diff --git a/beat_block_hammer/episode_0000022/TCP_head/metadata.json b/beat_block_hammer/episode_0000022/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3881282dc2a847468a11584c3f81f4bc61f725af --- /dev/null +++ b/beat_block_hammer/episode_0000022/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 121, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/beat_block_hammer/episode_0000022/TCP_third/metadata.json b/beat_block_hammer/episode_0000022/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..70183867e7c84948290ea1a4d88d0ad98c0e2bda --- /dev/null +++ b/beat_block_hammer/episode_0000022/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 121, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/beat_block_hammer/episode_0000022/metadata.json b/beat_block_hammer/episode_0000022/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc2cca09ffc3e62d3cd5c475424557e9c433041 --- /dev/null +++ b/beat_block_hammer/episode_0000022/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000022", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000022.hdf5", + "num_frames": 121, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 121, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 121, + 14 + ], + "action_shape": [ + 121, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Take the medium-sized metal hammer and smash the block.", + "Lift the silver curved hammer head and hit the block", + "Grip the silver curved hammer head firmly and hit the block.", + "Beat the block after grabbing the hammer for nails", + "Pick the hammer with claw-shaped end from the table and strike", + "Use the right arm to take the nail-driving hammer and strike", + "Grab the silver curved hammer head to beat the block.", + "Use the medium-sized metal hammer to beat after grabbing with the right arm", + "With the right arm, grab the black and yellow hammer grip and beat the block.", + "Grab the hammer for nails with the right arm and hit the block", + "Grab the grippy handle hammer using the right arm then pound block", + "With the right arm, grab the silver hammer and hit the block", + "Grab the hammer for nails, then hit the block", + "Grab the yellow and black hammer grip, then strike the block.", + "Employ the right arm to grab the grippy handle hammer and hit.", + "Lift the hammer with claw-shaped end with the right arm then strike block", + "Pick the hammer with two-tone handle and smash the block", + "Grab the nail-driving hammer using the right arm and hit the block", + "Take the plastic handle metal hammer and strike the block", + "Grab the hammer with claw-shaped end using the right arm and strike the block", + "Make the right arm grab the hammer with claw-shaped end and strike the block.", + "Take the handheld medium claw hammer and beat the block", + "Take the plastic handle metal hammer and beat the block", + "Lift the hammer with claw-shaped end, then beat the block.", + "Pick up the hammer with two-tone handle using the right arm then beat", + "Pick up the hammer for nails and strike the block", + "Catch the hammer with two-tone handle and use it on the block.", + "Pick the grippy handle hammer with the right arm and hit the block", + "Hold the silver curved hammer head then hit the block", + "Grab the black and yellow hammer grip with the right arm and strike block", + "Utilize the right arm to hold the handheld medium claw hammer and strike.", + "Pick the yellow and black hammer grip and strike the block.", + "Use the right arm to grab the nail-driving hammer and beat block", + "Use the right arm to grab the black and yellow hammer grip and beat", + "Grab the black and yellow hammer grip with the right arm and hit block", + "Take the grippy handle hammer and hammer the block", + "Grab the medium-sized metal hammer with the right arm and beat the block.", + "Pick up the handheld medium claw hammer using the right arm, hammer the block.", + "Pick up the grippy handle hammer with the right arm, strike the block.", + "Take the nail-driving hammer using the right arm, hit the block.", + "Pick up the hammer for nails and use it on the block", + "Take the hammer with two-tone handle and strike the block", + "With the right arm, grab the hammer with two-tone handle and hammer the block", + "Lift the yellow and black hammer grip and hit the block.", + "Hold the medium-sized metal hammer and pound the block.", + "Grab the yellow and black hammer grip using the right arm, then beat the block", + "Lift the grippy handle hammer using the right arm to hit the block.", + "Use the plastic handle metal hammer to hammer the block.", + "With the right arm, pick up the grippy handle hammer and strike the block.", + "Grab the hammer with claw-shaped end and use it to hit", + "Take the plastic handle metal hammer and smash the block.", + "Lift the nail-driving hammer and hit the block", + "Grip the handheld medium claw hammer firmly and hit the block.", + "Beat the block after grabbing the silver curved hammer head", + "Pick the black and yellow hammer grip from the table and strike", + "Use the right arm to take the hammer with two-tone handle and strike", + "Grab the nail-driving hammer to beat the block.", + "Use the silver curved hammer head to beat after grabbing with the right arm", + "With the right arm, grab the medium-sized metal hammer and beat the block.", + "Grab the grippy handle hammer with the right arm and hit the block", + "Grab the silver curved