diff --git a/beat_block_hammer/episode_0000024/TCP_head/metadata.json b/beat_block_hammer/episode_0000024/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c82f705431a51414c49f2644abe3b87a8a6cb5 --- /dev/null +++ b/beat_block_hammer/episode_0000024/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 125, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/beat_block_hammer/episode_0000024/TCP_third/metadata.json b/beat_block_hammer/episode_0000024/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..54dd166a2e100824b08603bf254df9a689948b5d --- /dev/null +++ b/beat_block_hammer/episode_0000024/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 125, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/beat_block_hammer/episode_0000024/metadata.json b/beat_block_hammer/episode_0000024/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..85eb8aa3d3de2169f89a6e9f70593dfb301c815e --- /dev/null +++ b/beat_block_hammer/episode_0000024/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000024", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000024.hdf5", + "num_frames": 125, + "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": [ + 125, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 125, + 14 + ], + "action_shape": [ + 125, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Grab the medium-sized metal hammer with the right arm and beat the block.", + "Take the hammer for nails and strike the block", + "Grab the hammer with two-tone handle using the right arm, then beat the block", + "Pick the silver curved hammer head from the table and strike", + "Take the black and yellow hammer grip and beat the block", + "Hold the hammer with claw-shaped end and pound the block.", + "With the right arm, grab the silver curved hammer head and beat the block.", + "Pick up the hammer with two-tone handle using the right arm then beat", + "With the right arm, grab the medium-sized metal hammer and hammer the block", + "Utilize the right arm to hold the silver curved hammer head and strike.", + "Pick up the silver curved hammer head using the right arm, hammer the block.", + "Grab the hammer for nails using the right arm then pound block", + "Use the right arm to take the plastic handle metal hammer and strike", + "Beat the block after grabbing the silver curved hammer head", + "Grab the black and yellow hammer grip using the right arm and strike the block", + "Pick the yellow and black hammer grip and smash the block", + "Grab the silver curved hammer head, then hit the block", + "Catch the medium-sized metal hammer and use it on the block.", + "Lift the medium-sized metal hammer, then beat the block.", + "Take the yellow and black hammer grip and strike the block", + "Use the right arm to grab the hammer with two-tone handle and beat block", + "Lift the handheld medium claw hammer using the right arm to hit the block.", + "Take the handheld medium claw hammer and hammer the block", + "Grab the silver hammer using the right arm and hit the block", + "Grip the silver curved hammer head firmly and hit the block.", + "Grab the yellow and black hammer grip to beat the block.", + "Use the handheld medium claw hammer to beat after grabbing with the right arm", + "Lift the silver hammer and hit the block", + "Grab the plastic handle metal hammer, then strike the block.", + "Pick up the plastic handle metal hammer and strike the block", + "Grab the silver curved hammer head with the right arm and hit the block", + "Take the handheld medium claw hammer and smash the block.", + "Grab the yellow and black hammer grip with the right arm and hit block", + "Lift the yellow and black hammer grip and hit the block.", + "Hold the handheld medium claw hammer then hit the block", + "Lift the medium-sized metal hammer with the right arm then strike block", + "Pick the grippy handle hammer with the right arm and hit the block", + "Take the hammer with claw-shaped end and beat the block", + "Employ the right arm to grab the silver curved hammer head and hit.", + "With the right arm, pick up the silver curved hammer head and strike the block.", + "Pick up the silver hammer and use it on the block", + "Make the right arm grab the plastic handle metal hammer and strike the block.", + "Pick the grippy handle hammer and strike the block.", + "Use the plastic handle metal hammer to hammer the block.", + "Grab the hammer with two-tone handle with the right arm and strike block", + "With the right arm, grab the plastic handle metal hammer and hit the block", + "Take the handheld medium claw hammer using the right arm, hit the block.", + "Pick up the silver hammer with the right arm, strike the block.", + "Use the right arm to grab the hammer with two-tone handle and beat", + "Grab the silver hammer and use it to hit", + "Grab the grippy handle hammer with the right arm and beat the block.", + "Take the hammer with claw-shaped end and strike the block", + "Grab the silver hammer using the right arm, then beat the block", + "Pick the hammer with claw-shaped end from the table and strike", + "Take the hammer with claw-shaped end and beat the block", + "Hold the yellow and black hammer grip and pound the block.", + "With the right arm, grab the medium-sized metal hammer and beat the block.", + "Pick up the handheld medium claw hammer using the right arm then beat", + "With the right arm, grab the grippy handle hammer and hammer the block", + "Utilize the right arm to hold the handheld medium claw hammer and strike.", + "Pick up the black and yellow hammer grip using the right arm, hammer the block.", + "Grab the hammer for nails using the right arm then pound block", + "Use the right arm to take the hammer with two-tone handle and strike", + "Beat the block after grabbing the yellow and black hammer grip", + "Grab the silver hammer using the right arm and strike the block", + "Pick the hammer with claw-shaped end and smash the block", + "Grab the grippy handle hammer, then hit the block", + "Catch the plastic handle metal hammer and use it on the block.", + "Lift the nail-driving hammer, then beat the block.", + "Take the plastic handle metal hammer and strike the block", + "Use the right arm to grab the hammer for nails and beat block", + "Lift the hammer for nails using the right arm to hit the block.", + "Take the handheld medium claw hammer and hammer the block", + "Grab the medium-sized metal hammer using the right arm and hit the block", + "Grip the hammer with claw-shaped end firmly and hit the block.", + "Grab the hammer with claw-shaped end to beat the block.", + "Use the hammer with claw-shaped end to beat after grabbing with the right arm", + "Lift the hammer with two-tone handle and hit the block", + "Grab the handheld medium claw hammer, then strike the block.", + "Pick up the handheld medium claw hammer and strike the block", + "Grab the grippy handle hammer with the right arm and hit the block", + "Take the black and yellow hammer grip and smash the block.", + "Grab the hammer for nails with the right arm and hit block", + "Lift the handheld medium claw hammer and hit the block.", + "Hold the plastic handle metal hammer then hit the block", + "Lift the silver hammer with the right arm then strike block", + "Pick the silver curved hammer head with the right arm and hit the block", + "Take the plastic handle metal hammer and beat the block", + "Employ the right arm to grab the hammer with two-tone handle and hit.", + "With the right arm, pick up the hammer with two-tone handle and strike the block.", + "Pick up the hammer for nails and use it on the block", + "Make the right arm grab the silver curved hammer head and strike the block.", + "Pick the hammer for nails and strike the block.", + "Use the handheld medium claw hammer to hammer the block.", + "Grab the hammer with claw-shaped end with the right arm and strike block", + "With the right arm, grab the hammer with two-tone handle and hit the block", + "Take the nail-driving hammer using the right arm, hit the block.", + "Pick up the nail-driving hammer with the right arm, strike the block.", + "Use the right arm to grab the handheld medium claw hammer and beat", + "Grab the grippy handle hammer and use it to hit" + ] +} diff --git a/beat_block_hammer/episode_0000041/TCP_head/metadata.json b/beat_block_hammer/episode_0000041/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..16792fe1482b905c32ca02334e998809013f5727 --- /dev/null +++ b/beat_block_hammer/episode_0000041/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 119, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/beat_block_hammer/episode_0000041/metadata.json b/beat_block_hammer/episode_0000041/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e080ced755ad79db4be9ab571d854ce9d38b2a9f --- /dev/null +++ b/beat_block_hammer/episode_0000041/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000041", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000041.hdf5", + "num_frames": 119, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 119, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 119, + 14 + ], + "action_shape": [ + 119, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Take the hammer with claw-shaped end and strike the block", + "Lift the hammer with two-tone handle with the left arm then strike block", + "Grab the hammer with two-tone handle with the left arm and strike block", + "Hold the grippy handle hammer then hit the block", + "Take the silver hammer and beat the block", + "Take the plastic handle metal hammer and smash the block.", + "Employ the left arm to grab the hammer with two-tone handle and hit.", + "Use the left arm to take the nail-driving hammer and strike", + "Pick up the hammer with claw-shaped end with the left arm, strike the block.", + "Take the yellow and black hammer grip and strike the block", + "Pick the hammer with claw-shaped end with the left arm and hit the block", + "Grab the silver curved hammer head with the left arm and hit block", + "Lift the hammer for nails using the left arm to hit the block.", + "Grab the grippy handle hammer using the left arm then pound block", + "Grip the hammer with claw-shaped end firmly and hit the block.", + "Pick the handheld medium claw hammer and strike the block.", + "Lift the grippy handle hammer and hit the block.", + "Take the hammer for nails and beat the block", + "Take the black and yellow hammer grip and hammer the block", + "Use the left arm to grab the silver curved hammer head and beat block", + "With the left arm, grab the handheld medium claw hammer and hammer the block", + "Grab the yellow and black hammer grip with the left arm and hit the block", + "Grab the nail-driving hammer and use it to hit", + "Take the silver hammer using the left arm, hit the block.", + "Pick up the handheld medium claw hammer and strike the block", + "With the left arm, grab the medium-sized metal