diff --git a/beat_block_hammer/episode_0000011/TCP_head/metadata.json b/beat_block_hammer/episode_0000011/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..16792fe1482b905c32ca02334e998809013f5727 --- /dev/null +++ b/beat_block_hammer/episode_0000011/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_0000011/TCP_third/metadata.json b/beat_block_hammer/episode_0000011/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..15c747b3cc4e12b5450210bfb0bc9766c1f406de --- /dev/null +++ b/beat_block_hammer/episode_0000011/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/beat_block_hammer/episode_0000011/metadata.json b/beat_block_hammer/episode_0000011/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5c9fb9d3066469ac07ea19b0a6b2149004b1e79f --- /dev/null +++ b/beat_block_hammer/episode_0000011/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000011", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000011.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": [ + "Grab the silver curved hammer head with the left arm and hit block", + "Grab the grippy handle hammer with the left arm and hit the block", + "Grab the yellow and black hammer grip to beat the block.", + "Use the left arm to take the nail-driving hammer and strike", + "Pick up the plastic handle metal hammer using the left arm, hammer the block.", + "Pick the silver curved hammer head and strike the block.", + "Grab the handheld medium claw hammer using the left arm, then beat the block", + "Pick up the black and yellow hammer grip and strike the block", + "Grab the hammer with two-tone handle with the left arm and beat the block.", + "Grab the nail-driving hammer and use it to hit", + "Catch the hammer for nails and use it on the block.", + "Use the left arm to grab the grippy handle hammer and beat block", + "Lift the silver hammer and hit the block.", + "With the left arm, grab the handheld medium claw hammer and hammer the block", + "Hold the yellow and black hammer grip then hit the block", + "Take the medium-sized metal hammer using the left arm, hit the block.", + "Take the hammer with two-tone handle and beat the block", + "Hold the silver hammer and pound the block.", + "Pick up the handheld medium claw hammer and use it on the block", + "Take the hammer with claw-shaped end and smash the block.", + "Lift the silver curved hammer head using the left arm to hit the block.", + "Use the hammer for nails to hammer the block.", + "Pick the grippy handle hammer with the left arm and hit the block", + "Pick the silver curved hammer head from the table and strike", + "Grab the medium-sized metal hammer with the left arm and strike block", + "Employ the left arm to grab the handheld medium claw hammer and hit.", + "Use the plastic handle metal hammer to beat after grabbing with the left arm", + "Grab the yellow and black hammer grip, then hit the block", + "Grab the silver hammer, then strike the block.", + "Lift the silver curved hammer head and hit the block", + "Lift the black and yellow hammer grip, then beat the block.", + "Take the plastic handle metal hammer and beat the block", + "Utilize the left arm to hold the black and yellow hammer grip and strike.", + "Take the plastic handle metal hammer and strike the block", + "With the left arm, grab the silver hammer and hit the block", + "Grab the plastic handle metal hammer using the left arm and strike the block", + "Take the grippy handle hammer and hammer the block", + "Take the hammer with claw-shaped end and strike the block", + "With the left arm, grab the hammer with claw-shaped end and beat the block.", + "Beat the block after grabbing the medium-sized metal hammer", + "Lift the nail-driving hammer with the left arm then strike block", + "Grab the yellow and black hammer grip using the left arm then pound block", + "Use the left arm to grab the silver hammer and beat", + "Pick the black and yellow hammer grip and smash the block", + "Grip the hammer with two-tone handle firmly and hit the block.", + "Grab the yellow and black hammer grip using the left arm and hit the block", + "With the left arm, pick up the hammer with claw-shaped end and strike the block.", + "Make the left arm grab the silver hammer and strike the block.", + "Pick up the black and yellow hammer grip using the left arm then beat", + "Pick up the silver curved hammer head with the left arm, strike the block.", + "Grab the hammer with two-tone handle with the left arm and hit block", + "Grab the silver curved hammer head with the left arm and hit the block", + "Grab the plastic handle metal hammer to beat the block.", + "Use the left arm to take the plastic handle metal hammer and strike", + "Pick up the grippy handle hammer using the left arm, hammer the block.", + "Pick the black and yellow hammer grip and strike the block.", + "Grab the silver hammer using the left arm, then beat the block", + "Pick up the hammer with two-tone handle and strike the block", + "Grab the nail-driving hammer with the left arm and beat the block.", + "Grab the silver curved hammer head and use it to hit", + "Catch the grippy handle hammer and use it on the block.", + "Use the left arm to grab the black and yellow hammer grip and beat block", + "Lift the handheld medium claw hammer and hit the block.", + "With the left arm, grab the silver curved hammer