hammer head using the right arm then pound block", + "With the right arm, grab the hammer with claw-shaped end and hit the block", + "Grab the grippy handle hammer, then hit the block", + "Grab the yellow and black hammer grip, then strike the block.", + "Employ the right arm to grab the black and yellow hammer grip and hit.", + "Lift the nail-driving hammer with the right arm then strike block", + "Pick the yellow and black hammer grip and smash the block", + "Grab the nail-driving hammer using the right arm and hit the block", + "Take the yellow and black hammer grip and strike the block", + "Grab the plastic handle metal hammer using the right arm and strike the block", + "Make the right arm grab the yellow and black hammer grip and strike the block.", + "Take the silver curved hammer head and beat the block", + "Take the silver curved hammer head and beat the block", + "Lift the medium-sized metal hammer, then beat the block.", + "Pick up the plastic handle metal hammer using the right arm then beat", + "Pick up the silver curved hammer head and strike the block", + "Catch the handheld medium claw hammer and use it on the block.", + "Pick the nail-driving hammer with the right arm and hit the block", + "Hold the handheld medium claw hammer then hit the block", + "Grab the yellow and black hammer grip with the right arm and strike block", + "Utilize the right arm to hold the hammer with claw-shaped end and strike.", + "Pick the medium-sized metal hammer and strike the block.", + "Use the right arm to grab the grippy handle hammer and beat block", + "Use the right arm to grab the plastic handle metal hammer and beat", + "Grab the black and yellow hammer grip with the right arm and hit block", + "Take the hammer with claw-shaped end and hammer the block", + "Grab the medium-sized metal hammer with the right arm and beat the block.", + "Pick up the yellow and black hammer grip using the right arm, hammer the block.", + "Pick up the handheld medium claw hammer with the right arm, strike the block.", + "Take the hammer with two-tone handle using the right arm, hit the block.", + "Pick up the yellow and black hammer grip and use it on the block", + "Take the handheld medium claw hammer and strike the block", + "With the right arm, grab the plastic handle metal hammer and hammer the block", + "Lift the plastic handle metal hammer and hit the block.", + "Hold the silver curved hammer head and pound the block.", + "Grab the silver hammer using the right arm, then beat the block", + "Lift the nail-driving hammer using the right arm to hit the block.", + "Use the plastic handle metal hammer to hammer the block.", + "With the right arm, pick up the hammer for nails and strike the block.", + "Grab the grippy handle hammer and use it to hit" + ] +} diff --git a/beat_block_hammer/episode_0000023/TCP_head/metadata.json b/beat_block_hammer/episode_0000023/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e6674dbe1f5bc8963d8292954ccdbbfc241ac034 --- /dev/null +++ b/beat_block_hammer/episode_0000023/TCP_head/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": "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_0000023/metadata.json b/beat_block_hammer/episode_0000023/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..84e480e62f0ba9696cb1e23084f8d7a98b73e96b --- /dev/null +++ b/beat_block_hammer/episode_0000023/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "beat_block_hammer", + "episode": "episode_0000023", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000023.hdf5", + "num_frames": 123, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 123, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 123, + 14 + ], + "action_shape": [ + 123, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Take the grippy handle hammer and strike the block", + "Take the black and yellow hammer grip using the right arm, hit the block.", + "Lift the nail-driving hammer with the right arm then strike block", + "Grab the yellow and black hammer grip to beat the block.", + "Take the black and yellow hammer grip and smash the block.", + "Take the medium-sized metal hammer and strike the block", + "Pick up the yellow and black hammer grip and strike the block", + "With the right arm, grab the grippy handle hammer and hit the block", + "Use the hammer with two-tone handle to beat after grabbing with the right arm", + "With the right arm, grab the handheld medium claw hammer and beat the block.", + "Pick up the silver curved hammer head and use it on the block", + "Pick the silver curved hammer head with the right arm and hit the block", + "Use the right arm to grab the silver hammer and beat block", + "Grab the grippy handle hammer with the right arm and hit block", + "Pick up the yellow and black hammer grip using the right arm, hammer the block.", + "Pick up the hammer with two-tone handle using the right arm then beat", + "Grab the hammer for nails with the right arm and beat the block.", + "Grab the plastic handle metal hammer using the right arm and strike the block", + "Employ the right arm to grab the hammer with two-tone handle and hit.", + "Pick up the hammer for nails with the right arm, strike the block.", + "Use the handheld medium claw hammer to hammer the block.", + "Use the right arm to grab the hammer for nails and beat", + "Take the black and yellow hammer grip and beat the block", + "Lift the hammer for nails and hit the block.", + "Pick the hammer