hammer and hit the block", + "Use the left arm to grab the hammer for nails and beat", + "Use the handheld medium claw hammer to hammer the block.", + "With the left arm, pick up the plastic handle metal hammer and strike the block.", + "Lift the grippy handle hammer and hit the block", + "With the left arm, grab the hammer for nails and beat the block.", + "Pick the medium-sized metal hammer and smash the block", + "Grab the medium-sized metal hammer using the left arm and strike the block", + "Grab the plastic handle metal hammer using the left arm and hit the block", + "Pick up the hammer for nails using the left arm, hammer the block.", + "Pick the medium-sized metal hammer from the table and strike", + "Lift the grippy handle hammer, then beat the block.", + "Grab the silver hammer to beat the block.", + "Pick up the black and yellow hammer grip using the left arm then beat", + "Grab the black and yellow hammer grip with the left arm and beat the block.", + "Catch the medium-sized metal hammer and use it on the block.", + "Use the silver curved hammer head to beat after grabbing with the left arm", + "Grab the medium-sized metal hammer using the left arm, then beat the block", + "Pick up the hammer with claw-shaped end and use it on the block", + "Hold the medium-sized metal hammer and pound the block.", + "Make the left arm grab the silver curved hammer head and strike the block.", + "Utilize the left arm to hold the silver curved hammer head and strike.", + "Grab the black and yellow hammer grip, then strike the block.", + "Beat the block after grabbing the nail-driving hammer", + "Grab the black and yellow hammer grip, then hit the block", + "Take the black and yellow hammer grip and strike the block", + "Lift the grippy handle hammer with the left arm then strike block", + "Grab the medium-sized metal hammer with the left arm and strike block", + "Hold the hammer with claw-shaped end then hit the block", + "Take the yellow and black hammer grip and beat the block", + "Take the handheld medium claw hammer and smash the block.", + "Employ the left arm to grab the yellow and black hammer grip and hit.", + "Use the left arm to take the hammer for nails and strike", + "Pick up the black and yellow hammer grip with the left arm, strike the block.", + "Take the hammer with claw-shaped end and strike the block", + "Pick the yellow and black hammer grip with the left arm and hit the block", + "Grab the silver curved hammer head with the left arm and hit block", + "Lift the yellow and black hammer grip using the left arm to hit the block.", + "Grab the hammer for nails using the left arm then pound block", + "Grip the medium-sized metal hammer firmly and hit the block.", + "Pick the nail-driving hammer and strike the block.", + "Lift the medium-sized metal hammer and hit the block.", + "Take the hammer for nails and beat the block", + "Take the handheld medium claw hammer and hammer the block", + "Use the left arm to grab the nail-driving hammer and beat block", + "With the left arm, grab the handheld medium claw hammer and hammer the block", + "Grab the yellow and black hammer grip with the left arm and hit the block", + "Grab the medium-sized metal hammer and use it to hit", + "Take the nail-driving hammer using the left arm, hit the block.", + "Pick up the yellow and black hammer grip and strike the block", + "With the left arm, grab the handheld medium claw hammer and hit the block", + "Use the left arm to grab the grippy handle hammer and beat", + "Use the yellow and black hammer grip to hammer the block.", + "With the left arm, pick up the medium-sized metal hammer and strike the block.", + "Lift the silver hammer and hit the block", + "With the left arm, grab the plastic handle metal hammer and beat the block.", + "Pick the black and yellow hammer grip and smash the block", + "Grab the hammer with claw-shaped end using the left arm and strike the block", + "Grab the yellow and black hammer grip using the left arm and hit the block", + "Pick up the nail-driving hammer using the left arm, hammer the block.", + "Pick the hammer for nails from the table and strike", + "Lift the grippy handle hammer, then beat the block.", + "Grab the black and yellow hammer grip to beat the block.", + "Pick up the plastic handle metal hammer using the left arm then beat", + "Grab the grippy handle hammer with the left arm and beat the block.", + "Catch the black and yellow hammer grip and use it on the block.", + "Use the silver hammer to beat after grabbing with the left arm", + "Grab the silver curved hammer head using the left arm, then beat the block", + "Pick up the yellow and black hammer grip and use it on the block", + "Hold the plastic handle metal hammer and pound the block.", + "Make the left arm grab the handheld medium claw hammer and strike the block.", + "Utilize the left arm to hold the hammer with two-tone handle and strike.", + "Grab the hammer for nails, then strike the block.", + "Beat the block after grabbing the hammer for nails", + "Grab the grippy handle hammer, then hit the block" + ] +} diff --git a/beat_block_hammer/episode_0000042/TCP_head/metadata.json b/beat_block_hammer/episode_0000042/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3881282dc2a847468a11584c3f81f4bc61f725af --- /dev/null +++ b/beat_block_hammer/episode_0000042/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 121, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/beat_block_hammer/episode_0000042/TCP_third/metadata.json b/beat_block_hammer/episode_0000042/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..70183867e7c84948290ea1a4d88d0ad98c0e2bda --- /dev/null +++ b/beat_block_hammer/episode_0000042/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 121, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/beat_block_hammer/episode_0000042/metadata.json b/beat_block_hammer/episode_0000042/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..cde6b494248433437b9f93cd1638a1ffba15d844 --- /dev/null +++ b/beat_block_hammer/episode_0000042/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000042", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000042.hdf5", + "num_frames": 121, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 121, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 121, + 14 + ], + "action_shape": [ + 121, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Pick the grippy handle hammer from the table and strike", + "With the right arm, pick up the silver curved hammer head and strike the block.", + "Grab the handheld medium claw hammer using the right arm and strike the block", + "Use the right arm to grab the silver curved hammer head and beat block", + "Lift the hammer for nails, then beat the block.", + "Make the right arm grab the plastic handle metal hammer and strike the block.", + "Pick up the black and yellow hammer grip and use it on the block", + "Pick the nail-driving hammer and smash the block", + "Use the right arm to take the handheld medium claw hammer and strike", + "With the right arm, grab the silver hammer and beat the block.", + "Grab the silver hammer using the right arm then pound block", + "Pick up the hammer with claw-shaped end using the right arm then beat", + "Grab the grippy handle hammer with the right arm and beat the block.", + "Grip the hammer with claw-shaped end firmly and hit the block.", + "Grab the plastic handle metal hammer using the right arm, then beat the block", + "Use the right arm to grab the plastic handle metal hammer and beat", + "Grab the silver curved hammer head and use it to hit", + "Pick up the grippy handle hammer with the right arm, strike the block.", + "Grab the nail-driving hammer, then hit the block", + "Lift the black and yellow hammer grip and hit the block", + "Hold the silver hammer then hit the block", + "With the right arm, grab the handheld medium claw hammer and hammer the block", + "Use the black and yellow hammer grip to hammer the block.", + "With the right arm, grab the handheld medium claw hammer and hit the block", + "Lift the yellow and black hammer grip and hit the block.", + "Take the nail-driving hammer and beat the block", + "Take the yellow and black hammer grip and hammer the block", + "Lift the handheld medium claw hammer using the right arm to hit the block.", + "Take the black and yellow hammer grip and beat the block", + "Grab the silver hammer with the right arm and hit the block", + "Take the silver curved hammer head and smash the block.", + "Utilize the right arm to hold the hammer for nails and strike.", + "Hold the medium-sized metal hammer and pound the block.", + "Employ the right arm to grab the nail-driving hammer and hit.", + "Grab the silver hammer using the right arm and hit the block", + "Grab the hammer for nails with the right arm and strike block", + "Grab the hammer with two-tone handle with the right arm and hit block", + "Grab the handheld medium claw hammer to beat the block.", + "Pick the yellow and black hammer grip and strike the block.", + "Take the silver hammer and strike the block", + "Use the black and yellow hammer grip to beat after grabbing with the right arm", + "Catch the handheld medium claw hammer and use it on the block.", + "Beat the block after grabbing the black and yellow hammer grip", + "Grab the hammer for nails, then strike the block.", + "Pick the hammer with claw-shaped end with the right arm and hit the block", + "Pick up the grippy handle hammer using the right arm, hammer the block.", + "Pick up the hammer with claw-shaped end and strike the block", + "Lift the nail-driving hammer with the right arm then strike block", + "Take the grippy handle hammer using the right arm, hit the block.", + "Take the handheld medium claw hammer and strike the block", + "Pick the handheld medium claw hammer from the table and strike", + "With the right arm, pick up the hammer for nails and strike the block.", + "Grab the grippy handle hammer using the right arm and strike the block", + "Use the right arm to grab the yellow and black hammer grip and beat block", + "Lift the hammer for nails, then beat the block.", + "Make the right arm grab the hammer with claw-shaped end and strike the block.", + "Pick up the hammer for nails and use it on the block", + "Pick the yellow and black hammer grip and smash the block", + "Use the right arm to take the black and yellow hammer grip and strike", + "With the right arm, grab the medium-sized metal hammer and beat the block.", + "Grab the medium-sized metal hammer using the right arm then pound block", + "Pick up the yellow and black hammer grip using the right arm then beat", + "Grab the medium-sized metal hammer with the right arm and beat the block.", + "Grip the grippy handle hammer firmly and hit the block.", + "Grab the hammer for nails using the right arm, then beat the block", + "Use the right arm to