diff --git a/click_bell/episode_0000004/TCP_head/metadata.json b/click_bell/episode_0000004/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..acc8f5b2ad0a7992db2906977ac0a55d659a509a --- /dev/null +++ b/click_bell/episode_0000004/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 80, + 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_0000004/TCP_third/metadata.json b/click_bell/episode_0000004/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..23bef3573adab05ee55b80654fd4856f9480e7d1 --- /dev/null +++ b/click_bell/episode_0000004/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 80, + 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_0000004/metadata.json b/click_bell/episode_0000004/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2a63b5ed166ca8e1c4f2211dce3d6b867c8f0b --- /dev/null +++ b/click_bell/episode_0000004/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000004", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000004.hdf5", + "num_frames": 80, + "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": [ + 80, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 80, + 14 + ], + "action_shape": [ + 80, + 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": [ + "Press the flat-topped bell's top center on the table.", + "Click the designated center of the round bell.", + "Press down the compact bell with round base's top center gently.", + "Activate the smooth blue bell by pressing its top center.", + "Make the left arm interact with the small blue and brown bell's top center.", + "Pinpoint the bell with protruding knob and click its top center.", + "Tap the bell with brown base's top center with the left arm.", + "Direct the left arm to touch the blue dome-shaped bell's top.", + "Press the center top of the bell with circular body.", + "Click using the left arm on the round bell's center.", + "Ask the left arm to interact with the compact bell with round base's top.", + "Tap the top center of the flat-topped bell.", + "Press the smooth blue bell's top center with the left arm firmly.", + "Locate the bell with brown base and click its top center.", + "Click the brown-bottomed bell at its top center on table.", + "Press down the top of the blue bell using the left arm.", + "Use the left arm to press the small blue and brown bell's top section.", + "Command the left arm to press the bell with circular body's top.", + "Direct the left arm to click the top of the round bell.", + "Click the top center of the brown-bottomed bell on table.", + "Have the left arm click at the bell with brown base's top center.", + "Press the top center of the small blue and brown bell on table.", + "Click the small blue and brown bell's using the left arm", + "Push the center of the bell with protruding knob using the left arm.", + "Click the flat-topped bell's top center using the left arm.", + "Use the left arm to touch the bell with brown base's top center.", + "Press the center of the small blue and brown bell using the left arm.", + "Push the bell with protruding knob's on the table", + "Press the specified top area of the round bell.", + "Guide the left arm to click the brown-bottomed bell's top center.", + "Tap the metal bell with plastic parts's top center with the left arm.", + "Press the blue dome-shaped bell's top center on the table.", + "Click the designated center of the bell with brown base.", + "Press down the smooth blue bell's top center gently.", + "Activate the blue bell by pressing its top center.", + "Make the left arm interact with the blue dome-shaped bell's top center.", + "Pinpoint the bell with brown base and click its top center.", + "Tap the blue dome-shaped bell's top center with the left arm.", + "Direct the left arm to touch the brown-bottomed bell's top.", + "Press the center top of the blue bell.", + "Click using the left arm on the flat-topped bell's center.", + "Ask the left arm to interact with the round bell's top.", + "Tap the top center of the brown-bottomed bell.", + "Press the smooth blue bell's top center with the left arm firmly.", + "Locate the smooth blue bell and click its top center.", + "Click the compact bell with round base at its top center on table.", + "Press down the top of the bell with protruding knob using the left arm.", + "Use the left arm to press the blue dome-shaped bell's top section.", + "Command the left arm to press the compact bell with round base's top.", + "Direct the left arm to click the top of the blue dome-shaped bell.", + "Click the top center of the round bell on table.", + "Have the left arm click at the blue bell's top center.", + "Press the top center of the round bell on table.", + "Click the compact bell with round base's using the left arm", + "Push the center of the flat-topped bell using the left arm.", + "Click the blue dome-shaped bell's top center using the left arm.", + "Use the left arm to touch the blue dome-shaped bell's top center.", + "Press the center of the round bell using the left arm.", + "Push the smooth blue bell's on the table", + "Press the specified top area of the bell with circular body.", + "Guide the left arm to click the bell with circular body's top center.", + "Tap the bell with circular body's top center with the left arm.", + "Press the small blue and brown bell's top center on the table.", + "Click the designated center of the bell with protruding knob.", + "Press down the compact bell with round base's top center gently.", + "Activate the compact bell with round base by pressing its top center.", + "Make the left arm interact with the blue bell's top center.", + "Pinpoint the bell with protruding knob and click its top center.", + "Tap the blue dome-shaped bell's top center with the left arm.", + "Direct the left arm to touch the blue bell's top.", + "Press the center top of the brown-bottomed bell.", + "Click using the left arm on the brown-bottomed bell's center.", + "Ask the left arm to interact with the bell with protruding knob's top.", + "Tap the top center of the compact bell with round base.", + "Press the bell with brown base's top center with the left arm firmly.", + "Locate the bell with brown base and click its top center.", + "Click the bell with protruding knob at its top center on table.", + "Press down the top of the small blue and brown bell using the left arm.", + "Use the left arm to press the bell with brown base's top section.", + "Command the left arm to press the bell with circular body's top.", + "Direct the left arm to click the top of the compact bell