for nails and strike the block.", + "Pick the black and yellow hammer grip and smash the block", + "Grab the hammer with two-tone handle and use it to hit", + "Grab the hammer for nails using the right arm, then beat the block", + "Grab the handheld medium claw hammer, then strike the block.", + "Lift the hammer with two-tone handle, then beat the block.", + "Take the silver hammer and hammer the block", + "Use the right arm to take the medium-sized metal hammer and strike", + "Utilize the right arm to hold the hammer with two-tone handle and strike.", + "Grab the medium-sized metal hammer using the right arm and hit the block", + "Hold the handheld medium claw hammer then hit the block", + "Lift the yellow and black hammer grip using the right arm to hit the block.", + "Hold the silver curved hammer head and pound the block.", + "Lift the black and yellow hammer grip and hit the block", + "Take the nail-driving hammer and beat the block", + "Grab the hammer with two-tone handle using the right arm then pound block", + "Beat the block after grabbing the hammer with claw-shaped end", + "Pick the hammer with two-tone handle from the table and strike", + "Make the right arm grab the hammer with claw-shaped end and strike the block.", + "Grab the black and yellow hammer grip with the right arm and strike block", + "With the right arm, grab the silver hammer and hammer the block", + "Grab the black and yellow hammer grip, then hit the block", + "Grab the nail-driving hammer with the right arm and hit the block", + "Grip the grippy handle hammer firmly and hit the block.", + "With the right arm, pick up the handheld medium claw hammer and strike the block.", + "Catch the silver curved hammer head and use it on the block.", + "Take the nail-driving hammer and strike the block", + "Take the hammer with two-tone handle using the right arm, hit the block.", + "Lift the hammer with two-tone handle with the right arm then strike block", + "Grab the nail-driving hammer to beat the block.", + "Take the handheld medium claw hammer and smash the block.", + "Take the nail-driving hammer and strike the block", + "Pick up the silver hammer and strike the block", + "With the right arm, grab the hammer with claw-shaped end and hit the block", + "Use the plastic handle metal hammer to beat after grabbing with the right arm", + "With the right arm, grab the medium-sized metal hammer and beat the block.", + "Pick up the silver curved hammer head and use it on the block", + "Pick the grippy handle hammer with the right arm and hit the block", + "Use the right arm to grab the silver hammer and beat block", + "Grab the handheld medium claw hammer with the right arm and hit block", + "Pick up the hammer with two-tone handle using the right arm, hammer the block.", + "Pick up the handheld medium claw hammer using the right arm then beat", + "Grab the black and yellow hammer grip with the right arm and beat the block.", + "Grab the hammer for nails using the right arm and strike the block", + "Employ the right arm to grab the black and yellow hammer grip and hit.", + "Pick up the yellow and black hammer grip with the right arm, strike the block.", + "Use the nail-driving hammer to hammer the block.", + "Use the right arm to grab the handheld medium claw hammer and beat", + "Take the silver curved hammer head and beat the block", + "Lift the medium-sized metal hammer and hit the block.", + "Pick the grippy handle hammer and strike the block.", + "Pick the hammer with two-tone handle and smash the block", + "Grab the handheld medium claw hammer and use it to hit", + "Grab the hammer with claw-shaped end using the right arm, then beat the block", + "Grab the handheld medium claw hammer, then strike the block.", + "Lift the silver hammer, then beat the block.", + "Take the hammer for nails and hammer the block", + "Use the right arm to take the grippy handle hammer and strike", + "Utilize the right arm to hold the grippy handle hammer and strike.", + "Grab the hammer with claw-shaped end using the right arm and hit the block", + "Hold the plastic handle metal hammer then hit the block", + "Lift the plastic handle metal hammer using the right arm to hit the block.", + "Hold the handheld medium claw hammer and pound the block.", + "Lift the grippy handle hammer and hit the block", + "Take the hammer with two-tone handle and beat the block", + "Grab the handheld medium claw hammer using the right arm then pound block", + "Beat the block after grabbing the silver hammer", + "Pick the silver curved hammer head from the table and strike", + "Make the right arm grab the hammer with claw-shaped end and strike the block.", + "Grab the yellow and black hammer grip with the right arm and strike block", + "With the right arm, grab the hammer for nails and hammer the block", + "Grab the black and yellow hammer grip, then hit the block", + "Grab the nail-driving hammer with the right arm and hit the block", + "Grip the hammer for nails firmly and hit the block.", + "With the right arm, pick up the yellow and black hammer grip and strike the block.", + "Catch the handheld medium claw hammer and use it on the block." + ] +} diff --git a/beat_block_hammer/episode_0000034/TCP_third/metadata.json b/beat_block_hammer/episode_0000034/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7f9e39c03a0f87d8f92299867bc29e460fd99199 --- /dev/null +++ b/beat_block_hammer/episode_0000034/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 116, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_bell/episode_0000005/TCP_head/metadata.json b/click_bell/episode_0000005/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3d48627457f2aa09bac9512ff17320b4b7881bbc --- /dev/null +++ b/click_bell/episode_0000005/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 75, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_bell/episode_0000005/TCP_third/metadata.json b/click_bell/episode_0000005/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d21e2e9d89ffbcbd6ac427b296d1bd9408f8443f --- /dev/null +++ b/click_bell/episode_0000005/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 75, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_bell/episode_0000005/metadata.json b/click_bell/episode_0000005/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fb2a9105e2fd267b3897eb440962b391220f6789 --- /dev/null +++ b/click_bell/episode_0000005/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000005", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000005.hdf5", + "num_frames": 75, + "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": [ + 75, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 75, + 14 + ], + "action_shape": [ + 75, + 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": [ + "Ask the left arm to interact with the white and black colored bell's top.", + "Direct the left arm to click the top of the bell with black flat base.", + "Use the left arm to touch the plastic and metal bell's top center.", + "Guide the left arm to click the small desk bell for tapping's top center.", + "Press the white bell's top center with the left arm firmly.", + "Locate the compact tabletop bell and click its top center.", + "Tap the bell shaped like half-circle dome's top center with the left arm.", + "Tap the top center of the rounded bell with flat black part.", + "Command the left arm to press the white and black colored bell's top.", + "Press the white bell's top center on the table.", + "Make the left arm interact with the bell with black flat base's top center.", + "Click the designated center of the rounded bell with flat black part.", + "Press the specified top area of the plastic and metal bell.", + "Have the left arm click at the simple hand bell with black stand's top center.", + "Press the top center of the small desk bell for tapping on table.", + "Press the center of the bell with black flat base using the left arm.", + "Press down the white bell with black bottom's top center gently.", + "Click the bell shaped like half-circle dome at its top center on table.", + "Push the white bell's on the table", + "Press down the top of the plastic and metal bell using the left arm.", + "Click using the left arm on the white bell with black bottom's center.", + "Direct the left arm to touch the white bell's top.", + "Click the white dome bell's using the left arm", + "Pinpoint the white bell and click its top center.", + "Click the small desk bell for tapping's top center using the left arm.", + "Use the left arm to press the white bell with black bottom's top section.", + "Activate the bell with black flat base by pressing its top center.", + "Click the top center of the small desk bell for tapping on table.", + "Push the center of the white bell with black bottom using the left arm.", + "Press the center top of the compact tabletop bell.", + "Tap the white bell's top center with the left arm.", + "Ask the left arm to interact with the rounded bell with flat black part's top.", + "Direct the left arm to click the top of the bell with metallic top and plastic base.", + "Use the left arm to touch the compact tabletop bell's top center.", + "Guide the left arm to click the simple hand bell with black stand's top center.", + "Press the bell with metallic top and plastic base's top center with the left arm firmly.", + "Locate the simple hand bell with black stand and click its top center.", + "Tap the bell with metallic top and plastic base's top center with the left arm.", + "Tap the top center of the bell with metallic top and plastic base.", + "Command the left arm to press the white bell with black bottom's top.", + "Press the simple hand bell with black stand's top center on the table.", + "Make the left arm interact with the white bell with black bottom's top center.", + "Click the designated center of the white dome bell.", + "Press the specified top area of the simple hand bell with black stand.", + "Have the left arm click at the rounded bell with flat black part's top center.", + "Press the top center of the white and black colored bell on table.", + "Press the center of the bell with black flat base using the left arm.", + "Press down the simple hand bell with black stand's top center gently.", + "Click the simple hand bell with black stand at its top center on table.", + "Push the bell with metallic top and plastic base's on the table", + "Press down the top of the rounded bell with flat black part using the left arm.", + "Click using the left arm on the white bell's center.", + "Direct the left arm to touch the white and black colored bell's top.", + "Click the plastic and metal bell's using the left arm", + "Pinpoint the simple hand bell with black stand and click its top center.", + "Click the bell shaped like half-circle dome's top center using the left arm.", + "Use the left arm to press the plastic and metal bell's top section.", + "Activate