grab the handheld medium claw hammer and beat", + "Grab the silver curved hammer head and use it to hit", + "Pick up the hammer with two-tone handle with the right arm, strike the block.", + "Grab the silver hammer, then hit the block", + "Lift the silver curved hammer head and hit the block", + "Hold the silver curved hammer head then hit the block", + "With the right arm, grab the black and yellow hammer grip and hammer the block", + "Use the silver hammer to hammer the block.", + "With the right arm, grab the silver curved hammer head and hit the block", + "Lift the plastic handle metal hammer and hit the block.", + "Take the handheld medium claw hammer and beat the block", + "Take the grippy handle hammer and hammer the block", + "Lift the hammer with two-tone handle using the right arm to hit the block.", + "Take the medium-sized metal hammer and beat the block", + "Grab the plastic handle metal hammer with the right arm and hit the block", + "Take the grippy handle hammer and smash the block.", + "Utilize the right arm to hold the handheld medium claw hammer and strike.", + "Hold the yellow and black hammer grip and pound the block.", + "Employ the right arm to grab the grippy handle hammer and hit.", + "Grab the hammer with claw-shaped end using the right arm and hit the block", + "Grab the medium-sized metal hammer with the right arm and strike block", + "Grab the hammer with claw-shaped end with the right arm and hit block", + "Grab the silver hammer to beat the block.", + "Pick the nail-driving hammer and strike the block.", + "Take the medium-sized metal hammer and strike the block", + "Use the handheld medium claw hammer to beat after grabbing with the right arm", + "Catch the hammer for nails and use it on the block.", + "Beat the block after grabbing the black and yellow hammer grip", + "Grab the handheld medium claw hammer, then strike the block.", + "Pick the black and yellow hammer grip with the right arm and hit the block", + "Pick up the plastic handle metal hammer using the right arm, hammer the block.", + "Pick up the hammer with claw-shaped end and strike the block", + "Lift the plastic handle metal hammer with the right arm then strike block", + "Take the hammer with two-tone handle using the right arm, hit the block.", + "Take the black and yellow hammer grip and strike the block" + ] +} diff --git a/click_bell/episode_0000000/TCP_head/metadata.json b/click_bell/episode_0000000/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8ae3ea7d619696b0b9d1e3123f2f40caccde0f45 --- /dev/null +++ b/click_bell/episode_0000000/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 81, + 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_0000000/TCP_third/metadata.json b/click_bell/episode_0000000/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..db1ec7a4ae4cdf466d7dae4a75581be59c673ca0 --- /dev/null +++ b/click_bell/episode_0000000/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 81, + 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_0000000/metadata.json b/click_bell/episode_0000000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..873b35d90e1d3f8fbeb2dfb5fc5e7817d2ce8d5f --- /dev/null +++ b/click_bell/episode_0000000/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000000", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000000.hdf5", + "num_frames": 81, + "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": [ + 81, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 81, + 14 + ], + "action_shape": [ + 81, + 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 top center of the bell with metallic top and plastic base on table.", + "Press the white and black colored bell's top center with the left arm firmly.", + "Press the center top of the small desk bell for tapping.", + "Click the bell with black flat base's top center using the left arm.", + "Have the left arm click at the simple hand bell with black stand's top center.", + "Press the specified top area of the white and black colored bell.", + "Press down the top of the white bell with black bottom using the left arm.", + "Push the center of the plastic and metal bell using the left arm.", + "Use the left arm to touch the bell with black flat base's top center.", + "Push the compact tabletop bell's on the table", + "Click the designated center of the compact tabletop bell.", + "Ask the left arm to interact with the white bell with black bottom's top.", + "Direct the left arm to touch the white bell's top.", + "Click the simple hand bell with black stand's using the left arm", + "Click using the left arm on the small desk bell for tapping's center.", + "Make the left arm interact with the compact tabletop bell's top center.", + "Tap the white bell with black bottom's top center with the left arm.", + "Press the bell with black flat base's top center on the table.", + "Tap the compact tabletop bell's top center with the left arm.", + "Tap the top center of the plastic and metal bell.", + "Guide the left arm to click the bell with metallic top and plastic base's top center.", + "Pinpoint the small desk bell for tapping and click its top center.", + "Press the center of the simple hand bell with black stand using the left arm.", + "Use the left arm to press the simple hand bell with black stand's top section.", + "Command the left arm to press the white bell with black bottom's top.", + "Click the simple hand bell with black stand at its top center on table.", + "Press down the white and black colored bell's top center gently.", + "Click the top center of the white bell on table.", + "Direct the left arm to click the top of the white bell.", + "Locate the white dome bell and click its top center.", + "Activate the bell with black flat base by pressing its top center.", + "Press the top center of the simple hand bell with black stand on table.", + "Press the simple hand bell with black stand's top center with the left arm firmly.", + "Press the center top of the bell with metallic top and plastic base.", + "Click the plastic and metal bell's top center using the left arm.", + "Have the left arm click at the bell with black flat base's top center.", + "Press the specified top area of the white bell.", + "Press down the top of the simple hand bell with black stand using the left arm.", + "Push the center of the bell shaped like half-circle dome using the left arm.", + "Use the left arm to touch the rounded bell with flat black part's top center.", + "Push the white bell with black bottom's on the table", + "Click the designated center of the bell shaped like half-circle dome.", + "Ask the left arm to interact with the compact tabletop bell's top.", + "Direct the left arm to touch the small desk bell for tapping's top.", + "Click the white and black colored bell's using the left arm", + "Click using the left arm on the white and black colored bell's center.", + "Make the left arm interact with the plastic and metal bell's top center.", + "Tap the compact tabletop bell's top center with the left arm.", + "Press the white dome bell's top center on the table.", + "Tap the white dome bell's top center with the left arm.", + "Tap the top center of the bell shaped like half-circle dome.", + "Guide the left arm to click the plastic and metal bell's top center.", + "Pinpoint the bell with metallic top and plastic base and click its top center.", + "Press the center of the bell with metallic top and plastic base using the left arm.", + "Use the left arm to press the bell shaped like half-circle dome's top section.", + "Command the left arm to press the white bell with black bottom's top.", + "Click the bell with metallic top and plastic base at its top center on table.", + "Press down the small desk bell for tapping's top center gently.", + "Click the top center of the small desk bell for tapping on table.", + "Direct the left arm to click the top of the white dome bell.", + "Locate the plastic and metal bell and click its top center.", + "Activate the white and black colored bell by pressing its top center.", + "Press the top center of the bell with metallic top and plastic base on table.", + "Press the white bell's top center with the left arm firmly.", + "Press the center top of the bell with black flat base.", + "Click the bell with metallic top and plastic base's top center using the left arm.", + "Have the left arm click at the plastic and metal bell's top center.", + "Press the specified top area of the white bell with black bottom.", + "Press down the top of the white and black colored bell using the left arm.", + "Push the center of the small desk bell for tapping using the left arm.", + "Use the left arm to touch the rounded bell with flat black part's top center.", + "Push the simple hand bell with black stand's on the table", + "Click the designated center of the white bell with black bottom.", + "Ask the left arm to interact with the white bell's top.", + "Direct the left arm to touch the white bell with black bottom's top.", + "Click the white bell's using the left arm", + "Click using the left arm on the simple hand bell with black stand's center.", + "Make the left arm interact with the compact tabletop bell's top center.", + "Tap the rounded bell with flat black part's top center with the left arm.", + "Press the white and black colored bell's top center on the table.", + "Tap the bell shaped like half-circle dome's top center with the left arm.", + "Tap the top center of the simple hand bell with black stand.", + "Guide the left arm to click the plastic and metal bell's top center.", + "Pinpoint the bell with metallic top and plastic base and click its top center.", + "Press the center of the bell with metallic top and plastic base using the left arm.", + "Use the left arm to press the white and black colored bell's top section.", + "Command the left arm to press the simple hand bell with black stand's top.", + "Click the plastic and metal bell at its top center on table.", + "Press down the bell with black flat base's top center gently.", + "Click the top center of the small desk bell for tapping on table.", + "Direct the left arm to click the top of the plastic and metal bell.", + "Locate the compact tabletop bell and click its top center.", + "Activate the white and black colored bell by pressing its top center.", + "Press the top center of the white dome bell on table.", + "Press the white bell's top center with the left arm firmly.", + "Press the center top of the white bell.", + "Click the bell shaped like half-circle dome's top center using the left arm.", + "Have the left arm click at the bell with metallic top and plastic base's top center.", + "Press the specified top area of the plastic and metal bell.", + "Press down the top of the compact tabletop bell using the left arm." + ] +} diff --git a/click_bell/episode_0000015/TCP_head/metadata.json b/click_bell/episode_0000015/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..acc8f5b2ad0a7992db2906977ac0a55d659a509a --- /dev/null +++ b/click_bell/episode_0000015/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_0000015/TCP_third/metadata.json b/click_bell/episode_0000015/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..23bef3573adab05ee55b80654fd4856f9480e7d1 --- /dev/null +++ b/click_bell/episode_0000015/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_0000015/metadata.json b/click_bell/episode_0000015/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e37616fc4f1c848674fd8a9e5c166891d194fc7d --- /dev/null +++ b/click_bell/episode_0000015/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000015", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000015.