head and hammer the block", + "Hold the silver curved hammer head then hit the block", + "Take the medium-sized metal hammer using the left arm, hit the block.", + "Take the hammer for nails and beat the block", + "Hold the black and yellow hammer grip and pound the block.", + "Pick up the nail-driving hammer and use it on the block", + "Take the silver hammer and smash the block.", + "Lift the yellow and black hammer grip using the left arm to hit the block.", + "Use the nail-driving hammer to hammer the block.", + "Pick the medium-sized metal hammer with the left arm and hit the block", + "Pick the plastic handle metal hammer from the table and strike", + "Grab the silver hammer with the left arm and strike block", + "Employ the left arm to grab the silver hammer and hit.", + "Use the grippy handle hammer to beat after grabbing with the left arm", + "Grab the nail-driving hammer, then hit the block", + "Grab the hammer with two-tone handle, then strike the block.", + "Lift the medium-sized metal hammer and hit the block", + "Lift the medium-sized metal hammer, then beat the block.", + "Take the black and yellow hammer grip and beat the block", + "Utilize the left arm to hold the yellow and black hammer grip and strike.", + "Take the plastic handle metal hammer and strike the block", + "With the left arm, grab the medium-sized metal hammer and hit the block", + "Grab the nail-driving hammer using the left arm and strike the block", + "Take the grippy handle hammer and hammer the block", + "Take the nail-driving hammer and strike the block", + "With the left arm, grab the black and yellow hammer grip and beat the block.", + "Beat the block after grabbing the black and yellow hammer grip", + "Lift the plastic handle metal hammer with the left arm then strike block", + "Grab the plastic handle metal hammer using the left arm then pound block", + "Use the left arm to grab the handheld medium claw hammer and beat", + "Pick the silver curved hammer head and smash the block", + "Grip the handheld medium claw hammer firmly and hit the block.", + "Grab the plastic handle metal hammer using the left arm and hit the block", + "With the left arm, pick up the medium-sized metal hammer and strike the block.", + "Make the left arm grab the hammer with two-tone handle and strike the block.", + "Pick up the black and yellow hammer grip using the left arm then beat", + "Pick up the yellow and black hammer grip with the left arm, strike the block." + ] +} diff --git a/beat_block_hammer/episode_0000023/TCP_third/metadata.json b/beat_block_hammer/episode_0000023/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..339316c013c4fe6c4c56abf4c5ea6f24a1ed292e --- /dev/null +++ b/beat_block_hammer/episode_0000023/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 123, + 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_0000027/TCP_head/metadata.json b/move_can_pot/episode_0000027/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7aec47f9c79d256a43eececca6f41d15b89a7e --- /dev/null +++ b/move_can_pot/episode_0000027/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 162, + 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_0000027/TCP_third/metadata.json b/move_can_pot/episode_0000027/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5055bf07ad8857ed0403f2b0a43cf36619d73ad2 --- /dev/null +++ b/move_can_pot/episode_0000027/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 162, + 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_0000027/metadata.json b/move_can_pot/episode_0000027/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c41b83b37521c6dfd079efa5555ea54535a2a9b4 --- /dev/null +++ b/move_can_pot/episode_0000027/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000027", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000027.hdf5", + "num_frames": 162, + "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": [ + 162, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 162, + 14 + ], + "action_shape": [ + 162, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Use the left arm to lift the red and orange sauce can, then move it next to the cooking pot with snug-fitting lid", + "With the left arm, grab the sauce can with rounded top cap and move to the medium-sized pot with plastic grips", + "Pick the red can with orange label and position it next to the silver kitchenpot with black grips", + "Pick up the metal body sauce can with the left arm and set by the metallic pot with matte finish", + "Grab the metal body sauce can, shift it, and place it close to the cooking pot with snug-fitting lid", + "Lift the smooth sauce can, place it by the silver kitchenpot", + "Grab the red and orange sauce can, move it to the silver pot with matching lid's side", + "Lift the red can with orange label using the left arm and position it by the rounded pot with curved handles", + "Use the left arm to move the red and orange sauce can beside the silver kitchenpot", + "Use the left arm to grab the sauce can with printed design and move it next to the medium-sized pot with plastic grips", + "Set the compact sauce can with plastic lid near the cooking pot with snug-fitting lid after picking it up", + "Lift the smooth sauce can and set it beside the metallic pot with plastic handles", + "Place the cylindrical sauce can beside the medium silver