diff --git a/blocks_ranking_size/episode_0000003/TCP_third/metadata.json b/blocks_ranking_size/episode_0000003/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5224b2aea67d1201affe45a231b6f29a4fc28816 --- /dev/null +++ b/blocks_ranking_size/episode_0000003/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 495, + 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_0000036/TCP_head/metadata.json b/move_can_pot/episode_0000036/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..78bc364281df3cbdc7c96445b02db839a3bda0d3 --- /dev/null +++ b/move_can_pot/episode_0000036/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 154, + 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_0000036/TCP_third/metadata.json b/move_can_pot/episode_0000036/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5765dd859ed86ecad47cd7a770d8396d64a3825d --- /dev/null +++ b/move_can_pot/episode_0000036/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 154, + 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_0000036/metadata.json b/move_can_pot/episode_0000036/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ecf88ff54b1a5e94d6e39d9661932a92d59d5cb5 --- /dev/null +++ b/move_can_pot/episode_0000036/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000036", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000036.hdf5", + "num_frames": 154, + "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": [ + 154, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 154, + 14 + ], + "action_shape": [ + 154, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Pick up the sauce can with ingredient information with the left arm and set by the rounded pot with metal lid", + "Lift the medium sauce can and set it beside the gray kitchenpot", + "Grab the yellow label sauce can with the left arm and position it beside the round pot with dark gray knob", + "Pick the brown sauce can with the left arm and relocate it near the metal cooking pot", + "Using the left arm, lift the yellow label sauce can and place it by the kitchenpot with smooth texture", + "Take the brown top sauce can using the left arm, set it next to the rounded pot with metal lid", + "With the left arm, grab the sauce can for condiments and move to the pot with lid and sturdy handles", + "Use the left arm to lift the metal sauce can, then move it next to the rounded pot with metal lid", + "Move the sauce can for condiments to the dark gray pot with side handles with the left arm", + "Pick the smooth cylindrical sauce can up with the left arm then place near the gray kitchenpot", + "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray pot for boiling food", + "Pick up the brown sauce can using the left arm, transfer it beside the medium gray pot with handles", + "Grab the metal sauce can, move it, and place by the gray pot for boiling food", + "Take the sauce can for condiments with the left arm, place it near the round pot with dark gray knob", + "Set the medium sauce can right next to the pot with round lid", + "Use the left arm to grab the cylindrical sauce can and move it beside the medium-sized smooth gray cooking pot", + "Use the left arm to lift the sauce can with brown lid and place it near the round pot with dark gray knob", + "Take the sauce can with brown lid to the kitchenpot used for cooking meals using the left arm", + "Pick the printed label sauce can and position it next to the metal cooking pot", + "Lift the sauce can with brown lid and set it next to the medium gray pot with handles", + "Grab the printed label sauce can and move it close to the kitchenpot used for cooking meals", + "Use the left arm to grab the medium sauce can, move it beside the medium gray pot with handles", + "Lift the smooth cylindrical sauce can using the left arm and drop it beside the kitchenpot with smooth texture", + "Grab the sauce can with brown lid, move it to the pot with round lid's side", + "Place the brown sauce can beside the kitchenpot used for cooking meals after picking it up", + "Use the left arm to pick the sauce can for condiments up and set it beside the round pot with dark gray knob", + "Grab the metal sauce can with the left arm and set it near the kitchenpot with smooth texture", + "Bring the brown top sauce can over and set it near the gray pot for boiling food", + "Place the brown sauce can next to the kitchenpot used for cooking meals", + "Use the left arm to grab the sauce can for condiments and transfer it near the gray pot for boiling food", + "Lift the printed label sauce can and place it next to the dark gray pot with side handles", + "Lift the sauce can with brown lid using the left arm and position it by the round pot with dark gray knob", + "Pick the cylindrical sauce can up and move it next to the rounded pot with metal lid", + "Lift the medium sauce can, place it by the gray pot for boiling food", + "Move the medium sauce can beside the medium-sized smooth gray cooking pot after lifting it", + "Grab the metal sauce can, shift it, and place it close to the pot with round lid", + "Use the left arm to lift the brown top sauce can and place it next to the rounded pot with metal lid", + "Use the left arm to move the printed label sauce can beside the medium-sized smooth gray cooking pot", + "Move the sauce can for condiments to be next to the rounded