the white dome bell by pressing its top center.", + "Click the top center of the bell shaped like half-circle dome on table.", + "Push the center of the small desk bell for tapping using the left arm.", + "Press the center top of the bell shaped like half-circle dome.", + "Tap the white dome bell's top center with the left arm.", + "Ask the left arm to interact with the white and black colored bell's top.", + "Direct the left arm to click the top of the bell shaped like half-circle dome.", + "Use the left arm to touch the compact tabletop bell's top center.", + "Guide the left arm to click the white dome bell's top center.", + "Press the white dome bell's top center with the left arm firmly.", + "Locate the rounded bell with flat black part and click its top center.", + "Tap the white dome bell's top center with the left arm.", + "Tap the top center of the compact tabletop bell.", + "Command the left arm to press the white bell's top.", + "Press the small desk bell for tapping's top center on the table.", + "Make the left arm interact with the compact tabletop bell's top center.", + "Click the designated center of the rounded bell with flat black part.", + "Press the specified top area of the white bell with black bottom.", + "Have the left arm click at the plastic and metal bell's top center.", + "Press the top center of the bell with black flat base on table.", + "Press the center of the small desk bell for tapping using the left arm.", + "Press down the simple hand bell with black stand's top center gently.", + "Click the bell with black flat base at its top center on table.", + "Push the simple hand bell with black stand's on the table", + "Press down the top of the white bell with black bottom using the left arm.", + "Click using the left arm on the rounded bell with flat black part's center.", + "Direct the left arm to touch the bell with black flat base's top.", + "Click the bell with metallic top and plastic base's using the left arm", + "Pinpoint the bell with black flat base and click its top center.", + "Click the bell with black flat base's top center using the left arm.", + "Use the left arm to press the bell with black flat base's top section.", + "Activate the bell with metallic top and plastic base by pressing its top center.", + "Click the top center of the white dome bell on table.", + "Push the center of the bell with metallic top and plastic base using the left arm.", + "Press the center top of the bell shaped like half-circle dome.", + "Tap the bell with metallic top and plastic base's top center with the left arm.", + "Ask the left arm to interact with the bell with black flat base's top.", + "Direct the left arm to click the top of the small desk bell for tapping.", + "Use the left arm to touch the bell with metallic top and plastic base's top center.", + "Guide the left arm to click the compact tabletop bell's top center.", + "Press the simple hand bell with black stand's top center with the left arm firmly.", + "Locate the white bell and click its top center.", + "Tap the simple hand bell with black stand's top center with the left arm." + ] +} diff --git a/click_bell/episode_0000048/TCP_head/metadata.json b/click_bell/episode_0000048/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..acc8f5b2ad0a7992db2906977ac0a55d659a509a --- /dev/null +++ b/click_bell/episode_0000048/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 80, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/click_bell/episode_0000048/metadata.json b/click_bell/episode_0000048/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..73d2f94fa47a103881c75936203b3488e2b09952 --- /dev/null +++ b/click_bell/episode_0000048/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "click_bell", + "episode": "episode_0000048", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000048.hdf5", + "num_frames": 80, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 80, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 80, + 14 + ], + "action_shape": [ + 80, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Click using the left arm on the brown-bottomed bell's center.", + "Tap the small blue and brown bell's top center with the left arm.", + "Click the designated center of the small blue and brown bell.", + "Press the brown-bottomed bell's top center with the left arm firmly.", + "Click the bell with protruding knob's using the left arm", + "Ask the left arm to interact with the smooth blue bell's top.", + "Direct the left arm to click the top of the blue dome-shaped bell.", + "Press down the top of the small blue and brown bell using the left arm.", + "Command the left arm to press the bell with brown base's top.", + "Press down the brown-bottomed bell's top center gently.", + "Push the blue bell's on the table", + "Use the left arm to touch the compact bell with round base's top center.", + "Have the left arm click at the bell with brown base's top center.", + "Press the center of the round bell using the left arm.", + "Use the left arm to press the blue dome-shaped bell's top section.", + "Tap the round bell's top center with the left arm.", + "Push the center of the blue dome-shaped bell using the left arm.", + "Click the bell with protruding knob's top center using the left arm.", + "Press the specified top area of the compact bell with round base.", + "Press the center top of the bell with protruding knob.", + "Make the left arm interact with