with round base.", + "Click the top center of the small blue and brown bell on table.", + "Have the left arm click at the metal bell with plastic parts's top center.", + "Press the top center of the bell with brown base on table.", + "Click the small blue and brown bell's using the left arm", + "Push the center of the blue bell using the left arm.", + "Click the bell with circular body's top center using the left arm.", + "Use the left arm to touch the brown-bottomed bell's top center.", + "Press the center of the smooth blue bell using the left arm.", + "Push the bell with circular body's on the table", + "Press the specified top area of the brown-bottomed bell.", + "Guide the left arm to click the bell with protruding knob's top center.", + "Tap the bell with circular body's top center with the left arm.", + "Press the flat-topped bell's top center on the table.", + "Click the designated center of the flat-topped bell.", + "Press down the bell with protruding knob's top center gently.", + "Activate the blue bell by pressing its top center.", + "Make the left arm interact with the small blue and brown bell's top center.", + "Pinpoint the compact bell with round base and click its top center.", + "Tap the brown-bottomed bell's top center with the left arm." + ] +} diff --git a/click_bell/episode_0000008/TCP_head/metadata.json b/click_bell/episode_0000008/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..acc8f5b2ad0a7992db2906977ac0a55d659a509a --- /dev/null +++ b/click_bell/episode_0000008/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 80, + 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_0000008/TCP_third/metadata.json b/click_bell/episode_0000008/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..23bef3573adab05ee55b80654fd4856f9480e7d1 --- /dev/null +++ b/click_bell/episode_0000008/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 80, + 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_0000008/metadata.json b/click_bell/episode_0000008/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..041bb2be105f3de0ffecec24ab32ab29d92bab1f --- /dev/null +++ b/click_bell/episode_0000008/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000008", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000008.hdf5", + "num_frames": 80, + "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": [ + 80, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 80, + 14 + ], + "action_shape": [ + 80, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Direct the right arm to touch the bell with circular body's top.", + "Locate the round bell and click its top center.", + "Direct the right arm to click the top of the bell with protruding knob.", + "Guide the right arm to click the blue bell's top center.", + "Click the metal bell with plastic parts at its top center on table.", + "Make the right arm interact with the smooth blue bell's top center.", + "Command the right arm to press the bell with brown base's top.", + "Press the small blue and brown bell's top center on the table.", + "Press the top center of the metal bell with plastic parts on table.", + "Activate the bell with brown base by pressing its top center.", + "Press the center top of the bell with protruding knob.", + "Click the small blue and brown bell's top center using the right arm.", + "Click the top center of the flat-topped bell on table.", + "Use the right arm to press the compact bell with round base's top section.", + "Press down the small blue and brown bell's top center gently.", + "Ask the right arm to interact with the metal bell with plastic parts's top.", + "Push the center of the compact bell with round base using the right arm.", + "Press the smooth blue bell's top center with the right arm firmly.", + "Tap the smooth blue bell's top center with the right arm.", + "Tap the top center of the smooth blue bell.", + "Click using the right arm on the bell with circular body's center.", + "Push the flat-topped bell's on the table", + "Click the designated center of the small blue and brown bell.", + "Click the smooth blue bell's using the right arm", + "Tap the bell with protruding knob's top center with the right arm.", + "Press the center of the flat-topped bell using the right arm.", + "Have the right arm click at the bell with circular body's top center.", + "Use the right arm to touch the blue dome-shaped bell's top center.", + "Pinpoint the bell with protruding knob and click its top center.", + "Press down the top of the bell with circular body using the right arm.", + "Press the specified top area of the bell with circular body.", + "Direct the right arm to touch the bell with brown base's top.", + "Locate the smooth blue bell and click its top center.", + "Direct the right arm to click the top of the small blue and brown bell.", + "Guide the right arm to click the metal bell with plastic parts's top center.", + "Click the blue bell at its top center on table.", + "Make the right arm interact with the bell with brown base's top center.", + "Command the right arm to press the blue dome-shaped bell's top.", + "Press the flat-topped bell's top center on the table.", + "Press the top center of the brown-bottomed bell on table.", + "Activate the bell with brown base by pressing its top center.", + "Press the center top of the flat-topped bell.", + "Click the blue bell's top center using the right arm.", + "Click the top center of the flat-topped bell on table.", + "Use the right arm to press the blue dome-shaped bell's top section.", + "Press down the bell with brown base's top center gently.", + "Ask the right arm to interact with the compact bell with round base's top.", + "Push the center of the bell with brown base using the right arm.", + "Press the brown-bottomed bell's top center with the right arm firmly.", + "Tap the round bell's top center with the right arm.", + "Tap the top center of the blue dome-shaped bell.", + "Click using the right arm on the metal bell with plastic parts's center.", + "Push the bell with circular body's on the table", + "Click the designated center of the metal bell with plastic parts.", + "Click the blue dome-shaped bell's using the right arm", + "Tap the bell with brown base's top center with the right arm.", + "Press the center of the metal bell with plastic parts using the right arm.", + "Have the right arm click at the brown-bottomed bell's top center.", + "Use the right arm to touch the metal bell with plastic parts's top center.", + "Pinpoint the blue bell and click its top