pot with metal lid", + "Set the printed label sauce can near the metal cooking pot after picking it up", + "Move the yellow and brown sauce can from its spot to near the medium gray pot with handles", + "Grab the sauce can with brown lid with the left arm and move it close to the rounded pot with metal lid", + "Lift the yellow and brown sauce can and move it near the gray kitchenpot", + "Use the left arm to pick the sauce can for condiments, position it near the round pot with dark gray knob", + "Pick up the medium sauce can and put it beside the kitchenpot used for cooking meals", + "Use the left arm to take the brown sauce can to the round pot with dark gray knob", + "Use the left arm to grab the printed label sauce can and move it next to the gray kitchenpot", + "Lift the yellow and brown sauce can, then place it next to the kitchenpot with smooth texture", + "Lift the brown sauce can and set it next to the gray pot for boiling food", + "Pick the sauce can with ingredient information up and carefully position it beside the gray kitchenpot", + "Pick up the yellow label sauce can with the left arm and set by the gray pot for boiling food", + "Lift the cylindrical sauce can and set it beside the metal cooking pot", + "Grab the sauce can for condiments with the left arm and position it beside the pot with lid and sturdy handles", + "Pick the brown top sauce can with the left arm and relocate it near the kitchenpot with smooth texture", + "Using the left arm, lift the smooth cylindrical sauce can and place it by the medium-sized smooth gray cooking pot", + "Take the smooth cylindrical sauce can using the left arm, set it next to the pot with round lid", + "With the left arm, grab the smooth cylindrical sauce can and move to the gray kitchenpot", + "Use the left arm to lift the cylindrical sauce can, then move it next to the dark gray pot with side handles", + "Move the metal sauce can to the kitchenpot with smooth texture with the left arm", + "Pick the brown top sauce can up with the left arm then place near the pot with round lid", + "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with smooth texture", + "Pick up the metal sauce can using the left arm, transfer it beside the rounded pot with metal lid", + "Grab the yellow and brown sauce can, move it, and place by the gray pot for boiling food", + "Take the cylindrical sauce can with the left arm, place it near the gray pot for boiling food", + "Set the cylindrical sauce can right next to the pot with lid and sturdy handles", + "Use the left arm to grab the yellow and brown sauce can and move it beside the dark gray pot with side handles", + "Use the left arm to lift the medium sauce can and place it near the kitchenpot used for cooking meals", + "Take the sauce can with ingredient information to the medium gray pot with handles using the left arm", + "Pick the medium sauce can and position it next to the gray kitchenpot", + "Lift the brown sauce can and set it next to the medium-sized smooth gray cooking pot", + "Grab the sauce can with ingredient information and move it close to the kitchenpot used for cooking meals", + "Use the left arm to grab the brown top sauce can, move it beside the dark gray pot with side handles", + "Lift the smooth cylindrical sauce can using the left arm and drop it beside the kitchenpot used for cooking meals", + "Grab the brown sauce can, move it to the medium gray pot with handles's side", + "Place the medium sauce can beside the rounded pot with metal lid after picking it up", + "Use the left arm to pick the brown sauce can up and set it beside the kitchenpot with smooth texture", + "Grab the metal sauce can with the left arm and set it near the kitchenpot used for cooking meals", + "Bring the medium sauce can over and set it near the rounded pot with metal lid", + "Place the sauce can with ingredient information next to the kitchenpot with smooth texture", + "Use the left arm to grab the printed label sauce can and transfer it near the dark gray pot with side handles", + "Lift the brown top sauce can and place it next to the kitchenpot with smooth texture", + "Lift the printed label sauce can using the left arm and position it by the gray kitchenpot", + "Pick the sauce can with brown lid up and move it next to the medium gray pot with handles", + "Lift the brown top sauce can, place it by the gray pot for boiling food", + "Move the brown sauce can beside the kitchenpot used for cooking meals after lifting it", + "Grab the brown top sauce can, shift it, and place it close to the gray kitchenpot", + "Use the left arm to lift the brown top sauce can and place it next to the medium gray pot with handles", + "Use the left arm to move the yellow and brown sauce can beside the gray pot for boiling food", + "Move the brown sauce can to be next to the gray kitchenpot", + "Set the cylindrical sauce can near the medium gray pot with handles after picking it up", + "Move the brown top sauce can from its spot to near the pot with lid and sturdy handles", + "Grab the sauce can with ingredient information with the left arm and move it close to the gray pot for boiling food", + "Lift the printed label sauce can and move it near the medium gray pot with handles", + "Use the left arm to pick the yellow and brown sauce can, position it near the metal