the blue dome-shaped bell's top center.", + "Press the brown-bottomed bell's top center on the table.", + "Pinpoint the bell with brown base and click its top center.", + "Locate the bell with brown base and click its top center.", + "Tap the top center of the round bell.", + "Click the smooth blue bell at its top center on table.", + "Click the top center of the round bell on table.", + "Activate the blue bell by pressing its top center.", + "Direct the left arm to touch the small blue and brown bell's top.", + "Guide the left arm to click the small blue and brown bell's top center.", + "Press the top center of the metal bell with plastic parts on table.", + "Click using the left arm on the metal bell with plastic parts's center.", + "Tap the bell with protruding knob's top center with the left arm.", + "Click the designated center of the brown-bottomed bell.", + "Press the flat-topped bell's top center with the left arm firmly.", + "Click the metal bell with plastic parts's using the left arm", + "Ask the left arm to interact with the compact bell with round base's top.", + "Direct the left arm to click the top of the metal bell with plastic parts.", + "Press down the top of the small blue and brown bell using the left arm.", + "Command the left arm to press the bell with brown base's top.", + "Press down the brown-bottomed bell's top center gently.", + "Push the smooth blue bell's on the table", + "Use the left arm to touch the small blue and brown bell's top center.", + "Have the left arm click at the compact bell with round base's top center.", + "Press the center of the brown-bottomed bell using the left arm.", + "Use the left arm to press the bell with circular body's top section.", + "Tap the small blue and brown bell's top center with the left arm.", + "Push the center of the bell with circular body using the left arm.", + "Click the blue dome-shaped bell's top center using the left arm.", + "Press the specified top area of the blue bell.", + "Press the center top of the blue bell.", + "Make the left arm interact with the blue bell's top center.", + "Press the bell with protruding knob's top center on the table.", + "Pinpoint the metal bell with plastic parts and click its top center.", + "Locate the blue dome-shaped bell and click its top center.", + "Tap the top center of the compact bell with round base.", + "Click the blue bell at its top center on table.", + "Click the top center of the bell with brown base on table.", + "Activate the bell with protruding knob by pressing its top center.", + "Direct the left arm to touch the blue bell's top.", + "Guide the left arm to click the smooth blue bell's top center.", + "Press the top center of the flat-topped bell on table.", + "Click using the left arm on the bell with circular body's center.", + "Tap the compact bell with round base's top center with the left arm.", + "Click the designated center of the small blue and brown bell.", + "Press the smooth blue bell's top center with the left arm firmly.", + "Click the bell with brown base's using the left arm", + "Ask the left arm to interact with the brown-bottomed bell's top.", + "Direct the left arm to click the top of the small blue and brown bell.", + "Press down the top of the blue bell using the left arm.", + "Command the left arm to press the brown-bottomed bell's top.", + "Press down the bell with brown base's top center gently.", + "Push the bell with protruding knob's on the table", + "Use the left arm to touch the blue bell's top center.", + "Have the left arm click at the blue dome-shaped bell's top center.", + "Press the center of the blue dome-shaped bell using the left arm.", + "Use the left arm to press the metal bell with plastic parts's top section.", + "Tap the smooth blue bell's top center with the left arm.", + "Push the center of the blue dome-shaped bell using the left arm.", + "Click the small blue and brown bell's top center using the left arm.", + "Press the specified top area of the flat-topped bell.", + "Press the center top of the smooth blue bell.", + "Make the left arm interact with the blue dome-shaped bell's top center.", + "Press the bell with protruding knob's top center on the table.", + "Pinpoint the small blue and brown bell and click its top center.", + "Locate the bell with protruding knob and click its top center.", + "Tap the top center of the metal bell with plastic parts.", + "Click the round bell at its top center on table.", + "Click the top center of the bell with brown base on table.", + "Activate the compact bell with round base by pressing its top center.", + "Direct the left arm to touch the round bell's top.", + "Guide the left arm to click the compact bell with round base's top center.", + "Press the top center of the blue bell on table.", + "Click using the left arm on the flat-topped bell's center.", + "Tap the small blue and brown bell's top center with the left arm.", + "Click the designated center of the round bell.", + "Press the small blue and brown bell's top center with the left arm firmly.", + "Click the bell with brown base's using the left arm", + "Ask the left arm to interact with the flat-topped bell's top.", + "Direct the left arm to click the top of the small blue and brown bell." + ] +} diff --git a/move_can_pot/episode_0000041/TCP_head/metadata.json b/move_can_pot/episode_0000041/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..704190b55ed23c85417790745ffe3245dfd56777 --- /dev/null +++ b/move_can_pot/episode_0000041/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 152, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_can_pot/episode_0000041/TCP_third/metadata.json b/move_can_pot/episode_0000041/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..1d74c462b2fa865e83dc337fbd1a0cdf89ce2378 --- /dev/null +++ b/move_can_pot/episode_0000041/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 152, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "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_0000041/metadata.json b/move_can_pot/episode_0000041/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..df0f530337dfcfb3df311a0a16bad075f8f93cfd --- /dev/null +++ b/move_can_pot/episode_0000041/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000041", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000041.hdf5", + "num_frames": 152, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 152, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 152, + 14 + ], + "action_shape": [ + 152, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Using the right arm, lift the red and gold sauce can and place it by the round teal cooking pot with matte texture", + "Use the right arm to lift the smooth sauce can, then move it next to the round kitchenpot with two side grips", + "Lift the sauce can with flat bottom and set it beside the medium teal blue kitchenpot with handles", + "Grab the sauce can with flat top with the right arm and set it near the kitchenpot with two sturdy blue handles", + "Grab the red plastic sauce can and move it close to the medium-sized teal blue cooking pot", + "Use the right arm to grab the red and gold sauce can and move it beside the kitchenpot with two sturdy blue handles", + "Take the red cylindrical sauce can with the right arm, place it near the cooking pot with two blue handles", + "Grab the smooth sauce can, move it, and place by the cooking pot with two blue handles", + "Use the right arm to lift the red sauce can for holding condiments and place it near the round teal cooking pot with matte texture", + "Set the red sauce can for holding condiments near the medium-sized teal blue cooking pot after picking it up", + "Pick the smooth sauce can and position it next to the round kitchenpot with two side grips", + "Take the smooth sauce can using the right arm, set it next to the medium teal blue kitchenpot with handles", + "Use the right arm to move the red cylindrical sauce can beside the blue kitchenpot with smooth matte sides", + "Grab the red sauce can for holding condiments with the right arm and position it beside the kitchenpot with two sturdy blue handles", + "Pick up the sauce can with flat bottom and put it beside the kitchenpot with flat lid and knob", + "Take the red and gold sauce can with the right arm, bring it, and set next to the blue cylinder pot with smooth lid", + "Place the medium-sized red sauce can beside the kitchenpot with two sturdy blue handles after picking it up", + "Use the right arm to grab the red cylindrical sauce can and move it next to the medium teal-colored pot with flat lid", + "Pick up the red can with gold patterns using the right arm, transfer it beside the round teal cooking pot with matte texture", + "Use the right arm to pick the medium-sized red sauce can up and set it beside the round kitchenpot with two side grips", + "Set the medium-sized red sauce can right next to the cooking pot with two blue handles", + "Lift the sauce can with flat top using the right arm and drop it beside the medium teal-colored pot with flat lid", + "Pick the smooth sauce can with the right arm and relocate it near the kitchenpot with flat lid and knob", + "Bring the red cylindrical sauce can over and set it near the smooth teal kitchenpot for stovetop use", + "Lift the medium-sized red sauce can using the right arm and position it by the kitchenpot with two sturdy blue handles", + "Move the sauce can with white details to the blue cylinder pot with smooth lid with the right arm", + "Use the right arm to grab the red plastic sauce can and transfer it near the medium-sized teal blue cooking pot", + "Lift the sauce can with flat bottom, then place it next to the medium teal blue kitchenpot with handles", + "Move the red and gold sauce can beside the medium teal blue kitchenpot with handles after lifting it", + "Use the right arm to pick the sauce can with flat bottom, position it near the kitchenpot with two sturdy blue handles", + "Use the right arm to grab the smooth sauce can, move it beside the medium teal blue kitchenpot with handles", + "With the right arm, grab the red plastic sauce can and move to the kitchenpot with flat lid and knob", + "Move the red can with gold patterns from its spot to near the cooking pot with two blue handles", + "Grab the red sauce can, move it to the teal pot for boiling and cooking's side", + "Use the right arm to lift the red cylindrical sauce can and place it next to the round teal cooking pot with matte texture", + "Grab the sauce can with flat bottom with the right arm and move it close to the medium teal blue kitchenpot with handles", + "Lift the red cylindrical sauce can and move it near the kitchenpot with two sturdy blue handles", + "Lift the cylindrical sauce can and place it next to the medium-sized teal blue cooking pot", + "Place the sauce can with white details next to the blue cylinder pot with smooth