center.", + "Press down the top of the bell with brown base using the right arm.", + "Press the specified top area of the metal bell with plastic parts.", + "Direct the right arm to touch the blue bell's top.", + "Locate the small blue and brown bell and click its top center.", + "Direct the right arm to click the top of the compact bell with round base.", + "Guide the right arm to click the compact bell with round base's top center.", + "Click the smooth blue bell at its top center on table.", + "Make the right arm interact with the smooth blue bell's top center.", + "Command the right arm to press the bell with circular body's top.", + "Press the flat-topped bell's top center on the table.", + "Press the top center of the metal bell with plastic parts on table.", + "Activate the round bell by pressing its top center.", + "Press the center top of the compact bell with round base.", + "Click the flat-topped bell's top center using the right arm.", + "Click the top center of the blue dome-shaped bell on table.", + "Use the right arm to press the blue dome-shaped bell's top section.", + "Press down the bell with circular body's top center gently.", + "Ask the right arm to interact with the bell with circular body's top.", + "Push the center of the round bell using the right arm.", + "Press the smooth blue bell's top center with the right arm firmly.", + "Tap the blue dome-shaped bell's top center with the right arm.", + "Tap the top center of the flat-topped bell.", + "Click using the right arm on the compact bell with round base's center.", + "Push the bell with circular body's on the table", + "Click the designated center of the bell with protruding knob.", + "Click the flat-topped bell's using the right arm", + "Tap the smooth blue bell's top center with the right arm.", + "Press the center of the round bell using the right arm.", + "Have the right arm click at the bell with protruding knob's top center.", + "Use the right arm to touch the brown-bottomed bell's top center.", + "Pinpoint the bell with protruding knob and click its top center.", + "Press down the top of the bell with protruding knob using the right arm.", + "Press the specified top area of the brown-bottomed bell.", + "Direct the right arm to touch the bell with protruding knob's top.", + "Locate the bell with brown base and click its top center.", + "Direct the right arm to click the top of the round bell.", + "Guide the right arm to click the brown-bottomed bell's top center.", + "Click the round bell at its top center on table.", + "Make the right arm interact with the compact bell with round base's top center.", + "Command the right arm to press the metal bell with plastic parts's top." + ] +} diff --git a/move_can_pot/episode_0000011/TCP_head/metadata.json b/move_can_pot/episode_0000011/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a98d0d139af97faae4c11182c3e41cdcfb1b94aa --- /dev/null +++ b/move_can_pot/episode_0000011/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 151, + 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_0000011/TCP_third/metadata.json b/move_can_pot/episode_0000011/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d118d2fc22e2491a36d30c0ace86cad5bb8ec5f8 --- /dev/null +++ b/move_can_pot/episode_0000011/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 151, + 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_0000011/metadata.json b/move_can_pot/episode_0000011/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c3b72ef1c9254ee44492d56b37a9e21f3d783194 --- /dev/null +++ b/move_can_pot/episode_0000011/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000011", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000011.hdf5", + "num_frames": 151, + "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": [ + 151, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 151, + 14 + ], + "action_shape": [ + 151, + 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 matte gray pot with durable lid", + "Pick up the sturdy sauce can with glossy finish with the left arm and set by the pots for boiling and cooking", + "Lift the small metal sauce container and place it next to the matte gray pot with durable lid", + "Use the left arm to grab the red can with orange label and move it beside the gray pot with blue circular lid", + "Take the smooth sauce can with the left arm, place it near the cooking pot with two handles", + "Use the left arm to lift the sauce can with printed design and place it next to the gray pot with blue circular lid", + "Use the left arm to grab the sauce can with printed design, move it beside the gray cylindrical pot", + "Using the left arm, lift the compact sauce can with plastic lid and place it by the metal pot with dark handles", + "Use the left arm to pick the sauce can with red lid up and set it beside the gray cylindrical pot", + "Grab the metal body sauce can, move it to the gray pot with blue circular lid's side", + "Move the sauce can with red lid beside the cooking pot with two handles after lifting it", + "Pick the sauce can with printed design up and move it next to the matte gray pot with durable lid", + "Use the left arm to grab the small cylindrical sauce can and move it next to the cooking pot with two handles", + "Grab the cylindrical sauce can with the left arm and set it near the metal pot with dark handles", + "Use the left arm to grab the small metal sauce container and transfer it near the blue kitchenpot lid with black knob", + "Grab the small metal sauce container with the left arm and position it beside the metal pot with dark handles", + "Move the red can with orange label to the pots for boiling and cooking with the left arm", + "Pick up the compact sauce can with plastic lid and put it beside the metal pot with dark handles", + "Lift the compact sauce can with plastic lid and move it near the kitchenpot with plastic knob on lid", + "Pick the red can with orange label with the left arm and relocate it near the kitchenpot with plastic knob on lid", + "Lift the cylindrical sauce can, then place it next to the blue kitchenpot lid with black knob", + "Move the sauce can with printed design from its spot to near the cooking pot with two handles", + "Use the left arm to lift the red can with orange label, then move it next to the cooking pot with two handles", + "Pick the small metal sauce container and position it next to the metal pot with dark handles", + "Pick up the metal body sauce can using the left arm, transfer it beside the pots for boiling and