diff --git a/handover_mic/episode_0000016/TCP_head/metadata.json b/handover_mic/episode_0000016/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0104fc82516fb5fe82f19c66de0a86153cb3e428 --- /dev/null +++ b/handover_mic/episode_0000016/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 236, + 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/handover_mic/episode_0000016/TCP_third/metadata.json b/handover_mic/episode_0000016/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..cb1f1a6fbcfc2734d8276e3adb9717c74b0b53a8 --- /dev/null +++ b/handover_mic/episode_0000016/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 236, + 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/handover_mic/episode_0000016/metadata.json b/handover_mic/episode_0000016/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c2395d296ea39cbfcd7edbc64f6a8ab7299e56eb --- /dev/null +++ b/handover_mic/episode_0000016/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "handover_mic", + "episode": "episode_0000016", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/handover_mic/aloha_agilex/data/episode_0000016.hdf5", + "num_frames": 236, + "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": [ + 236, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 236, + 14 + ], + "action_shape": [ + 236, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Lift the microphone with white rounded head and pass it across.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Hold the textured white microphone head and deliver it to another side.", + "Grip the compact teal and white microphone and pass it to the other side", + "Grab the teal microphone and smoothly give it to the other arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Reach for the teal microphone and move it to the other hand.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Take the microphone with white rounded head and pass it to another hand", + "Grab the textured white microphone head and transfer it to another hand", + "Seize the textured white microphone head and offer it to the other arm", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Take the rounded white tip microphone and move it to the other hand.", + "Grasp the sound microphone with teal body and pass it across.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Lift the microphone with slider switch and pass it across.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Lift the teal microphone, then pass it across without delay.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grip the microphone with white rounded head and pass it to the other side", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Take the teal microphone and pass it to another hand", + "Grab the textured white microphone head and transfer it to another hand", + "Seize the sound microphone with teal body and offer it to the other arm", + "Lift the teal microphone and hand it to someone else.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Take the handheld teal microphone and move it to the other hand.", + "Grasp the white and teal sound microphone and pass it across.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the teal microphone and deliver it to the other side.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the sound microphone with teal body and pass it across.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Hold the teal microphone with the right arm and give it to the left arm." + ] +} diff --git a/handover_mic/episode_0000025/TCP_head/metadata.json b/handover_mic/episode_0000025/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..41dbfb5b2b2bf758de50f1a14c71cf92d3fc2452 --- /dev/null +++ b/handover_mic/episode_0000025/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 228, + 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/handover_mic/episode_0000025/TCP_third/metadata.json b/handover_mic/episode_0000025/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e9d82b7b4bbe2f5322b287580eb2d43c8e6b9fbc --- /dev/null +++ b/handover_mic/episode_0000025/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 228, + 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/handover_mic/episode_0000025/metadata.json b/handover_mic/episode_0000025/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..65575e274c43ef7dfe0c53fd0a718ef31abaeeb5 --- /dev/null +++ b/handover_mic/episode_0000025/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "handover_mic", + "episode": "episode_0000025", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/handover_mic/aloha_agilex/data/episode_0000025.hdf5", + "num_frames": 228, + "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": [ + 228, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 228, + 14 + ], + "action_shape": [ + 228, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the black and white microphone and pass it across.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Grip the black and white microphone and pass it to the other side", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Secure the metal head microphone using one arm and transfer it.", + "Grasp the metal head microphone and switch it to another hand.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Take the microphone with textured metal head and move it to the other hand.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Seize the compact size microphone and offer it to the other arm", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Take the handheld microphone and move it to another hand.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Reach for the metal head microphone and move it to the other hand.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Take the black and white microphone and pass it to another hand", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the handheld microphone with one hand and transfer it", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Seize the compact size microphone and offer it to the other arm", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick up the black and white microphone and move it to the opposite side", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Pick the metal head microphone from the surface and switch hands.", + "Take the handheld microphone and move it to another hand.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Grasp the metal head microphone, then give it to the other arm.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Secure the compact size microphone from the table and transfer it.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Use one arm to pick up the black and white microphone and give it to the other." + ] +} diff --git a/handover_mic/episode_0000030/TCP_head/metadata.json b/handover_mic/episode_0000030/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d9d5f6d8af1fb9a979d0b7607186ffbbcf4dfa13 --- /dev/null +++ b/handover_mic/episode_0000030/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 232, + 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/handover_mic/episode_0000030/TCP_third/metadata.json b/handover_mic/episode_0000030/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..16b171fc997d45516a3d26ed669af6d6fe848e24 --- /dev/null +++ b/handover_mic/episode_0000030/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 232, + 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/handover_mic/episode_0000030/metadata.json b/handover_mic/episode_0000030/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..db1f7be697e5d3310ccdcb33a6fa95eea3a57143 --- /dev/null +++ b/handover_mic/episode_0000030/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "handover_mic", + "episode": "episode_0000030", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/handover_mic/aloha_agilex/data/episode_0000030.hdf5", + "num_frames": 232, + "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": [ + 232, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 232, + 14 + ], + "action_shape": [ + 232, + 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": [ + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the compact size microphone and hand it to someone else.", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Grasp the microphone with textured metal head and pass it across.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the black and white microphone, shift it, and release it to the other side.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Use one hand to grab the compact size microphone and pass it.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Grab the black and white microphone and give it to the opposite arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Grip the handheld microphone and pass it to the other side", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Seize the metal head microphone and offer it to the other arm", + "Take the compact size microphone and pass it to another hand", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grasp the handheld microphone and pass it across.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grab the metal head microphone and transfer it to another hand", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Use one hand to grab the compact size microphone and pass it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Hold the handheld microphone and deliver it to another side.", + "Take the metal head microphone and move it to another hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Lift the black and white microphone and pass it across.", + "Lift the metal head microphone and hand it over to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the white microphone handle black accents and pass it 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