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": [ + "Command the left arm to press the metal bell with plastic parts's top.", + "Press down the top of the metal bell with plastic parts using the left arm.", + "Press the bell with circular body's top center on the table.", + "Press the center of the small blue and brown bell using the left arm.", + "Direct the left arm to click the top of the compact bell with round base.", + "Make the left arm interact with the bell with circular body's top center.", + "Guide the left arm to click the round bell's top center.", + "Direct the left arm to touch the blue bell's top.", + "Click using the left arm on the smooth blue bell's center.", + "Tap the blue dome-shaped bell's top center with the left arm.", + "Click the brown-bottomed bell's using the left arm", + "Press the specified top area of the bell with protruding knob.", + "Use the left arm to touch the blue bell's top center.", + "Pinpoint the small blue and brown bell and click its top center.", + "Click the smooth blue bell at its top center on table.", + "Press the bell with protruding knob's top center with the left arm firmly.", + "Have the left arm click at the smooth blue bell's top center.", + "Press the top center of the compact bell with round base on table.", + "Click the top center of the round bell on table.", + "Activate the bell with circular body by pressing its top center.", + "Locate the small blue and brown bell and click its top center.", + "Push the round bell's on the table", + "Use the left arm to press the smooth blue bell's top section.", + "Click the metal bell with plastic parts's top center using the left arm.", + "Press the center top of the bell with circular body.", + "Tap the blue dome-shaped bell's top center with the left arm.", + "Tap the top center of the bell with brown base.", + "Press down the compact bell with round base's top center gently.", + "Ask the left arm to interact with the flat-topped bell's top.", + "Click the designated center of the flat-topped bell.", + "Push the center of the bell with brown base using the left arm.", + "Command the left arm to press the flat-topped bell's top.", + "Press down the top of the round bell using the left arm.", + "Press the flat-topped bell's top center on the table.", + "Press the center of the bell with protruding knob using the left arm.", + "Direct the left arm to click the top of the metal bell with plastic parts.", + "Make the left arm interact with the flat-topped bell's top center.", + "Guide the left arm to click the brown-bottomed bell's top center.", + "Direct the left arm to touch the blue bell's top.", + "Click using the left arm on the bell with circular body's center.", + "Tap the blue bell's top center with the left arm.", + "Click the blue bell's using the left arm", + "Press the specified top area of the compact bell with round base.", + "Use the left arm to touch the blue dome-shaped bell's top center.", + "Pinpoint the bell with circular body and click its top center.", + "Click the small blue and brown bell at its top center on table.", + "Press the smooth blue bell's top center with the left arm firmly.", + "Have the left arm click at the blue bell's top center.", + "Press the top center of the small blue and brown bell on table.", + "Click the top center of the compact bell with round base on table.", + "Activate the brown-bottomed bell by pressing its top center.", + "Locate the bell with circular body and click its top center.", + "Push the bell with circular body's on the table", + "Use the left arm to press the metal bell with plastic parts's top section.", + "Click the bell with brown base's top center using the left arm.", + "Press the center top of the metal bell with plastic parts.", + "Tap the small blue and brown bell's top center with the left arm.", + "Tap the top center of the metal bell with plastic parts.", + "Press down the bell with protruding knob's top center gently.", + "Ask the left arm to interact with the compact bell with round base's top.", + "Click the designated center of the round bell.", + "Push the center of the compact bell with round base using the left arm.", + "Command the left arm to press the compact bell with round base's top.", + "Press down the top of the compact bell with round base using the left arm.", + "Press the brown-bottomed bell's top center on the table.", + "Press the center of the brown-bottomed bell using the left arm.", + "Direct the left arm to click the top of the flat-topped bell.", + "Make the left arm interact with the smooth blue bell's top center.", + "Guide the left arm to click the compact bell with round base's top center.", + "Direct the left arm to touch the small blue and brown bell's top.", + "Click using the left arm on the blue bell's center.", + "Tap the blue dome-shaped bell's top center with the left arm.", + "Click the blue bell's using the left arm", + "Press the specified top area of the blue bell.", + "Use the left arm to touch the bell with circular body's top center.", + "Pinpoint the brown-bottomed bell and click its top center.", + "Click the bell with protruding knob at its top center on table.", + "Press the blue dome-shaped bell's top center with the left arm firmly.", + "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 top center of the small blue and brown bell on table.", + "Activate the bell with circular body by pressing its top center.", + "Locate the blue dome-shaped bell and click its top center.", + "Push the flat-topped bell's on the table", + "Use the left arm to press the flat-topped bell's top section.", + "Click the flat-topped bell's top center using the left arm.", + "Press the center top of the smooth blue bell.", + "Tap the round bell's top center with the left arm.", + "Tap the top center of the bell with protruding knob.", + "Press down the small blue and brown bell's top center gently.", + "Ask the left arm to interact with the compact bell with round base's top.", + "Click the designated center of the brown-bottomed bell.", + "Push the center of the small blue and brown bell using the left arm.", + "Command the left arm to press the bell with circular body's top.", + "Press down the top of the metal bell with plastic parts using the left arm.", + "Press the round bell's top center on the table.", + "Press the center of the blue dome-shaped bell using the left arm.", + "Direct the left arm to click the top of the brown-bottomed bell.", + "Make the left arm interact with the blue dome-shaped bell's top center.", + "Guide the left arm to click the flat-topped bell's top center." + ] +} diff --git a/click_bell/episode_0000033/TCP_head/metadata.json b/click_bell/episode_0000033/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c9ec356f129b7098d601e0ff680b965318683592 --- /dev/null +++ b/click_bell/episode_0000033/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 79, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_bell/episode_0000033/TCP_third/metadata.json b/click_bell/episode_0000033/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..26f64d362e864446a7b53221e213bb76e4d0895b --- /dev/null +++ b/click_bell/episode_0000033/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 79, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_bell/episode_0000033/metadata.json b/click_bell/episode_0000033/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4143038792866829e341db30c24c14dfc4c79db5 --- /dev/null +++ b/click_bell/episode_0000033/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000033", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000033.hdf5", + "num_frames": 79, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 79, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 79, + 14 + ], + "action_shape": [ + 79, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Push the center of the white dome bell using the left arm.", + "Activate the white bell by pressing its top center.", + "Guide the left arm to click the bell with black flat base's top center.", + "Press the top center of the plastic and metal bell on table.", + "Pinpoint the simple hand bell with black stand and click its top center.", + "Command the left arm to press the bell shaped like half-circle dome's top.", + "Click the bell shaped like half-circle dome's using the left arm", + "Click using the left arm on the simple hand bell with black stand's center.", + "Push the plastic and metal bell's on the table", + "Use the left arm to press the white bell with black bottom's top section.", + "Press the small desk bell for tapping's top center with the left arm firmly.", + "Press down the top of the simple hand bell with black stand using the left arm.", + "Use the left arm to touch the bell shaped like half-circle dome's top center.", + "Ask the left arm to interact with the bell with black flat base's top.", + "Tap the top center of the simple hand bell with black stand.", + "Press the rounded bell with flat black part's top center on the table.", + "Press down the simple hand bell with black stand's top center gently.", + "Make the left arm interact with the bell with metallic top and plastic base's top center.", + "Click the top center of the bell with black flat base on table.", + "Click the designated center of the white dome bell.", + "Press the center of the white bell using the left arm.", + "Direct the left arm to touch the small desk bell for tapping's top.", + "Locate the white and black colored bell and click its top center.", + "Have the left arm click at the white bell's top center.", + "Tap the white bell with black bottom's top center with the left arm.", + "Tap the compact tabletop bell's top center with the left arm.", + "Direct the left arm to click the top of the bell with black flat base.", + "Click the bell shaped like half-circle dome at its top center on table.", + "Press the specified top area of the white and black colored bell.", + "Click the compact tabletop bell's top center using the left arm.", + "Press the center top of the white bell.", + "Push the center of the rounded bell with flat black part