cooking", + "Lift the smooth sauce can and set it next to the blue kitchenpot lid with black knob", + "Set the compact sauce can with plastic lid near the cooking pot with two handles after picking it up", + "Grab the sauce can with rounded top cap, shift it, and place it close to the kitchenpot with plastic knob on lid", + "Take the metal body sauce can to the matte gray pot with durable lid using the left arm", + "Use the left arm to pick the sauce can with printed design, position it near the gray kitchenpot", + "Pick the cylindrical sauce can up and carefully position it beside the matte gray pot with durable lid", + "Lift the metal body sauce can using the left arm and drop it beside the metal kitchenpot with brown handles", + "Bring the metal body sauce can over and set it near the gray pot with blue circular lid", + "Move the red can with orange label to be next to the cooking pot with two handles", + "Pick the smooth sauce can up with the left arm then place near the gray kitchenpot", + "Use the left arm to take the compact sauce can with plastic lid to the kitchenpot with plastic knob on lid", + "Take the small cylindrical sauce can with the left arm, bring it, and set next to the gray pot with blue circular lid", + "Lift the red and orange sauce can using the left arm and position it by the gray kitchenpot", + "Set the cylindrical sauce can right next to the cooking pot with two handles", + "Place the compact sauce can with plastic lid next to the round blue-lid kitchenpot for stovetop", + "Grab the red can with orange label, move it, and place by the gray cylindrical pot", + "Use the left arm to lift the red can with orange label and place it near the kitchenpot with plastic knob on lid", + "With the left arm, grab the sauce can with printed design and move to the gray kitchenpot", + "Grab the red can with orange label with the left arm and move it close to the gray pot with blue circular lid", + "Place the small cylindrical sauce can beside the gray cylindrical pot after picking it up", + "Lift the small cylindrical sauce can and set it beside the gray pot with blue circular lid", + "Grab the sturdy sauce can with glossy finish and move it close to the blue kitchenpot lid with black knob", + "Lift the red can with orange label and set it next to the blue-lid kitchenpot", + "Lift the red can with orange label, place it by the blue kitchenpot lid with black knob", + "Take the sauce can with rounded top cap using the left arm, set it next to the pots for boiling and cooking", + "Use the left arm to move the red can with orange label beside the gray cylindrical pot", + "Pick up the small metal sauce container with the left arm and set by the kitchenpot with plastic knob on lid", + "Lift the sturdy sauce can with glossy finish and place it next to the round blue-lid kitchenpot for stovetop", + "Use the left arm to grab the compact sauce can with plastic lid and move it beside the gray cylindrical pot", + "Take the compact sauce can with plastic lid with the left arm, place it near the round blue-lid kitchenpot for stovetop", + "Use the left arm to lift the small cylindrical sauce can and place it next to the metal kitchenpot with brown handles", + "Use the left arm to grab the red and orange sauce can, move it beside the gray pot with blue circular lid", + "Using the left arm, lift the sauce can with rounded top cap and place it by the gray pot with blue circular lid", + "Use the left arm to pick the red and orange sauce can up and set it beside the pots for boiling and cooking", + "Grab the compact sauce can with plastic lid, move it to the gray pot with blue circular lid's side", + "Move the sauce can with rounded top cap beside the gray pot with blue circular lid after lifting it", + "Pick the metal body sauce can up and move it next to the matte gray pot with durable lid", + "Use the left arm to grab the small metal sauce container and move it next to the gray kitchenpot", + "Grab the sauce can with red lid with the left arm and set it near the metal pot with dark handles", + "Use the left arm to grab the metal body sauce can and transfer it near the kitchenpot with plastic knob on lid", + "Grab the sauce can with rounded top cap with the left arm and position it beside the gray kitchenpot", + "Move the metal body sauce can to the matte gray pot with durable lid with the left arm", + "Pick up the small cylindrical sauce can and put it beside the kitchenpot with plastic knob on lid", + "Lift the red and orange sauce can and move it near the cooking pot with two handles", + "Pick the compact sauce can with plastic lid with the left arm and relocate it near the gray cylindrical pot", + "Lift the metal body sauce can, then place it next to the gray cylindrical pot", + "Move the small cylindrical sauce can from its spot to near the blue-lid kitchenpot", + "Use the left arm to lift the red can with orange label, then move it next to the gray pot with blue circular lid", + "Pick the metal body sauce can and position it next to the matte gray pot with durable lid", + "Pick up the red can with orange label using the left arm, transfer it beside the blue kitchenpot lid with black knob", + "Lift the sauce can with red lid and set it next to the kitchenpot with plastic knob on lid", + "Set the sauce can with red lid near the metal pot with dark handles after picking it up", + "Grab the small metal sauce container, shift it, and place it close to the matte gray pot with durable lid", + "Take the sauce can with printed design to the metal kitchenpot with brown handles using the left arm", + "Use the left arm to pick the smooth sauce can, position it near the blue-lid kitchenpot", + "Pick the metal body sauce can up and carefully position it beside the matte gray pot with durable lid", + "Lift the small cylindrical sauce can using the left arm and drop it beside the matte gray pot with durable lid", + "Bring the compact sauce can with plastic lid over and set it near the blue kitchenpot lid with black knob", + "Move the smooth sauce can to be next to the metal kitchenpot with brown handles", + "Pick the smooth sauce can up with the left arm then place near the round blue-lid kitchenpot for stovetop", + "Use the left arm to take the sauce can with rounded top cap to the gray cylindrical pot", + "Take the small cylindrical sauce can with the left arm, bring it, and set next to the pots for boiling and cooking", + "Lift the red and orange sauce can using the left arm and position it by the blue kitchenpot lid with black