cooking pot", + "Pick up the smooth cylindrical sauce can and put it beside the dark gray pot with side handles", + "Use the left 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+ { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Place the red stapler on the electronicscale white main body after picking it", + "Lift the curved red stapler and position it on the electronicscale red accents", + "Use the left arm to lift the metallic stapler with red body onto the compact electronicscale", + "Lift the small red stapler with the left arm and position it on the white electronicscale", + "Using the left arm, grab the plastic stapler with metal top and put it on the electronicscale white main body", + "Lift the handheld red stapler and drop it onto the white electronicscale with red buttons", + "Utilize the left arm to grab the red stapler and place on the electronicscale smooth and glossy", + "Put the metallic stapler with red body on the electronicscale white main body without mention of arm", + "Place the handheld red stapler on the electronicscale white main body with one arm", + "Set the compact stapler down on the electronicscale with round weight platform using one arm", + "Place the metallic stapler with red body carefully on the electronicscale portable using the left arm", + "Using the left arm, grab the curved red stapler and place on the electronicscale black and white design", + "Use the left arm to hold the red stapler for binding papers and drop it on the electronicscale white main body", + "Grab the compact stapler and carefully set it on the electronicscale portable", + "Hold the stapler with rectangular silver mechanism with the left arm, set it down on the electronicscale portable", + "Take the metallic stapler with red body and place it over the handheld electronicscale", + "Pick the curved red stapler and carefully move it to the handheld electronicscale", + "Move the red stapler for binding papers to the compact electronicscale and leave it there.", + "Lift the red stapler for binding papers with the left arm and set it on the compact electronicscale.", + "With the left arm, pick the metallic stapler with red body and position it on the electronicscale black and white design", + "Pick up the compact stapler and drop it on the electronicscale digital display", + "Pick up the compact stapler and drop it on the electronicscale with round weight platform.", + "Pick up the curved red stapler and set it on the electronicscale smooth and glossy", + "Grab the curved red stapler and drop it on the electronicscale black and white design", + "With the left arm, secure the small red stapler then release it on the electronicscale smooth and glossy", + "Using the left arm, grab the red stapler and transfer it to the electronicscale black and white design.", + "Take the stapler in bright red color and put it down on the electronicscale small and rectangular", + "Grab the stapler in bright red color with the left arm and set it on the electronicscale black and white design", + "Take the compact stapler and lay it onto the electronicscale small and rectangular", + "Lift the red stapler and place on the electronicscale with round weight platform", + "Using the left arm, pick the compact stapler then place it on the electronicscale red accents", + "Move the handheld red stapler to the position on the electronicscale with round weight platform", + "Pick the stapler in bright red color up and set it on the electronicscale with round weight platform.", + "Using the left arm, grasp the stapler in bright red color and position it on the white electronicscale", + "With the left arm, lift the stapler in bright red color to set it on the electronicscale white main body", + "Pick up the compact stapler and set it on the electronicscale red accents", + "Set the stapler in bright red color onto the handheld electronicscale after grabbing", + "Use one arm to place the small red stapler on the electronicscale digital display", + "Set the small red stapler on the handheld electronicscale after grabbing it with the left arm.", + "After grabbing the lightweight red stapler, place it on the white electronicscale.", + "Use the left arm to lift the plastic stapler with metal top and place on the electronicscale with round weight platform.", + "Pick the plastic stapler with metal top and lay it down gently onto the electronicscale smooth and glossy", + "Place the red stapler for binding papers onto the white electronicscale using the left arm.", + "Carry the stapler with rectangular silver mechanism with one arm to the electronicscale white main body", + "Transport the small red stapler to the electronicscale portable and put it there.", + "Grab the lightweight red stapler, then place it smoothly on the compact electronicscale", + "Lift the curved red stapler with one arm and set on the electronicscale red accents", + "Lift the small red stapler and stick it on the electronicscale with round weight platform carefully", + "Use the left arm to grab the stapler with rectangular silver mechanism for the electronicscale digital display", + "Pick the compact red stapler with silver accents with the left arm and move it to the handheld electronicscale", + "Place the lightweight red stapler on the electronicscale black and white design after picking