using the left arm.", + "Activate the bell with black flat base by pressing its top center.", + "Guide the left arm to click the plastic and metal bell's top center.", + "Press the top center of the bell shaped like half-circle dome on table.", + "Pinpoint the bell with black flat base and click its top center.", + "Command the left arm to press the white bell's top.", + "Click the bell with metallic top and plastic base's using the left arm", + "Click using the left arm on the white and black colored bell's center.", + "Push the bell with black flat base's on the table", + "Use the left arm to press the bell with black flat base's top section.", + "Press the plastic and metal bell's top center with the left arm firmly.", + "Press down the top of the bell with black flat base using the left arm.", + "Use the left arm to touch the simple hand bell with black stand's top center.", + "Ask the left arm to interact with the bell with metallic top and plastic base's top.", + "Tap the top center of the small desk bell for tapping.", + "Press the bell with metallic top and plastic base's top center on the table.", + "Press down the white bell's top center gently.", + "Make the left arm interact with the rounded bell with flat black part's top center.", + "Click the top center of the white dome bell on table.", + "Click the designated center of the bell shaped like half-circle dome.", + "Press the center of the white bell with black bottom using the left arm.", + "Direct the left arm to touch the plastic and metal bell's top.", + "Locate the bell shaped like half-circle dome and click its top center.", + "Have the left arm click at the white and black colored bell's top center.", + "Tap the white and black colored bell's top center with the left arm.", + "Tap the small desk bell for tapping's top center with the left arm.", + "Direct the left arm to click the top of the bell shaped like half-circle dome.", + "Click the simple hand bell with black stand at its top center on table.", + "Press the specified top area of the white bell with black bottom.", + "Click the bell with black flat base's top center using the left arm.", + "Press the center top of the simple hand bell with black stand.", + "Push the center of the white bell with black bottom using the left arm.", + "Activate the white bell by pressing its top center.", + "Guide the left arm to click the compact tabletop bell's top center.", + "Press the top center of the bell shaped like half-circle dome on table.", + "Pinpoint the plastic and metal bell and click its top center.", + "Command the left arm to press the compact tabletop bell's top.", + "Click the small desk bell for tapping's using the left arm", + "Click using the left arm on the bell with black flat base's center.", + "Push the bell with metallic top and plastic base's on the table", + "Use the left arm to press the compact tabletop bell's top section.", + "Press the simple hand bell with black stand's top center with the left arm firmly.", + "Press down the top of the bell shaped like half-circle dome using the left arm.", + "Use the left arm to touch the bell shaped like half-circle dome's top center.", + "Ask the left arm to interact with the bell with metallic top and plastic base's top.", + "Tap the top center of the bell shaped like half-circle dome.", + "Press the white dome bell's top center on the table.", + "Press down the white bell's top center gently.", + "Make the left arm interact with the small desk bell for tapping's top center.", + "Click the top center of the bell shaped like half-circle dome on table.", + "Click the designated center of the small desk bell for tapping.", + "Press the center of the white bell using the left arm.", + "Direct the left arm to touch the compact tabletop bell's top.", + "Locate the white bell and click its top center.", + "Have the left arm click at the white and black colored bell's top center.", + "Tap the white bell with black bottom's top center with the left arm.", + "Tap the white bell's top center with the left arm.", + "Direct the left arm to click the top of the small desk bell for tapping.", + "Click the bell with black flat base at its top center on table.", + "Press the specified top area of the white and black colored bell.", + "Click the white and black colored bell's top center using the left arm.", + "Press the center top of the simple hand bell with black stand.", + "Push the center of the white and black colored bell using the left arm.", + "Activate the small desk bell for tapping by pressing its top center.", + "Guide the left arm to click the simple hand bell with black stand's top center.", + "Press the top center of the white and black colored bell on table.", + "Pinpoint the bell shaped like half-circle dome and click its top center.", + "Command the left arm to press the bell shaped like half-circle dome's top.", + "Click the bell with black flat base's using the left arm" + ] +} diff --git a/move_can_pot/episode_0000005/TCP_third/metadata.json b/move_can_pot/episode_0000005/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..754406a379ec4670e928b773aa2fdbd005c33256 --- /dev/null +++ b/move_can_pot/episode_0000005/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 161, + 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_0000048/TCP_head/metadata.json b/move_can_pot/episode_0000048/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..704190b55ed23c85417790745ffe3245dfd56777 --- /dev/null +++ b/move_can_pot/episode_0000048/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 152, + 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_0000048/metadata.json b/move_can_pot/episode_0000048/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..957ca50f3d1a0818e8c7f4c46d6a2dc20ad340c2 --- /dev/null +++ b/move_can_pot/episode_0000048/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000048", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000048.hdf5", + "num_frames": 152, + "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": [ + 152, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 152, + 14 + ], + "action_shape": [ + 152, + 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": [ + "Move the small cylindrical sauce can to the metallic pot with plastic handles with the left arm", + "Pick the smooth sauce can up and carefully position it beside the rounded pot with curved handles", + "Take the small cylindrical sauce can to the medium silver pot for cooking using the left arm", + "Move the red and orange sauce can beside the rounded silver pot with handles after lifting it", + "Take the compact sauce can with plastic lid with the left arm, bring it, and set next to the metallic pot with plastic handles", + "Use the left arm to pick the metal body sauce can up and set it beside the silver kitchenpot with black grips", + "Lift the metal body sauce can and set it beside the rounded pot with curved handles", + "Lift the sauce can with rounded top cap and set it next to the kitchenpot with smooth metallic lid", + "Lift the sauce can with rounded top cap and move it near the silver kitchenpot with black grips", + "Grab the sauce can with printed design and move it close to the silver pot with black grips", + "Set the sauce can with printed design right next to the kitchenpot with smooth metallic lid", + "Lift the metal body sauce can and set it next to the metallic pot with plastic handles", + "Grab the sturdy sauce can with glossy finish, move it to the silver pot with black grips's side", + "Use the left arm to grab the smooth sauce can and move it beside the metallic pot with matte finish", + "Pick up the cylindrical sauce can and put it beside the rounded pot with curved handles", + "Grab the sturdy sauce can with glossy finish, move it, and place by the silver kitchenpot", + "Set the sturdy sauce can with glossy finish near the silver pot with matching lid after picking it up", + "Place the red can with orange label beside the metallic pot with plastic handles after picking it up", + "Pick up the small metal sauce container using the left arm, transfer it beside the kitchenpot with smooth metallic lid", + "Use the left arm to lift the sauce can with rounded top cap, then move it next to the silver kitchenpot with black grips", + "Use the left arm to grab the red can with orange label, move it beside the rounded silver pot with handles", + "Use the left arm to grab the sauce can with red lid and transfer it near the silver pot with matching lid", + "Bring the red and orange sauce can over and set it near the kitchenpot with smooth metallic lid", + "Take the red and orange sauce can using the left arm, set it next to the rounded pot with curved handles", + "Use the left arm to pick the small metal sauce container, position it near the silver kitchenpot", + "With the left arm, grab the smooth sauce can and move to the rounded pot with curved handles", + "Lift the smooth sauce can using the left arm and position it by the silver pot with matching lid", + "Using the left arm, lift the smooth sauce can and place it by the silver kitchenpot", + "Use the left arm to move the sauce can with red lid beside the medium-sized pot with plastic grips", + "Take the metal body sauce can with the left arm, place it near the cooking pot with snug-fitting lid", + "Use the left arm to lift the red can with orange label and place it near the metallic pot with plastic handles", + "Pick the red can with orange label up and move it next to the silver kitchenpot", + "Pick the sauce can with red lid with the left arm and relocate it near the rounded silver pot with handles", + "Place the red can with orange label next to the rounded pot with curved handles", + "Move the sauce can with printed design from its spot to near the rounded pot with curved handles", + "Use the left arm to grab the small cylindrical sauce can and move it next to the metallic pot with plastic handles", + "Grab the small metal sauce container with the left arm and set it near the medium-sized pot with plastic grips", + "Use the left arm to lift the sauce can with rounded top cap and place it next to the medium silver pot for cooking", + "Lift the metal body sauce can and place it next to the rounded silver pot with handles", + "Pick up the sauce can with rounded top cap with the left arm and set by the rounded silver pot with handles", + "Grab the small cylindrical sauce can with the left arm and position it beside the metallic pot with matte finish", + "Grab the sauce can with rounded top cap with the left arm and move it close to the cooking pot with snug-fitting lid", + "Pick the smooth sauce can and position it next to the medium-sized pot with plastic grips", + "Pick the sauce can with printed design up with the left arm then place near the silver kitchenpot", + "Use the left arm to take the metal body sauce can to the silver pot with