pot for cooking after picking it up", + "Set the smooth sauce can right next to the silver kitchenpot with black grips", + "Lift the metal body sauce can, then place it next to the metallic pot with matte finish", + "Use the left arm to take the cylindrical sauce can to the silver pot with black grips", + "Pick the red can with orange label up and carefully position it beside the rounded silver pot with handles", + "Pick up the cylindrical sauce can using the left arm, transfer it beside the silver pot with matching lid", + "Pick up the small cylindrical sauce can and put it beside the silver pot with black grips", + "Use the left arm to pick the sturdy sauce can with glossy finish, position it near the cooking pot with snug-fitting lid", + "Bring the cylindrical sauce can over and set it near the metallic pot with matte finish", + "Lift the sauce can with rounded top cap and place it next to the rounded pot with curved handles", + "Grab the sturdy sauce can with glossy finish, move it, and place by the cooking pot with snug-fitting lid", + "Use the left arm to grab the small metal sauce container and transfer it near the rounded pot with curved handles", + "Grab the sauce can with red lid with the left arm and position it beside the metallic pot with plastic handles", + "Lift the sauce can with printed design using the left arm and drop it beside the rounded silver pot with handles", + "Use the left arm to lift the red can with orange label and place it next to the kitchenpot with smooth metallic lid", + "Place the sauce can with rounded top cap next to the silver pot with black grips", + "Grab the red and orange sauce can and move it close to the metallic pot with matte finish", + "Grab the cylindrical sauce can with the left arm and set it near the silver kitchenpot with black grips", + "Move the small cylindrical sauce can to be next to the medium silver pot for cooking", + "Move the metal body sauce can from its spot to near the rounded pot with curved handles", + "Pick the sauce can with printed design up and move it next to the cooking pot with snug-fitting lid", + "Lift the sauce can with red lid and set it next to the rounded silver pot with handles", + "Pick the red can with orange label up with the left arm then place near the kitchenpot with smooth metallic lid", + "Lift the sauce can with printed design and set it next to the kitchenpot with smooth metallic lid", + "Use the left arm to lift the red can with orange label and place it near the rounded pot with curved handles", + "Use the left arm to grab the metal body sauce can, move it beside the rounded pot with curved handles", + "Grab the cylindrical sauce can with the left arm and move it close to the cooking pot with snug-fitting lid", + "Pick the sturdy sauce can with glossy finish with the left arm and relocate it near the silver kitchenpot", + "Lift the red and orange sauce can and move it near the silver pot with black grips", + "Use the left arm to pick the sauce can with rounded top cap up and set it beside the cooking pot with snug-fitting lid", + "Move the sturdy sauce can with glossy finish beside the rounded silver pot with handles after lifting it", + "Take the sturdy sauce can with glossy finish with the left arm, place it near the rounded pot with curved handles", + "Use the left arm to grab the sturdy sauce can with glossy finish and move it beside the rounded pot with curved handles", + "Take the compact sauce can with plastic lid with the left arm, bring it, and set next to the silver kitchenpot with black grips", + "Move the small cylindrical sauce can to the silver pot with black grips with the left arm", + "Using the left arm, lift the smooth sauce can and place it by the medium-sized pot with plastic grips", + "Take the metal body sauce can using the left arm, set it next to the medium-sized pot with plastic grips", + "Take the sauce can with red lid to the silver kitchenpot with black grips using the left arm", + "Use the left arm to lift the red and orange sauce can, then move it next to the rounded silver pot with handles", + "With the left arm, grab the cylindrical sauce can and move to the cooking pot with snug-fitting lid", + "Pick the sturdy sauce can with glossy finish and position it next to the rounded silver pot with handles", + "Pick up the sauce can with red lid with the left arm and set by the metallic pot with matte finish", + "Grab the sturdy sauce can with glossy finish, shift it, and place it close to the silver kitchenpot with black grips", + "Lift the cylindrical sauce can, place it by the silver pot with matching lid", + "Grab the metal body sauce can, move it to the rounded pot with curved handles's side", + "Lift the small metal sauce container using the left arm and position it by the kitchenpot with smooth metallic lid", + "Use the left arm to move the sturdy sauce can with glossy finish beside the medium silver pot for cooking", + "Use the left arm to grab the red can with orange label and move it next to the rounded silver pot with handles", + "Set the red and orange sauce can near the rounded silver pot with handles after picking it up", + "Lift the red and orange sauce can and set it beside the kitchenpot with smooth metallic lid", + "Place the metal body sauce can beside the rounded silver pot with handles after picking it