knob", + "Set the sturdy sauce can with glossy finish right next to the pots for boiling and cooking", + "Place the red and orange sauce can next to the metal kitchenpot with brown handles", + "Grab the small metal sauce container, move it, and place by the cooking pot with two handles", + "Use the left arm to lift the metal body sauce can and place it near the kitchenpot with plastic knob on lid", + "With the left arm, grab the sauce can with red lid and move to the blue-lid kitchenpot", + "Grab the sauce can with rounded top cap with the left arm and move it close to the gray kitchenpot", + "Place the sauce can with printed design beside the blue kitchenpot lid with black knob after picking it up", + "Lift the small cylindrical sauce can and set it beside the blue-lid kitchenpot", + "Grab the compact sauce can with plastic lid and move it close to the blue-lid kitchenpot", + "Lift the compact sauce can with plastic lid and set it next to the gray pot with blue circular lid", + "Lift the sauce can with printed design, place it by the blue kitchenpot lid with black knob", + "Take the red can with orange label using the left arm, set it next to the cooking pot with two handles" + ] +} diff --git a/move_pillbottle_pad/episode_0000032/TCP_third/left_state.npy b/move_pillbottle_pad/episode_0000032/TCP_third/left_state.npy new 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down, +z forward" + }, + "robot": { + "state_shape": [ + 148, + 14 + ], + "action_shape": [ + 148, + 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 mouse with two buttons and a scroll wheel and move it to Gray mat.", + "Using the right arm, pick the mouse with curved ergonomic shape and position it on Gray colored mat.", + "With the right arm, pick up the mouse with curved ergonomic shape and lay it on Gray mat.", + "Slide the mouse with curved ergonomic shape onto the Gray mat gently.", + "Pick up the plastic mouse with smooth finish and set it on the Gray colored mat.", + "With the right arm, take the dark ergonomic mouse for computer navigation and set it on Gray mat.", + "Grab the plastic mouse with smooth finish and move it onto the Gray mat.", + "Pick up the dark ergonomic mouse for computer navigation with the right arm and move it to the Gray mat.", + "Lift the mouse with curved ergonomic shape using the right arm and move it to the Gray mat.", + "Take the mouse with curved ergonomic shape and place it on the Gray mat.", + "Lift the plastic mouse with smooth finish and set it down on the Gray mat.", + "Take the compact matte gray computer mouse and adjust it to rest on the Gray mat.", + "Grab the plastic mouse with smooth finish and drop it on Gray mat.", + "Lift the oval-shaped mouse for computer use using the right arm and drop it on the Gray colored mat.", + "Take hold of the computer mouse and place it on the Gray mat.", + "Take the compact matte gray computer mouse and put it onto Gray mat.", + "Hold the dark ergonomic mouse for computer navigation and transfer it to the Gray mat.", + "Use the right arm to pick the rounded top mouse with glossy logo and place it on the Gray mat.", + "Use the right arm to grab the mouse with two buttons and a scroll wheel and place it on the Gray colored mat.", + "Pick the rounded top mouse with glossy logo and place it on the Gray colored mat.", + "Pick up the rounded top mouse with glossy logo with the right arm and place it on the Gray mat.", + "Lift the computer mouse and place it onto Gray mat.", + "With the right arm, grab the dark mouse with slight textured sides and position it on the Gray mat.", + "Position the oval-shaped mouse for computer use on the Gray mat by picking it up.", + "Hold the mouse with curved ergonomic shape and carefully place it on the Gray mat.", + "Take hold of the dark ergonomic mouse for computer navigation with the right arm and drop it on the Gray mat.", + "Use the right arm to grab the gray mouse and drop it on the Gray colored mat.", + "Take the plastic mouse with smooth finish and put it on the Gray mat.", + "Use the right arm to lift the mouse with curved ergonomic shape and set it on the Gray mat.", + "With the right arm, grab the plastic mouse with smooth finish and position it on Gray mat.", + "Using the right arm, grab the dark ergonomic mouse for computer navigation and place it on Gray colored mat.", + "Lift the plastic mouse with smooth finish and put it down onto the Gray mat.", + "Take the mouse with two buttons and a scroll wheel and place it onto the Gray mat.", + "Use the right arm to grab the mouse with two buttons and a scroll wheel and position it onto the Gray mat.", + "Lift the plastic mouse with smooth finish with the right arm and place it on the Gray mat.", + "Pick the gray mouse with the right arm and move it to the Gray mat.", + "Use the right arm to pick the gray mouse up and set it on the Gray colored mat.", + "Grab the mouse with two buttons and a scroll wheel and place it firmly on the Gray mat.", + "Lift the mouse with scroll wheel in center using the right arm and stick it on the Gray mat.", + "Lift the gray mouse and position it on the Gray mat.", + "Grab the rounded top mouse with glossy logo and position it onto the Gray mat.", + "Take the small mouse with smooth surface and place it on the Gray colored mat.", + "Grip the compact matte gray computer mouse using the right arm and move it to the Gray mat.", + "Use the right arm to grab the oval-shaped mouse for computer use and set it on the Gray mat.", + "Lift the plastic mouse with smooth finish and stick it on Gray mat.", + "Grab the rounded top mouse with glossy logo using the right arm and place it on the Gray mat.", + "Grip the plastic mouse with smooth finish and move it onto the Gray mat.", + "Lift the mouse with scroll wheel in center up with the right arm and stick it onto the Gray mat.", + "Grab the dark ergonomic mouse for computer navigation with the right arm and lay it onto the Gray colored mat.", + "Using the right arm, grab the compact matte gray computer mouse and set it on the Gray mat.", + "Pick up the mouse with scroll wheel in center and move it to Gray mat.", + "Using the right arm, pick the small mouse with smooth surface and position it on Gray colored mat.", + "With the right arm, pick up the dark ergonomic mouse for computer navigation and lay it on Gray mat.", + "Slide the mouse with curved ergonomic shape onto the Gray mat gently.", + "Pick up the oval-shaped mouse for computer use and set it on the Gray colored mat.", + "With the right arm, take