matching lid", + "Move the sauce can with printed design to be next to the silver pot with black grips", + "Lift the small cylindrical sauce can, place it by the silver pot with matching lid", + "Grab the sauce can with printed design, shift it, and place it close to the silver kitchenpot", + "Lift the compact sauce can with plastic lid, then place it next to the silver kitchenpot", + "Lift the sturdy sauce can with glossy finish using the left arm and drop it beside the rounded silver pot with handles", + "Move the sauce can with red lid to the medium-sized pot with plastic grips with the left arm", + "Pick the red and orange sauce can up and carefully position it beside the metallic pot with matte finish", + "Take the compact sauce can with plastic lid to the metallic pot with matte finish using the left arm", + "Move the smooth sauce can beside the cooking pot with snug-fitting lid after lifting it", + "Take the sauce can with red lid with the left arm, bring it, and set next to the rounded silver pot with handles", + "Use the left arm to pick the compact sauce can with plastic lid up and set it beside the rounded pot with curved handles", + "Lift the sauce can with rounded top cap and set it beside the silver pot with black grips", + "Lift the sauce can with printed design and set it next to the kitchenpot with smooth metallic lid", + "Lift the red can with orange label and move it near the rounded silver pot with handles", + "Grab the small cylindrical sauce can and move it close to the silver pot with black grips", + "Set the cylindrical sauce can right next to the rounded pot with curved handles", + "Lift the compact sauce can with plastic lid and set it next to the metallic pot with matte finish", + "Grab the sauce can with red lid, move it to the silver kitchenpot with black grips's side", + "Use the left arm to grab the compact sauce can with plastic lid and move it beside the silver kitchenpot with black grips", + "Pick up the sauce can with rounded top cap and put it beside the cooking pot with snug-fitting lid", + "Grab the red can with orange label, move it, and place by the silver kitchenpot with black grips", + "Set the metal body sauce can near the metallic pot with plastic handles after picking it up", + "Place the red and orange sauce can beside the medium-sized pot with plastic grips after picking it up", + "Pick up the sauce can with printed design using the left arm, transfer it beside the silver kitchenpot", + "Use the left arm to lift the small metal sauce container, then move it next to the silver kitchenpot", + "Use the left arm to grab the metal body sauce can, move it beside the rounded silver pot with handles", + "Use the left arm to grab the sauce can with printed design and transfer it near the silver kitchenpot with black grips", + "Bring the sauce can with red lid over and set it near the silver pot with matching lid", + "Take the red and orange sauce can using the left arm, set it next to the silver kitchenpot with black grips", + "Use the left arm to pick the sauce can with red lid, position it near the silver pot with matching lid", + "With the left arm, grab the cylindrical sauce can and move to the medium-sized pot with plastic grips", + "Lift the metal body sauce can using the left arm and position it by the silver kitchenpot with black grips", + "Using the left arm, lift the compact sauce can with plastic lid and place it by the silver pot with black grips", + "Use the left arm to move the sauce can with printed design beside the medium-sized pot with plastic grips", + "Take the compact sauce can with plastic lid with the left arm, place it near the silver pot with matching lid", + "Use the left arm to lift the sturdy sauce can with glossy finish and place it near the kitchenpot with smooth metallic lid", + "Pick the sauce can with rounded top cap up and move it next to the rounded silver pot with handles", + "Pick the sauce can with rounded top cap with the left arm and relocate it near the kitchenpot with smooth metallic lid", + "Place the small metal sauce container next to the silver kitchenpot with black grips", + "Move the metal body sauce can from its spot to near the silver kitchenpot", + "Use the left arm to grab the sauce can with red lid and move it next to the kitchenpot with smooth metallic lid", + "Grab the red and orange sauce can with the left arm and set it near the silver kitchenpot", + "Use the left arm to lift the red can with orange label and place it next to the rounded pot with curved handles", + "Lift the red can with orange label and place it next to the silver kitchenpot", + "Pick up the small metal sauce container with the left arm and set by the silver pot with matching lid", + "Grab the red can with orange label with the left arm and position it beside the metallic pot with plastic handles", + "Grab the red and orange sauce can with the left arm and move it close to the metallic pot with matte finish", + "Pick the sauce can with rounded top cap and position it next to the silver pot with matching lid", + "Pick the small metal sauce container up with the left arm then place near the silver kitchenpot", + "Use the left arm to take the red can with orange label to the silver pot with black grips", + "Move the compact sauce can with plastic lid to be next to the rounded silver pot with handles", + "Lift the sauce can with red lid, place it by the rounded pot with curved handles", + "Grab the small metal sauce container, shift it, and place it close to the metallic pot with plastic handles", + "Lift the small metal sauce container, then place it next to the cooking pot with snug-fitting lid", + "Lift the red can with orange label using the left arm and drop it beside the silver kitchenpot with black grips" + ] +} diff --git a/move_pillbottle_pad/episode_0000027/images/third_views/000014.png b/move_pillbottle_pad/episode_0000027/images/third_views/000014.png new file mode 100644 index 0000000000000000000000000000000000000000..f91abe7fa91c01c9108fe8c283667bdf6d645889 --- /dev/null +++ b/move_pillbottle_pad/episode_0000027/images/third_views/000014.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a44ae2c36c6b4df288f640f6cb93130673e71a9a98108ff3291dc58a52943419 +size 42983 diff --git a/move_pillbottle_pad/episode_0000027/images/third_views/000026.png b/move_pillbottle_pad/episode_0000027/images/third_views/000026.png new file mode 100644 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right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_playingcard_away/episode_0000015/metadata.json b/move_playingcard_away/episode_0000015/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e57f4de3d0fcf75118f44775854b063cc8372cc8 --- /dev/null +++ b/move_playingcard_away/episode_0000015/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_playingcard_away", + "episode": "episode_0000015", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_playingcard_away/aloha_agilex/data/episode_0000015.hdf5", + "num_frames": 123, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 123, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 123, + 14 + ], + "action_shape": [ + 123, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Move the playingcards box with white symbols away from its position on the table.", + "Lift the rectangular blue playingcards case and set it away from the table.", + "Use the left arm to pick up the playingcards box with white symbols and push it outward.", + "Grab the rectangular blue playingcards case with the left arm and move it outward.", + "Pick the blue pack holding playingcards from the table and shift it outward.", + "Move the card box with golden designs outward from the table.", + "Grab the playingcards pack with blue top and move it further away.", + "Move the small playingcards container off the table outward.", + "Shift the blue and white playingcards packaging off the table to the side.", + "Take the blue playingcards box and move it away from the table.", + "Grab the small playingcards container and set it beyond the table.", + "Lift the blue carton for playingcards and slide it off the table.", + "Lift the blue and white playingcards packaging with the left arm and move it outward.", + "Take the rectangular blue playingcards case and place it beyond the table.", + "Use the left arm to grab the rectangular blue playingcards case and move it away.", + "Move the blue playingcards box farther from the table using the left arm.", + "Pick up the card box with golden designs using the left arm and shift it outward.", + "Pick up the smooth playingcards holder and place it further away.", + "With the left arm, pick up the blue pack holding playingcards and slide it outward.", + "Use the left arm to pick the box of playingcards and shift it outward.", + "Use the left arm to grab the blue playingcards box and move it aside.", + "Lift the box of playingcards and shift it outward.", + "Grab the small playingcards container and shift it farther away from the table.", + "Shift the playingcards pack with blue top outward after grabbing it.", + "Grab the palm-sized playingcards carton using the left arm and push it outward.", + "Pick the smooth playingcards holder and move it outward from the table.", + "Grab the box of playingcards from the table and shift it outward.", + "Place the blue playingcards box away from the table outward.", + "Pick up the playingcards box with white symbols with the left arm and place it outward.", + "Use the left arm to pick the rectangular blue playingcards case and move it outward.", + "Relocate the playingcards pack with blue top farther outward using the left arm.", + "Slide the smooth playingcards holder off the table outward.", + "Grab the playingcards box with white symbols using the left arm and move it outward.", + "Move the palm-sized playingcards carton further outward after picking it up.", + "Lift the smooth playingcards holder and place it farther away with the left arm.", + "Lift the smooth playingcards holder and push it off the table.", + "Grab the blue and white playingcards packaging and take it away from the table.", + "Pick up the smooth playingcards holder and move it farther outward.", + "Lift the blue playingcards box and relocate it off the table.", + "Using the left arm, lift the card box with golden designs and move it outward.", + "Pick up the box of playingcards and move it away.", + "Take the blue and white playingcards packaging and push it further away.", + "Pick up the card box with golden designs and shift it further outward.", + "Grab the small playingcards container and move it further outward.", + "Lift the playingcards pack with blue top from the table and move it outward.", + "Lift the card box with golden designs using the left arm and transfer it outward.", + "Use the left arm to pick up the blue playingcards box and move it.", + "Pick the