up", + "Set the sauce can with rounded top cap right next to the metallic pot with plastic handles", + "Lift the sauce can with printed design, then place it next to the medium-sized pot with plastic grips", + "Use the left arm to take the small metal sauce container to the rounded pot with curved handles", + "Pick the smooth sauce can up and carefully position it beside the metallic pot with matte finish", + "Pick up the small metal sauce container using the left arm, transfer it beside the metallic pot with matte finish", + "Pick up the cylindrical sauce can and put it beside the cooking pot with snug-fitting lid", + "Use the left arm to pick the small metal sauce container, position it near the rounded pot with curved handles", + "Bring the cylindrical sauce can over and set it near the silver pot with matching lid", + "Lift the small cylindrical sauce can and place it next to the metallic pot with plastic handles", + "Grab the metal body sauce can, move it, and place by the metallic pot with plastic handles", + "Use the left arm to grab the red can with orange label and transfer it near the kitchenpot with smooth metallic lid", + "Grab the small metal sauce container with the left arm and position it beside the silver pot with matching lid", + "Lift the red and orange sauce can using the left arm and drop it beside the kitchenpot with smooth metallic lid", + "Use the left arm to lift the small metal sauce container and place it next to the metallic pot with matte finish", + "Place the sauce can with rounded top cap next to the rounded silver pot with handles", + "Grab the small cylindrical sauce can and move it close to the kitchenpot with smooth metallic lid", + "Grab the sauce can with red lid with the left arm and set it near the silver kitchenpot", + "Move the sauce can with red lid to be next to the metallic pot with matte finish", + "Move the sauce can with printed design from its spot to near the rounded silver pot with handles", + "Pick the small cylindrical sauce can up and move it next to the silver kitchenpot", + "Lift the smooth sauce can and set it next to the medium-sized pot with plastic grips", + "Pick the red can with orange label up with the left arm then place near the silver pot with black grips", + "Lift the metal body sauce can and set it next to the cooking pot with snug-fitting lid", + "Use the left arm to lift the cylindrical sauce can and place it near the metallic pot with matte finish", + "Use the left arm to grab the sturdy sauce can with glossy finish, move it beside the rounded pot with curved handles", + "Grab the red can with orange label with the left arm and move it close to the metallic pot with plastic handles", + "Pick the sturdy sauce can with glossy finish with the left arm and relocate it near the silver pot with matching lid", + "Lift the red and orange sauce can and move it near the metallic pot with matte finish", + "Use the left arm to pick the small metal sauce container up and set it beside the cooking pot with snug-fitting lid", + "Move the red and orange sauce can beside the silver kitchenpot after lifting it", + "Take the sauce can with rounded top cap with the left arm, place it near the silver kitchenpot with black grips", + "Use the left arm to grab the small cylindrical sauce can and move it beside the silver kitchenpot with black grips", + "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium silver pot for cooking", + "Move the compact sauce can with plastic lid to the metallic pot with matte finish with the left arm", + "Using the left arm, lift the sauce can with red lid and place it by the medium-sized pot with plastic grips", + "Take the smooth sauce can using the left arm, set it next to the medium silver pot for cooking", + "Take the small metal sauce container to the kitchenpot with smooth metallic lid using the left arm" + ] +} diff --git a/move_can_pot/episode_0000029/TCP_head/metadata.json b/move_can_pot/episode_0000029/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a98d0d139af97faae4c11182c3e41cdcfb1b94aa --- /dev/null +++ b/move_can_pot/episode_0000029/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 151, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_can_pot/episode_0000029/TCP_third/metadata.json b/move_can_pot/episode_0000029/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d118d2fc22e2491a36d30c0ace86cad5bb8ec5f8 --- /dev/null +++ b/move_can_pot/episode_0000029/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 151, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_can_pot/episode_0000029/metadata.json b/move_can_pot/episode_0000029/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..478c57fb146652d14799f9010015e03cec4dc687 --- /dev/null +++ b/move_can_pot/episode_0000029/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000029", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000029.hdf5", + "num_frames": 151, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 151, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 151, + 14 + ], + "action_shape": [ + 151, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Lift the brown top sauce can and set it next to the metal kitchenpot", + "Pick the yellow and brown sauce can up and move it next to the cylindrical kitchenpot", + "Using the left arm, lift the yellow and brown sauce