the gray mouse and set it on Gray mat.", + "Grab the small mouse with smooth surface and move it onto the Gray mat.", + "Pick up the plastic mouse with smooth finish with the right arm and move it to the Gray mat.", + "Lift the gray mouse using the right arm and move it to the Gray mat.", + "Take the rounded top mouse with glossy logo and place it on the Gray mat.", + "Lift the small mouse with smooth surface and set it down on the Gray mat.", + "Take the dark ergonomic mouse for computer navigation and adjust it to rest on the Gray mat.", + "Grab the mouse with curved ergonomic shape and drop it on Gray mat.", + "Lift the mouse with curved ergonomic shape using the right arm and drop it on the Gray colored mat.", + "Take hold of the rounded top mouse with glossy logo and place it on the Gray mat.", + "Take the rounded top mouse with glossy logo and put it onto Gray mat.", + "Hold the compact matte gray computer mouse and transfer it to the Gray mat.", + "Use the right arm to pick the oval-shaped mouse for computer use and place it on the Gray mat.", + "Use the right arm to grab the mouse with two buttons and a scroll wheel and place it on the Gray colored mat.", + "Pick the mouse with curved ergonomic shape and place it on the Gray colored mat.", + "Pick up the oval-shaped mouse for computer use with the right arm and place it on the Gray mat.", + "Lift the dark mouse with slight textured sides and place it onto Gray mat.", + "With the right arm, grab the oval-shaped mouse for computer use and position it on the Gray mat.", + "Position the gray mouse on the Gray mat by picking it up.", + "Hold the dark mouse with slight textured sides and carefully place it on the Gray mat.", + "Take hold of the dark mouse with slight textured sides with the right arm and drop it on the Gray mat.", + "Use the right arm to grab the dark ergonomic mouse for computer navigation and drop it on the Gray colored mat.", + "Take the computer mouse and put it on the Gray mat.", + "Use the right arm to lift the mouse with curved ergonomic shape and set it on the Gray mat.", + "With the right arm, grab the mouse with curved ergonomic shape and position it on Gray mat.", + "Using the right arm, grab the rounded top mouse with glossy logo and place it on Gray colored mat.", + "Lift the gray mouse and put it down onto the Gray mat.", + "Take the dark mouse with slight textured sides and place it onto the Gray mat.", + "Use the right arm to grab the mouse with curved ergonomic shape and position it onto 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scroll wheel in center using the right arm and place it on the Gray mat.", + "Grip the mouse with two buttons and a scroll wheel and move it onto the Gray mat.", + "Lift the gray mouse up with the right arm and stick it onto the Gray mat.", + "Grab the mouse with curved ergonomic shape with the right arm and lay it onto the Gray colored mat.", + "Using the right arm, grab the gray mouse and set it on the Gray mat." + ] +} diff --git a/place_object_stand/episode_0000045/TCP_third/metadata.json b/place_object_stand/episode_0000045/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..95807ef848e043ee00aebc8274573a0c0e4ad56b --- /dev/null +++ b/place_object_stand/episode_0000045/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 150, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": 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"convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 118, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 118, + 14 + ], + "action_shape": [ + 118, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Push down hard on the bright blue smooth stapler with the left arm.", + "Press down on the stapler the plastic stapler with metallic interior firmly.", + "Press the blue rectangular stapler with curves to complete the task.", + "Press on the blue stapler using the left arm.", + "Firmly push the handy blue stapler with metal parts using the left arm to operate it.", + "Push the stapler with blue plastic handle until it staples.", + "Push down on the stapler the blue stapler with white accents.", + "Engage the plastic stapler with silver mechanism by using the left arm to press it.", + "Push down firmly on the stapler with blue plastic handle to complete.", + "Push the compact bright blue stapler using one arm", + "Use your the left arm to press the stapler the handy blue stapler with metal parts.", + "Apply one arm the left arm to press the blue rectangular stapler with curves firmly.", + "Press the blue stapler for paper fastening until it works", + "Apply force to the blue stapler to staple.", + "Apply force to the blue stapler with the left arm", + "Lower the left arm onto the stapler the stapler with blue plastic handle.", + "Press the stapler with blue plastic handle to staple the sheets together.", + "Use your arm the left arm to push the simple stapler down.", + "Press the stapler the bright blue smooth stapler using an arm the left arm.", + "Press the blue stapler with silver staple tray firmly to staple", + "Use one arm to press the plastic stapler with metallic interior.", + "Push down forcefully on the stapler the simple stapler.", + "Press on the blue stapler with silver staple tray to activate it.", + "Push the plastic stapler with silver mechanism down completely", + "Push down on the simple stapler to staple", + "Apply pressure to the plastic stapler with metallic interior with the left arm.", + "Firmly press the blue stapler using an arm.", + "Push the top of the bright blue smooth stapler down", + "Push the stapler the blue stapler to operate it.", + "Push the stapler the blue stapler to activate it.", + "Apply enough force to the blue stapler with silver staple tray to press it.", + "Push down on the plastic stapler with silver mechanism to staple papers.", + "Press the bright blue smooth stapler downward using your arm the left arm.", + "Push down on the simple stapler firmly.", + "Apply pressure to the blue stapler with the left arm.", + "Use one arm the left arm to press the blue stapler.", + "Apply pressure to the handy blue stapler with metal parts firmly", + "Operate the stapler with blue plastic handle by pressing it with the left arm.", + "Lower the blue stapler for paper fastening using an arm", + "Apply pressure to the blue stapler with silver staple tray using one arm the left arm.", + "Push down on the stapler the plastic stapler with metallic interior.", + "Simply press the stapler the plastic stapler with silver