blue playingcards box and slide it further outward.", + "Take the box of playingcards and place it further outward.", + "Shift the blue and white playingcards packaging outward by grabbing it with the left arm.", + "Move the box of playingcards away from its position on the table.", + "Lift the small playingcards container and set it away from the table.", + "Use the left arm to pick up the blue playingcards box and push it outward.", + "Grab the playingcards box with white symbols with the left arm and move it outward.", + "Pick the playingcards pack with blue top from the table and shift it outward.", + "Move the palm-sized playingcards carton outward from the table.", + "Grab the small playingcards container and move it further away.", + "Move the playingcards box with white symbols off the table outward.", + "Shift the blue carton for playingcards off the table to the side.", + "Take the smooth playingcards holder and move it away from the table.", + "Grab the blue carton for playingcards and set it beyond the table.", + "Lift the card box with golden designs and slide it off the table.", + "Lift the card box with golden designs with the left arm and move it outward.", + "Take the rectangular blue playingcards case and place it beyond the table.", + "Use the left arm to grab the playingcards pack with blue top and move it away.", + "Move the box of playingcards farther from the table using the left arm.", + "Pick up the rectangular blue playingcards case using the left arm and shift it outward.", + "Pick up the palm-sized playingcards carton and place it further away.", + "With the left arm, pick up the box of playingcards and slide it outward.", + "Use the left arm to pick the rectangular blue playingcards case and shift it outward.", + "Use the left arm to grab the smooth playingcards holder and move it aside.", + "Lift the playingcards pack with blue top and shift it outward.", + "Grab the card box with golden designs and shift it farther away from the table.", + "Shift the rectangular blue playingcards case outward after grabbing it.", + "Grab the small playingcards container using the left arm and push it outward.", + "Pick the palm-sized playingcards carton and move it outward from the table.", + "Grab the blue playingcards box from the table and shift it outward.", + "Place the palm-sized playingcards carton away from the table outward.", + "Pick up the rectangular blue playingcards case with the left arm and place it outward.", + "Use the left arm to pick the box of playingcards and move it outward.", + "Relocate the rectangular blue playingcards case farther outward using the left arm.", + "Slide the blue carton for playingcards off the table outward.", + "Grab the blue playingcards box using the left arm and move it outward.", + "Move the blue playingcards box further outward after picking it up.", + "Lift the playingcards pack with blue top and place it farther away with the left arm.", + "Lift the card box with golden designs and push it off the table.", + "Grab the smooth playingcards holder and take it away from the table.", + "Pick up the smooth playingcards holder and move it farther outward.", + "Lift the box of playingcards and relocate it off the table.", + "Using the left arm, lift the blue carton for playingcards and move it outward.", + "Pick up the palm-sized playingcards carton and move it away.", + "Take the blue pack holding playingcards and push it further away.", + "Pick up the blue carton for playingcards and shift it further outward.", + "Grab the blue playingcards box and move it further outward.", + "Lift the box of playingcards from the table and move it outward.", + "Lift the box of playingcards using the left arm and transfer it outward.", + "Use the left arm to pick up the playingcards pack with blue top and move it.", + "Pick the playingcards pack with blue top and slide it further outward.", + "Take the card box with golden designs and place it further outward.", + "Shift the palm-sized playingcards carton outward by grabbing it with the left arm." + ] +} diff --git a/move_stapler_pad/episode_0000029/TCP_head/metadata.json 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"rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_object_stand/episode_0000034/metadata.json b/place_object_stand/episode_0000034/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a91baaf67ecd70c1712177d3411daffca33c0758 --- /dev/null +++ b/place_object_stand/episode_0000034/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_object_stand", + "episode": "episode_0000034", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_object_stand/aloha_agilex/data/episode_0000034.hdf5", + "num_frames": 146, + "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": [ + 146, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 146, + 14 + ], + "action_shape": [ + 146, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Place the kids' toycar in bright blue precisely on the smooth black hollow displaystand.", + "With the right arm, pick the small plastic toycar and position it on the black displaystand for showcasing things", + "Use the right arm to position the small plastic toycar on the black rectangular frame.", + "Set the toycar made of plastic material on the compact black displaystand frame after moving it", + "Take the kids' toycar in bright blue with the right arm and put it on the displaystand frame.", + "Pick the toycar with dark gray windows up and place on the displaystand frame", + "Grab the small plastic toycar with the right arm and move to the black smooth stand", + "Locate the bright blue toycar with roof buttons, pick it up, and place on the simple black displaystand.", + "Pick up the small plastic toycar with the right arm and set it on the smooth black hollow displaystand", + "Move the hand-sized rolling toycar to the black displaystand for showcasing things and set it there.", + "Grab the toycar made of plastic material and set it onto the medium black plastic displaystand.", + "Lift the blue toycar with yellow roof accents and position on the compact black displaystand frame", + "Transfer the bright blue toycar with roof buttons using the right arm to the black displaystand for showcasing things.", + "Select the right arm, grab the bright blue toycar with roof buttons, and move it to the plastic black rectangular displaystand", + "Transfer the toycar featuring black and white wheels to the rectangular black stand frame securely with the right arm.", + "Place the small plastic toycar on the black displaystand for showcasing things.", + "Put the toycar with dark gray windows on the rectangular black stand frame after picking it", + "Pick up the hand-sized rolling toycar and drop it on the simple black displaystand.", + "Set the kids' toycar in bright blue in position on the black smooth stand.", + "Grab the small plastic toycar with the right arm and place on the medium black plastic displaystand.", + "Grab the blue toycar with yellow roof accents using the right arm and place it on the medium black plastic displaystand", + "Grab and place the blue toycar with yellow roof accents directly on the medium black plastic displaystand.", + "Position the small plastic toycar on the medium black plastic displaystand.", + "Move the hand-sized rolling toycar to the medium black plastic displaystand using the right arm.", + "Pick the hand-sized rolling toycar with the right arm and place on the simple black displaystand.", + "Place the toycar with rounded edges on the plastic black rectangular displaystand after grabbing it", + "Pick up the toycar with black wheels and set it on the black displaystand for showcasing things.", + "Grab the toycar with black wheels and set it on the simple black displaystand", + "Bring the small plastic toycar to the rectangular black stand frame and set it in place.", + "Use the right arm to lift the blue toycar with yellow roof accents and set on the displaystand for holding items.", + "Lift the small plastic toycar with the right arm and position on the black smooth stand.", + "Pick the small plastic toycar and place it carefully onto the smooth black hollow displaystand.", + "Use the right arm to grab the hand-sized rolling toycar and place on the medium black plastic displaystand.", + "Lift the small plastic toycar and position it on the simple black displaystand", + "Use the right arm to move the compact glossy blue toycar onto the plastic black rectangular displaystand.", + "Pick the plastic toycar with smooth finish and position it on the black displaystand for showcasing things", + "Grab and move the toycar with rounded edges to position it on the medium black plastic displaystand.", + "Pick up the kids' toycar in bright blue using the right arm and set it on the black smooth stand.", + "Move the toycar featuring black and white wheels to the compact black displaystand frame and release it", + "Set the hand-sized rolling toycar on the plastic black rectangular displaystand using the right arm", + "Place the toycar made of plastic material precisely on top of the displaystand for holding items.", + "Position the compact glossy blue toycar on the compact black displaystand frame with the right arm", + "Use the right arm to lift the toycar made of plastic material and set it on the smooth black hollow displaystand", + "Move the small plastic toycar onto the black displaystand for showcasing things.", + "Move the toycar featuring black and white wheels using the right arm and place on the lightweight black rectangular displaystand", + "Set the toycar with dark gray windows in position on the black rectangular frame.", + "Carefully place the kids' toycar in bright blue onto the rectangular black stand frame.", + "Grab and put the compact glossy blue toycar on the black rectangular frame", + "Take the kids' toycar in bright blue and set it on the black displaystand for showcasing things", + "Lift the kids' toycar in bright blue with the right arm and align it on the displaystand frame.", + "Place the toycar made of plastic material precisely on the plastic black rectangular displaystand.", + "With the right arm, pick the toycar with rounded edges and position it on the rectangular black stand frame", + "Use the right arm to position the bright blue toycar with roof buttons on the medium black plastic displaystand.", + "Set the small plastic toycar on the plastic black rectangular displaystand after moving it", + "Take the plastic toycar with smooth finish with the right arm and put it on the compact black displaystand frame.", + "Pick the blue toycar with yellow roof accents up and place on the smooth black hollow displaystand", + "Grab the blue toycar with yellow roof accents with the right arm and move to the smooth black hollow displaystand", + "Locate the plastic toycar with smooth finish, pick it up, and place on the black