can and place it by the smooth gray kitchenpot", + "Use the left arm to pick the medium sauce can, position it near the gray kitchenpot", + "Use the left arm to grab the brown sauce can and move it next to the kitchenpot with smooth exterior", + "Set the brown sauce can right next to the medium kitchenpot made of metal", + "Pick up the sauce can with ingredient information using the left arm, transfer it beside the metal kitchenpot", + "Use the left arm to take the sauce can with brown lid to the round kitchenpot with handles", + "Use the left arm to grab the metal sauce can and transfer it near the dark gray stove kitchenpot", + "Pick the yellow and brown sauce can up with the left arm then place near the round kitchenpot with handles", + "Grab the yellow and brown sauce can, move it to the round kitchenpot with handles's side", + "Grab the sauce can for condiments with the left arm and position it beside the medium kitchenpot made of metal", + "Lift the brown top sauce can using the left arm and position it by the kitchenpot with smooth exterior", + "Use the left arm to move the sauce can for condiments beside the dark gray stove kitchenpot", + "Bring the cylindrical sauce can over and set it near the gray cylindrical metal kitchenpot", + "Grab the medium sauce can and move it close to the medium-sized kitchenpot", + "Move the brown sauce can to be next to the round kitchenpot with handles", + "Use the left arm to lift the printed label sauce can, then move it next to the metal kitchenpot", + "Take the brown sauce can using the left arm, set it next to the medium kitchenpot made of metal", + "Lift the printed label sauce can, then place it next to the cylindrical kitchenpot", + "Pick up the brown top sauce can and put it beside the cylindrical kitchenpot", + "Lift the cylindrical sauce can, place it by the cooking kitchenpot with side grips", + "Pick up the sauce can for condiments with the left arm and set by the gray cylindrical metal kitchenpot", + "Pick the brown sauce can up and carefully position it beside the gray cylindrical metal kitchenpot", + "Take the sauce can with brown lid to the kitchenpot with smooth exterior using the left arm", + "Lift the brown sauce can and set it beside the cylindrical kitchenpot", + "Lift the metal sauce can using the left arm and drop it beside the smooth gray kitchenpot", + "Use the left arm to pick the brown sauce can up and set it beside the metal kitchenpot", + "Take the sauce can with brown lid with the left arm, bring it, and set next to the gray kitchenpot", + "Take the brown sauce can with the left arm, place it near the kitchenpot for boiling and cooking", + "Place the sauce can with ingredient information beside the kitchenpot with smooth exterior after picking it up", + "Use the left arm to grab the cylindrical sauce can and move it beside the dark gray stove kitchenpot", + "Lift the smooth cylindrical sauce can and move it near the smooth gray kitchenpot", + "Move the sauce can with brown lid from its spot to near the smooth gray kitchenpot", + "Move the smooth cylindrical sauce can beside the metal kitchenpot after lifting it", + "Grab the brown sauce can, move it, and place by the gray kitchenpot", + "Grab the sauce can with ingredient information, shift it, and place it close to the gray kitchenpot", + "Use the left arm to lift the medium sauce can and place it next to the medium kitchenpot made of metal", + "Pick the medium sauce can and position it next to the smooth gray kitchenpot", + "Grab the cylindrical sauce can with the left arm and move it close to the metal kitchenpot", + "With the left arm, grab the brown sauce can and move to the kitchenpot for boiling and cooking", + "Grab the medium sauce can with the left arm and set it near the dark gray stove kitchenpot", + "Set the sauce can for condiments near the gray cylindrical metal kitchenpot after picking it up", + "Lift the yellow and brown sauce can and place it next to the cylindrical kitchenpot", + "Lift the printed label sauce can and set it next to the kitchenpot with smooth exterior", + "Move the metal sauce can to the round kitchenpot with handles with the left arm", + "Place the metal sauce can next to the medium kitchenpot made of metal", + "Use the left arm to lift the metal sauce can and place it near the metal kitchenpot", + "Pick the brown top sauce can with the left arm and relocate it near the cylindrical kitchenpot", + "Use the left arm to grab the medium sauce can, move it beside the gray cylindrical metal kitchenpot", + "Lift the sauce can with brown lid and set it next to the gray kitchenpot", + "Pick the medium sauce can up and move it next to the round kitchenpot with handles", + "Using the left arm, lift the yellow and brown sauce can and place it by the medium kitchenpot made of metal", + "Use the left arm to pick the smooth cylindrical sauce can, position it near the dark gray stove kitchenpot", + "Use the left arm to grab the brown top sauce can and move it next to the kitchenpot for boiling and cooking", + "Set the sauce can for condiments right next to the gray cylindrical metal kitchenpot", + "Pick up the printed label sauce can using the left arm, transfer it beside the cylindrical kitchenpot", + "Use the left arm to take the sauce can with ingredient information to the smooth gray kitchenpot", + "Use