mechanism downward.", + "Push the stapler the simple stapler with the left arm.", + "Press down on the blue stapler with white accents until it functions.", + "Use an arm to press the handy blue stapler with metal parts", + "Firmly press down on the plastic stapler with metallic interior to staple.", + "Place pressure on the plastic stapler with metallic interior to staple.", + "Apply pressure on the plastic stapler with silver mechanism until it works.", + "Firmly push down on the plastic stapler with metallic interior.", + "Push the blue stapler with white accents down firmly.", + "Push down hard on the blue stapler with white accents with the left arm.", + "Press down on the stapler the blue stapler firmly.", + "Press the blue stapler with white accents to complete the task.", + "Press on the plastic stapler with metallic interior using the left arm.", + "Firmly push the handy blue stapler with metal parts using the left arm to operate it.", + "Push the blue stapler until it staples.", + "Push down on the stapler the blue stapler for paper fastening.", + "Engage the simple stapler by using the left arm to press it.", + "Push down firmly on the blue stapler with silver staple tray to complete.", + "Push the handy blue stapler with metal parts using one arm", + "Use your the left arm to press the stapler the blue stapler with white accents.", + "Apply one arm the left arm to press the plastic stapler with silver mechanism firmly.", + "Press the blue stapler with white accents until it works", + "Apply force to the bright blue smooth stapler to staple.", + "Apply force to the simple stapler with the left arm", + "Lower the left arm onto the stapler the blue stapler.", + "Press the stapler with blue plastic handle to staple the sheets together.", + "Use your arm the left arm to push the blue rectangular stapler with curves down.", + "Press the stapler the bright blue smooth stapler using an arm the left arm.", + "Press the simple stapler firmly to staple", + "Use one arm to press the blue stapler with silver staple tray.", + "Push down forcefully on the stapler the stapler with blue plastic handle.", + "Press on the blue stapler with silver staple tray to activate it.", + "Push the handy blue stapler with metal parts down completely", + "Push down on the plastic stapler with metallic interior to staple", + "Apply pressure to the compact bright blue stapler with the left arm.", + "Firmly press the plastic stapler with silver mechanism using an arm.", + "Push the top of the compact bright blue stapler down", + "Push the stapler the blue stapler to operate it.", + "Push the stapler the blue stapler with silver staple tray to activate it.", + "Apply enough force to the handy blue stapler with metal parts to press it.", + "Push down on the plastic stapler with metallic interior to staple papers.", + "Press the blue stapler with white accents downward using your arm the left arm.", + "Push down on the plastic stapler with metallic interior firmly.", + "Apply pressure to the bright blue smooth stapler with the left arm.", + "Use one arm the left arm to press the blue rectangular stapler with curves.", + "Apply pressure to the blue stapler with white accents firmly", + "Operate the bright blue smooth stapler by pressing it with the left arm.", + "Lower the blue stapler with silver staple tray using an arm", + "Apply pressure to the blue rectangular stapler with curves using one arm the left arm.", + "Push down on the stapler the plastic stapler with metallic interior.", + "Simply press the stapler the stapler with blue plastic handle downward.", + "Push the stapler the plastic stapler with silver mechanism with the left arm.", + "Press down on the blue stapler for paper fastening until it functions.", + "Use an arm to press the blue stapler with white accents", + "Firmly press down on the blue stapler with silver staple tray to staple.", + "Place pressure on the blue stapler with white accents to staple.", + "Apply pressure on the bright blue smooth stapler until it works.", + "Firmly push down on the blue stapler.", + "Push the bright blue smooth stapler down firmly." + ] +} diff --git a/press_stapler/episode_0000019/TCP_head/metadata.json b/press_stapler/episode_0000019/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a35359f5c580675beb3f937c4df5421af25c48a9 --- /dev/null +++ b/press_stapler/episode_0000019/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 117, + 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/press_stapler/episode_0000019/TCP_third/metadata.json b/press_stapler/episode_0000019/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7189951c9f9b81359ac22245f4566e5bec664dd9 --- /dev/null +++ b/press_stapler/episode_0000019/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 117, + 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/press_stapler/episode_0000019/metadata.json b/press_stapler/episode_0000019/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..17da90388ebb28a1b9be445174b5d7981465ff1a --- /dev/null +++ b/press_stapler/episode_0000019/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "press_stapler", + "episode": "episode_0000019", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/press_stapler/aloha_agilex/data/episode_0000019.hdf5", + "num_frames": 117, + "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": [ + 117, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 117, + 14 + ], + "action_shape": [ + 117, + 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": [ + "Lower the stapler with rounded edges using an arm", + "Push down firmly on the white stapler with rounded design to complete.", + "Firmly press the handheld stapler using an arm.", + "Push the stapler the stapler with orange top lever to operate it.", + "Apply pressure on the paper stapler with silver tray until it works.", + "Press the stapler with rounded edges to complete the task.", + "Use your arm the right arm to push the modern design stapler down.", + "Apply pressure to the small office stapler with the right arm.", + "Firmly push down on the stapler with rounded edges.", + "Use an arm to press the handheld stapler", + "Push down on the stapler the stapler with orange button.", + "Use your the right arm to press the stapler the smooth plastic stapler.", + "Press on the stapler with orange top lever using the right arm.", + "Push down on the white stapler with rounded design firmly.", + "Engage the paper stapler with silver tray by using the right arm to press it.", + "Apply pressure