place the red shiny can with green label and the smooth red soda can inside the plasticbox for keeping items safe", + "Pick the red drink can with white lid and the metallic can with rounded edges together, then move both into the plasticbox with rounded corners and lid.", + "Use both arms to pick the drink can with smooth red finish and the smooth red soda can together for the plasticbox with rounded corners and lid.", + "Transfer the red can with decorative label and the compact metal drink can into the plasticbox with hinged lid using dual arms", + "Use your arms to set the medium-sized soda can and the red can gently into the plasticbox with hinged lid.", + "Pick the medium-sized soda can and the gold patterned beverage can simultaneously, then place them inside the rectangular plasticbox with rounded edges.", + "After grasping the smooth red can and the red can together, place each into the light blue rectangular storage plasticbox.", + "Employ both arms to pick the smooth red can and the smooth red soda can, and place them inside the plasticbox for carrying items.", + "Grab the red soda can with green accents and the smooth red soda can together, then transfer them to the plasticbox for keeping items safe.", + "Use both arms to place the red drink can with white lid and the red and gold cylindrical can inside the plasticbox for carrying items.", + "Use both arms to move the red and white beverage can and the palm-sized drink can into the boxy light blue plasticbox.", + "Both arms lift the red and white beverage can and the palm-sized drink can, then place them in the rectangular plasticbox with rounded edges.", + "Place the can with flat silver bottom into the plasticbox for keeping items safe, then place the metallic soda can into the plasticbox for keeping items safe.", + "Pick up the smooth red can and the red can with separate arms, then fill the boxy light blue plasticbox.", + "Move the red soda can with green accents and the bright red drink container can into the rectangular plasticbox with rounded edges using separate arms.", + "Place the cylindrical can with flat surfaces and the gold patterned beverage can into the plasticbox with hinged lid with dual arms", + "Drop the red can with decorative label and the red and gold cylindrical can into the light blue plasticbox with both arms", + "Move the medium-sized soda can to the smooth blue plasticbox with handle and repeat with the red beverage can with curved top.", + "Pick the red can with decorative label and the smooth red soda can together, then move each into the light blue plasticbox", + "Use both arms to grab the red drink can with white lid and the compact metal drink can, place them in the plasticbox with rounded corners and lid.", + "First grasp the red can with decorative label and the metallic can with rounded edges together, then place both in the light blue plasticbox.", + "Use both arms, position the red can with decorative label and the red can within the light blue rectangular storage plasticbox.", + "Grip the cylindrical metal can and the red and gold cylindrical can simultaneously, then insert both into the plasticbox for carrying items.", + "Grasp the red shiny can with green label and the red beverage can with curved top simultaneously, then place both in the plasticbox for carrying items.", + "Begin with the red can with decorative label, place it in the smooth blue plasticbox with handle, finish with the red beverage can with curved top into the smooth blue plasticbox with handle.", + "Pick the can with flat silver bottom and the palm-sized drink can together, then put both inside the plasticbox with rounded corners and lid.", + "Grasp the can with flat silver bottom and the metallic soda can together; transfer the can with flat silver bottom, then the metallic soda can, to the plasticbox with smooth plastic texture.", + "Lift the can with flat silver bottom and the gold patterned beverage can simultaneously, then set them into the plasticbox for carrying items.", + "Lift the medium-sized soda can and the red beverage can with curved top, and stick them into the rectangular plasticbox with rounded edges", + "Use both arms to move the red soda can with green accents and the gold-decorated aluminum can into the plasticbox for carrying items", + "Lift the metal can with red base and the red and gold cylindrical can, then set them inside the plasticbox for carrying items", + "Lift the metal can with red base and the bright red drink container can together, then place both in the smooth blue plasticbox with handle.", + "Transfer the red drink can with white lid to the plasticbox with hinged lid, then transfer the palm-sized drink can to the plasticbox with hinged lid.", + "Pick the smooth red can and the red can with gold illustrations together; place the smooth red can, then the red can with gold illustrations, in the plasticbox with smooth plastic texture.", + "Use dual arms to pick the red shiny can with green label and the metallic can with rounded edges, placing both in the plasticbox for keeping items safe.", + "Transfer the cylindrical can with flat surfaces into the plasticbox with hinged lid, then position the red can within the plasticbox with hinged lid.", + "With both arms, transfer the can with flat silver bottom and the gold-decorated aluminum can into the light blue rectangular storage plasticbox.", + "Pick the cylindrical can with flat surfaces and the gold patterned beverage can using both arms and put them in the plasticbox with hinged lid", + "Use the arms to transfer the drink can with smooth red finish and the gold-decorated aluminum can into the boxy light blue plasticbox." + ] +} diff --git a/place_phone_stand/episode_0000018/TCP_third/left_state.npy b/place_phone_stand/episode_0000018/TCP_third/left_state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4cb4dee0a999846e7a97c64577c233d251f99cd6 --- /dev/null +++ b/place_phone_stand/episode_0000018/TCP_third/left_state.npy @@ -0,0 +1,3 @@ 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