the left arm to grab the medium sauce can and transfer it near the kitchenpot for boiling and cooking", + "Pick the sauce can with ingredient information up with the left arm then place near the dark gray stove kitchenpot", + "Grab the metal sauce can, move it to the gray cylindrical metal kitchenpot's side", + "Grab the yellow and brown sauce can with the left arm and position it beside the smooth gray kitchenpot", + "Lift the medium sauce can using the left arm and position it by the dark gray stove kitchenpot", + "Use the left arm to move the sauce can with ingredient information beside the cylindrical kitchenpot", + "Bring the brown sauce can over and set it near the metal kitchenpot", + "Grab the yellow and brown sauce can and move it close to the gray kitchenpot", + "Move the medium sauce can to be next to the cooking kitchenpot with side grips", + "Use the left arm to lift the sauce can with brown lid, then move it next to the cylindrical kitchenpot", + "Take the brown sauce can using the left arm, set it next to the kitchenpot for boiling and cooking", + "Lift the medium sauce can, then place it next to the gray kitchenpot", + "Pick up the brown sauce can and put it beside the gray cylindrical metal kitchenpot", + "Lift the sauce can with brown lid, place it by the cylindrical kitchenpot", + "Pick up the medium sauce can with the left arm and set by the medium-sized kitchenpot", + "Pick the brown top sauce can up and carefully position it beside the smooth gray kitchenpot", + "Take the metal sauce can to the round kitchenpot with handles using the left arm", + "Lift the sauce can with ingredient information and set it beside the metal kitchenpot", + "Lift the printed label sauce can using the left arm and drop it beside the round kitchenpot with handles", + "Use the left arm to pick the brown top sauce can up and set it beside the medium kitchenpot made of metal", + "Take the medium sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot", + "Take the sauce can with brown lid with the left arm, place it near the medium kitchenpot made of metal", + "Place the brown top sauce can beside the kitchenpot with smooth exterior after picking it up", + "Use the left arm to grab the smooth cylindrical sauce can and move it beside the metal kitchenpot", + "Lift the printed label sauce can and move it near the metal kitchenpot", + "Move the sauce can with ingredient information from its spot to near the metal kitchenpot", + "Move the metal sauce can beside the kitchenpot with smooth exterior after lifting it", + "Grab the sauce can with ingredient information, move it, and place by the gray kitchenpot", + "Grab the brown top sauce can, shift it, and place it close to the medium kitchenpot made of metal", + "Use the left arm to lift the sauce can with brown lid and place it next to the smooth gray kitchenpot", + "Pick the brown sauce can and position it next to the metal kitchenpot", + "Grab the medium sauce can with the left arm and move it close to the gray kitchenpot", + "With the left arm, grab the smooth cylindrical sauce can and move to the smooth gray kitchenpot", + "Grab the brown top sauce can with the left arm and set it near the dark gray stove kitchenpot", + "Set the brown sauce can near the medium-sized kitchenpot after picking it up", + "Lift the printed label sauce can and place it next to the smooth gray kitchenpot", + "Lift the brown top sauce can and set it next to the metal kitchenpot", + "Move the cylindrical sauce can to the kitchenpot with smooth exterior with the left arm", + "Place the sauce can with brown lid next to the dark gray stove kitchenpot", + "Use the left arm to lift the sauce can with brown lid and place it near the kitchenpot for boiling and cooking", + "Pick the smooth cylindrical sauce can with the left arm and relocate it near the round kitchenpot with handles", + "Use the left arm to grab the metal sauce can, move it beside the round kitchenpot with handles" + ] +} diff --git a/move_can_pot/episode_0000039/TCP_head/metadata.json b/move_can_pot/episode_0000039/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..af3b53674df0fe0aeed18d12354eac2e16a04467 --- /dev/null +++ b/move_can_pot/episode_0000039/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 156, + 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_0000039/metadata.json b/move_can_pot/episode_0000039/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..be2f76392ef1c3b5b8a080caa110fd30fb6f6a43 --- /dev/null +++ b/move_can_pot/episode_0000039/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000039", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000039.hdf5", + "num_frames": 156, + "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": [ + 156, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 156, + 14 + ], + "action_shape": [ + 156, + 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 red sauce can for holding condiments to the black kitchenpot with silver handle bars with the left arm", + "Lift the red plastic sauce can and set it next to the cooking kitchenpot with sturdy handles", + "Use the left arm to grab the red sauce can and transfer it near the black kitchenpot with flat lid", + "Lift the red sauce can for holding condiments and move it near the black kitchenpot with flat lid", + "Grab the red cylindrical