to the stapler for fastening papers with the right arm.", + "Apply one arm the right arm to press the plastic and metal stapler firmly.", + "Push the white body stapler with accents until it staples.", + "Push down hard on the stapler with orange top lever with the right arm.", + "Press down on the stapler the stapler with orange top lever firmly.", + "Push the top of the paper stapler with silver tray down", + "Apply force to the stapler with orange button to staple.", + "Press the plastic and metal stapler to staple the sheets together.", + "Use one arm to press the white body stapler with accents.", + "Push down on the smooth plastic stapler to staple papers.", + "Use one arm the right arm to press the stapler for fastening papers.", + "Push the stapler the paper stapler with silver tray with the right arm.", + "Press the modern design stapler until it works", + "Push down on the stapler the white body stapler with accents.", + "Press on the stapler for fastening papers to activate it.", + "Push the smooth plastic stapler down completely", + "Apply force to the stapler with orange top lever with the right arm", + "Firmly press down on the paper stapler with silver tray to staple.", + "Press down on the stapler with orange button until it functions.", + "Apply enough force to the smooth plastic stapler to press it.", + "Simply press the stapler the white stapler with rounded design downward.", + "Push the stapler with orange button down firmly.", + "Press the paper stapler with silver tray firmly to staple", + "Press the stapler with orange button downward using your arm the right arm.", + "Apply pressure to the stapler for fastening papers using one arm the right arm.", + "Push the paper stapler with silver tray using one arm", + "Push down on the stapler with rounded edges to staple", + "Push the stapler the handheld stapler to activate it.", + "Operate the handheld stapler by pressing it with the right arm.", + "Firmly push the white stapler with rounded design using the right arm to operate it.", + "Apply pressure to the smooth plastic stapler firmly", + "Push down forcefully on the stapler the stapler with rounded edges.", + "Press the stapler the white stapler with rounded design using an arm the right arm.", + "Place pressure on the small office stapler to staple.", + "Lower the right arm onto the stapler the smooth plastic stapler.", + "Lower the stapler with orange button using an arm", + "Push down firmly on the smooth plastic stapler to complete.", + "Firmly press the modern design stapler using an arm.", + "Push the stapler the stapler with orange top lever to operate it.", + "Apply pressure on the handheld stapler until it works.", + "Press the paper stapler with silver tray to complete the task.", + "Use your arm the right arm to push the stapler for fastening papers down.", + "Apply pressure to the modern design stapler with the right arm.", + "Firmly push down on the small office stapler.", + "Use an arm to press the white stapler with rounded design", + "Push down on the stapler the stapler with rounded edges.", + "Use your the right arm to press the stapler the stapler with orange button.", + "Press on the plastic and metal stapler using the right arm.", + "Push down on the white body stapler with accents firmly.", + "Engage the modern design stapler by using the right arm to press it.", + "Apply pressure to the white body stapler with accents with the right arm.", + "Apply one arm the right arm to press the white body stapler with accents firmly.", + "Push the stapler for fastening papers until it staples.", + "Push down hard on the plastic and metal stapler with the right arm.", + "Press down on the stapler the stapler with rounded edges firmly.", + "Push the top of the stapler with orange top lever down", + "Apply force to the white body stapler with accents to staple.", + "Press the stapler for fastening papers to staple the sheets together.", + "Use one arm to press the smooth plastic stapler.", + "Push down on the small office stapler to staple papers.", + "Use one arm the right arm to press the stapler for fastening papers.", + "Push the stapler the handheld stapler with the right arm.", + "Press the paper stapler with silver tray until it works", + "Push down on the stapler the white stapler with rounded design.", + "Press on the handheld stapler to activate it.", + "Push the stapler with orange top lever down completely", + "Apply force to the smooth plastic stapler with the right arm", + "Firmly press down on the smooth plastic stapler to staple.", + "Press down on the plastic and metal stapler until it functions.", + "Apply enough force to the handheld stapler to press it.", + "Simply press the stapler the modern design stapler downward.", + "Push the paper stapler with silver tray down firmly.", + "Press the stapler with orange button firmly to staple", + "Press the stapler with orange button downward using your arm the right arm.", + "Apply pressure to the white body stapler with accents using one arm the right arm.", + "Push the plastic and metal stapler using one arm", + "Push down on the white stapler with rounded design to staple", + "Push the stapler the small office stapler to activate it.", + "Operate the plastic and metal stapler by pressing it with the right arm.", + "Firmly push the white body stapler with accents using the right arm to operate it.", + "Apply pressure to the white stapler with rounded design firmly", + "Push down forcefully on the stapler the stapler with orange top lever.", + "Press the stapler the small office stapler using an arm the right arm.", + "Place pressure on the stapler with orange top lever to staple.", + "Lower the right arm onto the stapler the stapler with rounded edges." + ] +} diff --git a/put_bottles_dustbin/episode_0000016/depths/head_view/000002.png b/put_bottles_dustbin/episode_0000016/depths/head_view/000002.png new file mode 100644 index 0000000000000000000000000000000000000000..c05602b7fb871cb3c0eb7fd0fafb5b97c513644a --- /dev/null +++ b/put_bottles_dustbin/episode_0000016/depths/head_view/000002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd2bb382ade61a1f498383c957f23f3781555a6ae570ef311386f81fdfbf1d14 +size 11193 diff --git a/put_bottles_dustbin/episode_0000016/depths/head_view/000003.png b/put_bottles_dustbin/episode_0000016/depths/head_view/000003.png new file mode 100644 index 0000000000000000000000000000000000000000..9de9405201c118e6ecde1ec1a88adcde88c6a4a8 --- 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