displaystand for showcasing things.", + "Pick up the small plastic toycar with the right arm and set it on the rectangular black stand frame", + "Move the kids' toycar in bright blue to the displaystand frame and set it there.", + "Grab the hand-sized rolling toycar and set it onto the displaystand frame.", + "Lift the toycar made of plastic material and position on the black rectangular frame", + "Transfer the toycar featuring black and white wheels using the right arm to the simple black displaystand.", + "Select the right arm, grab the toycar with dark gray windows, and move it to the black rectangular frame", + "Transfer the toycar with rounded edges to the displaystand frame securely with the right arm.", + "Place the toycar made of plastic material on the smooth black hollow displaystand.", + "Put the kids' toycar in bright blue on the medium black plastic displaystand after picking it", + "Pick up the small plastic toycar and drop it on the black smooth stand.", + "Set the small plastic toycar in position on the medium black plastic displaystand.", + "Grab the toycar featuring black and white wheels with the right arm and place on the compact black displaystand frame.", + "Grab the compact glossy blue toycar using the right arm and place it on the black smooth stand", + "Grab and place the compact glossy blue toycar directly on the lightweight black rectangular displaystand.", + "Position the toycar with black wheels on the lightweight black rectangular displaystand.", + "Move the plastic toycar with smooth finish to the rectangular black stand frame using the right arm.", + "Pick the toycar featuring black and white wheels with the right arm and place on the black rectangular frame.", + "Place the toycar with dark gray windows on the displaystand frame after grabbing it", + "Pick up the toycar made of plastic material and set it on the plastic black rectangular displaystand.", + "Grab the kids' toycar in bright blue and set it on the black smooth stand", + "Bring the small plastic toycar to the lightweight black rectangular displaystand and set it in place.", + "Use the right arm to lift the plastic toycar with smooth finish and set on the rectangular black stand frame.", + "Lift the plastic toycar with smooth finish with the right arm and position on the simple black displaystand.", + "Pick the blue toycar with yellow roof accents and place it carefully onto the medium black plastic displaystand.", + "Use the right arm to grab the plastic toycar with smooth finish and place on the displaystand frame.", + "Lift the plastic toycar with smooth finish and position it on the rectangular black stand frame", + "Use the right arm to move the kids' toycar in bright blue onto the smooth black hollow displaystand.", + "Pick the hand-sized rolling toycar and position it on the medium black plastic displaystand", + "Grab and move the hand-sized rolling toycar to position it on the displaystand frame.", + "Pick up the blue toycar with yellow roof accents using the right arm and set it on the simple black displaystand.", + "Move the toycar with black wheels to the black rectangular frame and release it", + "Set the toycar featuring black and white wheels on the black smooth stand using the right arm", + "Place the bright blue toycar with roof buttons precisely on top of the black displaystand for showcasing things.", + "Position the small plastic toycar on the compact black displaystand frame with the right arm", + "Use the right arm to lift the bright blue toycar with roof buttons and set it on the black smooth stand", + "Move the plastic toycar with smooth finish onto the rectangular black stand frame.", + "Move the small plastic toycar using the right arm and place on the medium black plastic displaystand", + "Set the compact glossy blue toycar in position on the black displaystand for showcasing things.", + "Carefully place the hand-sized rolling toycar onto the medium black plastic displaystand.", + "Grab and put the toycar featuring black and white wheels on the simple black displaystand", + "Take the toycar with dark gray windows and set it on the simple black displaystand", + "Lift the toycar with black wheels with the right arm and align it on the black displaystand for showcasing things." + ] +} diff --git a/place_phone_stand/episode_0000036/images/left_view/000000.png b/place_phone_stand/episode_0000036/images/left_view/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..1b763cc4fb21a1cab60a6edc43129d82c2aa386e --- /dev/null +++ b/place_phone_stand/episode_0000036/images/left_view/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/press_stapler/episode_0000028/TCP_third/metadata.json b/press_stapler/episode_0000028/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..15c747b3cc4e12b5450210bfb0bc9766c1f406de --- /dev/null +++ b/press_stapler/episode_0000028/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 119, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/press_stapler/episode_0000028/metadata.json b/press_stapler/episode_0000028/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d46c1e882f1b79034a4caed516f29ccef9737ac8 --- /dev/null +++ b/press_stapler/episode_0000028/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "press_stapler", + "episode": "episode_0000028", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/press_stapler/aloha_agilex/data/episode_0000028.hdf5", + "num_frames": 119, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 119, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 119, + 14 + ], + "action_shape": [ + 119, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Apply pressure to the blue stapler with the right arm.", + "Apply pressure to the stapler for stapling paper firmly", + "Push the stapler the small stapler to activate it.", + "Use your the right arm to press the stapler the stapler with black top section.", + "Apply pressure to the stapler with black top section using one arm the right arm.", + "Press the plastic blue stapler with metal parts to staple the sheets together.", + "Press the plastic blue stapler with metal parts firmly to staple", + "Push down firmly on the metal and plastic stapler to complete.", + "Push the small lightweight blue stapler using one arm", + "Push the stapler with white metallic components down firmly.", + "Press on the small lightweight blue stapler using the right arm.", + "Apply one arm the right arm to press the stapler for stapling paper firmly.", + "Push the compact blue stapler down completely", + "Push down on the stapler the blue stapler.", + "Push down on the small lightweight blue stapler to staple", + "Use an arm to press the stapler with white metallic components", + "Apply force to the plastic blue stapler with metal parts with the right arm", + "Press the stapler the metal and plastic stapler using an arm the right arm.", + "Press the stapler with white metallic components to complete the task.", + "Press the compact blue stapler until it works", + "Push down hard on the plastic blue stapler with metal parts with the right arm.", + "Firmly press the plastic blue stapler with metal parts using an arm.", + "Firmly press down on the small lightweight blue stapler to staple.", + "Apply enough force to the compact blue stapler to press it.", + "Use one arm to press the small lightweight blue stapler.", + "Apply pressure on the handheld stapler until it works.", + "Lower the blue stapler with black handle area using an arm", + "Use your arm the right arm to push the small stapler down.", + "Place pressure on the handheld stapler to staple.", + "Engage the plastic blue stapler with metal parts by using the right arm to press it.", + "Press on the stapler with black top section to activate it.", + "Lower the right arm onto the stapler the stapler for stapling paper.", + "Push down on the blue stapler with curved design to staple papers.", + "Push down on the blue stapler with curved design firmly.", + "Apply pressure to the blue stapler with the right arm.", + "Press down on the stapler with white metallic components until it functions.", + "Firmly push down on the compact blue stapler.", + "Firmly push the plastic blue stapler with metal parts using the right arm to operate it.", + "Apply force to the stapler with white metallic components to staple.", + "Push the top of the blue stapler with curved design down", + "Push down forcefully on the stapler the blue stapler.", + "Use one arm the right arm to press the blue stapler.", + "Push the metal and plastic stapler until it staples.", + "Push the stapler the blue stapler with the right arm.", + "Operate the plastic blue stapler with metal parts by pressing it with the right arm.", + "Press down on the stapler the compact blue stapler firmly.", + "Push down on the stapler the metal and plastic stapler.", + "Press the plastic blue stapler with metal parts downward using your arm the right arm.", + "Simply press the stapler the blue stapler with black handle area downward.", + "Push the stapler the stapler for stapling paper to operate it.", + "Apply pressure to the blue stapler with curved design with the right arm.", + "Apply pressure to the stapler with white metallic components firmly", + "Push the stapler the stapler for stapling paper to activate it.", + "Use your the right arm to press the stapler the stapler with black top section.", + "Apply pressure to the blue stapler with curved design using one arm the right arm.", + "Press the plastic blue stapler with metal parts to staple the sheets together.", + "Press the stapler for stapling paper firmly to staple", + "Push down firmly on the stapler with white metallic components to complete.", + "Push the metal and plastic stapler using one arm", + "Push the small stapler down firmly.", + "Press on the blue stapler using the right arm.", + "Apply one arm the right arm to press the compact blue stapler firmly.", + "Push the blue stapler down completely", + "Push down on the stapler the compact blue stapler.", + "Push down on the stapler with white metallic components to staple", + "Use an arm to press the stapler for stapling paper", + "Apply force to the metal and plastic stapler with the right arm", + "Press the stapler the metal and plastic stapler using an arm the right arm.", + "Press the blue stapler with curved design to complete the task.", + "Press the stapler with white metallic components until it works", + "Push down hard on the metal and plastic stapler with the right arm.", + "Firmly press the stapler with white metallic components using an arm.", + "Firmly press down on the stapler for stapling paper to staple.", + "Apply enough force to the small lightweight blue stapler to press it.", + "Use one arm to press the stapler for stapling paper.", + "Apply pressure on the plastic blue stapler with metal parts until it 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