sauce can and move it close to the black metal kitchenpot", + "Lift the red plastic sauce can using the left arm and drop it beside the black cooking pot with silver handles", + "Grab the cylindrical sauce can, move it, and place by the black metal kitchenpot", + "Pick up the red sauce can for holding condiments using the left arm, transfer it beside the black cooking pot with silver handles", + "Set the red sauce can for holding condiments near the black kitchenpot after picking it up", + "Pick up the sauce can with flat bottom and put it beside the medium kitchenpot with smooth surface", + "Place the red sauce can beside the kitchenpot with metallic round lid after picking it up", + "Lift the sauce can with flat top and set it next to the kitchenpot for boiling food", + "Move the sauce can with white details from its spot to near the kitchenpot with metallic round lid", + "Pick the red can with gold patterns up and carefully position it beside the black metal kitchenpot", + "Use the left arm to pick the red and gold sauce can, position it near the cooking kitchenpot with sturdy handles", + "Grab the red plastic sauce can with the left arm and move it close to the medium kitchenpot with smooth surface", + "Move the red sauce can to be next to the black kitchenpot", + "Pick the cylindrical sauce can with the left arm and relocate it near the kitchenpot with metallic round lid", + "Take the sauce can with white details using the left arm, set it next to the black kitchenpot with round lid", + "Lift the red sauce can and set it beside the black kitchenpot", + "Grab the sauce can with flat top with the left arm and position it beside the black cooking pot with silver handles", + "Grab the red and gold sauce can, shift it, and place it close to the kitchenpot with metallic round lid", + "Lift the red cylindrical sauce can and place it next to the black kitchenpot", + "Use the left arm to grab the sauce can with flat bottom and move it beside the black cooking pot with silver handles", + "Use the left arm to lift the sauce can with white details and place it next to the cooking kitchenpot with sturdy handles", + "Use the left arm to grab the red cylindrical sauce can, move it beside the medium kitchenpot with smooth surface", + "Lift the cylindrical sauce can using the left arm and position it by the kitchenpot for boiling food", + "Move the red cylindrical sauce can beside the kitchenpot with metallic round lid after lifting it", + "Lift the red and gold sauce can, then place it next to the kitchenpot with metallic round lid", + "Use the left arm to move the red plastic sauce can beside the black kitchenpot with round lid", + "Use the left arm to lift the red and gold sauce can, then move it next to the black kitchenpot with plastic lid handle", + "Take the cylindrical sauce can with the left arm, bring it, and set next to the black kitchenpot with round lid", + "Using the left arm, lift the red and gold sauce can and place it by the black cooking pot with silver handles", + "Pick the red plastic sauce can and position it next to the black kitchenpot with silver handle bars", + "Use the left arm to grab the sauce can with flat bottom and move it next to the black kitchenpot", + "Pick the red plastic sauce can up and move it next to the black kitchenpot with round lid", + "With the left arm, grab the cylindrical sauce can and move to the black metal kitchenpot", + "Set the red sauce can for holding condiments right next to the black metal kitchenpot", + "Bring the red plastic sauce can over and set it near the black kitchenpot with plastic lid handle", + "Grab the sauce can with white details, move it to the black kitchenpot with silver handle bars's side", + "Use the left arm to lift the red can with gold patterns and place it near the black kitchenpot with round lid", + "Grab the sauce can with white details with the left arm and set it near the kitchenpot for boiling food", + "Use the left arm to pick the red and gold sauce can up and set it beside the kitchenpot with metallic round lid", + "Lift the sauce can with white details, place it by the black metal kitchenpot", + "Use the left arm to take the red sauce can to the black metal kitchenpot", + "Pick up the sauce can with white details with the left arm and set by the black cooking pot with silver handles", + "Pick the red cylindrical sauce can up with the left arm then place near the kitchenpot with metallic round lid", + "Take the red plastic sauce can to the medium kitchenpot with smooth surface using the left arm", + "Place the red can with gold patterns next to the black cooking pot with silver handles", + "Take the red sauce can for holding condiments with the left arm, place it near the kitchenpot for boiling food", + "Move the sauce can with flat bottom to the black kitchenpot with plastic lid handle with the left arm", + "Lift the red sauce can and set it next to the black cooking pot with silver handles", + "Use the left arm to grab the cylindrical sauce can and transfer it near the black kitchenpot with silver handle bars", + "Lift the sauce can with flat top and move it near the black cooking pot with silver handles", + "Grab the sauce can with white details and move it close to the black metal kitchenpot", + "Lift the medium-sized red sauce can using the left arm and drop