it", + "Lift the compact stapler and position it on the electronicscale portable", + "Use the left arm to lift the metallic stapler with red body onto the electronicscale small and rectangular", + "Lift the red stapler for binding papers with the left arm and position it on the electronicscale smooth and glossy", + "Using the left arm, grab the stapler in bright red color and put it on the electronicscale smooth and glossy", + "Lift the plastic stapler with metal top and drop it onto the white electronicscale", + "Utilize the left arm to grab the compact red stapler with silver accents and place on the electronicscale portable", + "Put the red stapler on the electronicscale portable without mention of arm", + "Place the compact stapler on the compact electronicscale with one arm", + "Set the metallic stapler with red body down on the electronicscale with round weight platform using one arm", + "Place the handheld red stapler carefully on the electronicscale black and white design using the left arm", + "Using the left arm, grab the compact stapler and place on the electronicscale small and rectangular", + "Use the left arm to hold the metallic stapler with red body and drop it on the electronicscale portable", + "Grab the compact stapler and carefully set it on the electronicscale white main body", + "Hold the metallic stapler with red body with the left arm, set it down on the electronicscale small and rectangular", + "Take the curved red stapler and place it over the handheld electronicscale", + "Pick the red stapler for binding papers and carefully move it to the electronicscale red accents", + "Move the metallic stapler with red body to the white electronicscale with red buttons and leave it there.", + "Lift the red stapler with the left arm and set it on the electronicscale black and white design.", + "With the left arm, pick the red stapler and position it on the white electronicscale", + "Pick up the metallic stapler with red body and drop it on the compact electronicscale", + "Pick up the metallic stapler with red body and drop it on the electronicscale smooth and glossy.", + "Pick up the lightweight red stapler and set it on the electronicscale white main body", + "Grab the small red stapler and drop it on the compact electronicscale", + "With the left arm, secure the plastic stapler with metal top then release it on the white electronicscale with red buttons", + "Using the left arm, grab the plastic stapler with metal top and transfer it to the electronicscale red accents.", + "Take the lightweight red stapler and put it down on the electronicscale black and white design", + "Grab the stapler with rectangular silver mechanism with the left arm and set it on the handheld electronicscale", + "Take the lightweight red stapler and lay it onto the electronicscale black and white design", + "Lift the curved red stapler and place on the electronicscale white main body", + "Using the left arm, pick the stapler in bright red color then place it on the electronicscale white main body", + "Move the plastic stapler with metal top to the position on the electronicscale smooth and glossy", + "Pick the red stapler for binding papers up and set it on the electronicscale black and white design.", + "Using the left arm, grasp the stapler in bright red color and position it on the white electronicscale", + "With the left arm, lift the handheld red stapler to set it on the electronicscale portable", + "Pick up the lightweight red stapler and set it on the white electronicscale with red buttons", + "Set the curved red stapler onto the electronicscale portable after grabbing", + "Use one arm to place the lightweight red stapler on the electronicscale red accents", + "Set the curved red stapler on the electronicscale black and white design after grabbing it with the left arm.", + "After grabbing the plastic stapler with metal top, place it on the electronicscale smooth and glossy.", + "Use the left arm to lift the red stapler and place on the white electronicscale.", + "Pick the curved red stapler and lay it down gently onto the electronicscale smooth and glossy", + "Place the stapler in bright red color onto the compact electronicscale using the left arm.", + "Carry the handheld red stapler with one arm to the electronicscale portable", + "Transport the compact stapler to the electronicscale small and rectangular and put it there.", + "Grab the metallic stapler with red body, then place it smoothly on the electronicscale small and rectangular", + "Lift the red stapler for binding papers with one arm and set on the electronicscale portable", + "Lift the handheld red stapler and stick it on the electronicscale portable carefully", + "Use the left arm to grab the red stapler for the white electronicscale", + "Pick the small red stapler with the left arm and move it to the white electronicscale with red buttons" + ] +} diff --git a/place_object_stand/episode_0000004/TCP_third/metadata.json b/place_object_stand/episode_0000004/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d76ee6b16dab9301e120a876e5441c17914866c0 --- /dev/null +++ b/place_object_stand/episode_0000004/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 143, + 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": 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