it beside the black kitchenpot", + "Grab the red plastic sauce can, move it, and place by the black kitchenpot with silver handle bars", + "Pick up the red and gold sauce can using the left arm, transfer it beside the kitchenpot with metallic round lid", + "Set the cylindrical sauce can near the black kitchenpot with flat lid after picking it up", + "Pick up the red sauce can and put it beside the black kitchenpot with silver handle bars", + "Place the red can with gold patterns beside the black kitchenpot after picking it up", + "Lift the red and gold sauce can and set it next to the black kitchenpot", + "Move the red cylindrical sauce can from its spot to near the kitchenpot with metallic round lid", + "Pick the sauce can with flat bottom up and carefully position it beside the black cooking pot with silver handles", + "Use the left arm to pick the smooth sauce can, position it near the black kitchenpot with plastic lid handle", + "Grab the red sauce can with the left arm and move it close to the black cooking pot with silver handles", + "Move the red plastic sauce can to be next to the cooking kitchenpot with sturdy handles", + "Pick the red sauce can for holding condiments with the left arm and relocate it near the black cooking pot with silver handles", + "Take the red sauce can for holding condiments using the left arm, set it next to the black metal kitchenpot", + "Lift the smooth sauce can and set it beside the cooking kitchenpot with sturdy handles", + "Grab the medium-sized red sauce can with the left arm and position it beside the black kitchenpot with silver and black handles", + "Grab the red plastic sauce can, shift it, and place it close to the black kitchenpot with plastic lid handle", + "Lift the red cylindrical sauce can and place it next to the black kitchenpot with round lid", + "Use the left arm to grab the cylindrical sauce can and move it beside the black cooking pot with silver handles", + "Use the left arm to lift the sauce can with flat bottom and place it next to the black kitchenpot with plastic lid handle", + "Use the left arm to grab the cylindrical sauce can, move it beside the black metal kitchenpot", + "Lift the sauce can with flat top using the left arm and position it by the black kitchenpot with plastic lid handle", + "Move the sauce can with white details beside the cooking kitchenpot with sturdy handles after lifting it", + "Lift the medium-sized red sauce can, then place it next to the kitchenpot with metallic round lid", + "Use the left arm to move the red plastic sauce can beside the black kitchenpot with silver and black handles", + "Use the left arm to lift the sauce can with flat top, then move it next to the black kitchenpot with silver handle bars", + "Take the smooth sauce can with the left arm, bring it, and set next to the black kitchenpot with silver and black handles", + "Using the left arm, lift the sauce can with flat bottom and place it by the black cooking pot with silver handles", + "Pick the sauce can with white details and position it next to the kitchenpot for boiling food", + "Use the left arm to grab the red can with gold patterns and move it next to the black kitchenpot with plastic lid handle", + "Pick the sauce can with flat bottom up and move it next to the black kitchenpot", + "With the left arm, grab the smooth sauce can and move to the black kitchenpot with silver handle bars", + "Set the red sauce can for holding condiments right next to the black kitchenpot with silver and black handles", + "Bring the red sauce can for holding condiments over and set it near the black kitchenpot with plastic lid handle", + "Grab the red cylindrical sauce can, move it to the black metal kitchenpot's side", + "Use the left arm to lift the cylindrical sauce can and place it near the black kitchenpot with round lid", + "Grab the red plastic sauce can with the left arm and set it near the black kitchenpot with silver handle bars", + "Use the left arm to pick the red cylindrical sauce can up and set it beside the black kitchenpot with silver and black handles", + "Lift the red cylindrical sauce can, place it by the black kitchenpot with round lid", + "Use the left arm to take the sauce can with white details to the black cooking pot with silver handles", + "Pick up the medium-sized red sauce can with the left arm and set by the kitchenpot with metallic round lid", + "Pick the sauce can with flat bottom up with the left arm then place near the black kitchenpot", + "Take the cylindrical sauce can to the medium kitchenpot with smooth surface using the left arm", + "Place the smooth sauce can next to the medium kitchenpot with smooth surface", + "Take the cylindrical sauce can with the left arm, place it near the black metal kitchenpot" + ] +} diff --git a/pick_diverse_bottles/episode_0000008/TCP_third/left_state.npy b/pick_diverse_bottles/episode_0000008/TCP_third/left_state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4ada93a10f71ea5d1fe4a5b7a11ed1e96e594b90 --- /dev/null +++ b/pick_diverse_bottles/episode_0000008/TCP_third/left_state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b69d299824b18dc7ff04de86d4b0cbfb677ae2c2244ac40248f24f7d6489735 +size 3684 diff --git a/pick_diverse_bottles/episode_0000008/TCP_third/right_state.npy 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