lid", + "Lift the cylindrical sauce can and set it next to the kitchenpot with two sturdy blue handles", + "Move the red sauce can to be next to the blue cylinder pot with smooth lid", + "Pick the red cylindrical sauce can up with the right arm then place near the round kitchenpot with two side grips", + "Lift the red cylindrical sauce can, place it by the blue kitchenpot with smooth matte sides", + "Pick up the sauce can with white details with the right arm and set by the teal pot for boiling and cooking", + "Grab the red sauce can for holding condiments, shift it, and place it close to the medium teal-colored pot with flat lid", + "Pick the red sauce can for holding condiments up and move it next to the cooking pot with two blue handles", + "Use the right arm to take the red sauce can for holding condiments to the medium teal-colored pot with flat lid", + "Pick the red sauce can up and carefully position it beside the medium-sized teal blue cooking pot", + "Take the sauce can with flat bottom to the medium teal blue kitchenpot with handles using the right arm", + "Lift the red and gold sauce can and set it next to the teal pot for boiling and cooking", + "Using the right arm, lift the red and gold sauce can and place it by the smooth teal kitchenpot for stovetop use", + "Use the right arm to lift the smooth sauce can, then move it next to the medium teal blue kitchenpot with handles", + "Lift the sauce can with flat top and set it beside the round kitchenpot with two side grips", + "Grab the red plastic sauce can with the right arm and set it near the medium teal blue kitchenpot with handles", + "Grab the red can with gold patterns and move it close to the teal pot for boiling and cooking", + "Use the right arm to grab the sauce can with flat bottom and move it beside the smooth teal kitchenpot for stovetop use", + "Take the cylindrical sauce can with the right arm, place it near the teal pot for boiling and cooking", + "Grab the sauce can with flat top, move it, and place by the kitchenpot with flat lid and knob", + "Use the right arm to lift the sauce can with flat bottom and place it near the kitchenpot with two sturdy blue handles", + "Set the sauce can with flat top near the kitchenpot with two sturdy blue handles after picking it up", + "Pick the red plastic sauce can and position it next to the cooking pot with two blue handles", + "Take the red can with gold patterns using the right arm, set it next to the cooking pot with two blue handles", + "Use the right arm to move the red cylindrical sauce can beside the medium-sized teal blue cooking pot", + "Grab the cylindrical sauce can with the right arm and position it beside the blue kitchenpot with smooth matte sides", + "Pick up the sauce can with flat bottom and put it beside the round teal cooking pot with matte texture", + "Take the sauce can with flat bottom with the right arm, bring it, and set next to the kitchenpot with flat lid and knob", + "Place the sauce can with white details beside the round teal cooking pot with matte texture after picking it up", + "Use the right arm to grab the red sauce can for holding condiments and move it next to the medium teal blue kitchenpot with handles", + "Pick up the sauce can with flat top using the right arm, transfer it beside the blue kitchenpot with smooth matte sides", + "Use the right arm to pick the sauce can with flat top up and set it beside the cooking pot with two blue handles", + "Set the red cylindrical sauce can right next to the round kitchenpot with two side grips", + "Lift the red cylindrical sauce can using the right arm and drop it beside the medium teal blue kitchenpot with handles", + "Pick the sauce can with flat top with the right arm and relocate it near the blue cylinder pot with smooth lid", + "Bring the sauce can with flat top over and set it near the kitchenpot with flat lid and knob", + "Lift the sauce can with white details using the right arm and position it by the kitchenpot with flat lid and knob", + "Move the sauce can with flat bottom to the cooking pot with two blue handles with the right arm", + "Use the right arm to grab the red can with gold patterns and transfer it near the medium-sized teal blue cooking pot", + "Lift the sauce can with flat top, then place it next to the kitchenpot with two sturdy blue handles", + "Move the sauce can with flat bottom beside the round teal cooking pot with matte texture after lifting it", + "Use the right arm to pick the red plastic sauce can, position it near the kitchenpot with flat lid and knob", + "Use the right arm to grab the sauce can with flat top, move it beside the round teal cooking pot with matte texture", + "With the right arm, grab the cylindrical sauce can and move to the kitchenpot with flat lid and knob", + "Move the red sauce can for holding condiments from its spot to near the round kitchenpot with two side grips", + "Grab the red plastic sauce can, move it to the teal pot for boiling and cooking's side", + "Use the right arm to lift the red sauce can and place it next to the blue cylinder pot with smooth lid", + "Grab the medium-sized red sauce can with the right arm and move it close to the blue cylinder pot with smooth lid", + "Lift the red can with gold patterns and move it near the teal pot for boiling and cooking", + "Lift the sauce can with flat top and place it next to the blue cylinder pot with smooth lid", + "Place the red and gold sauce can next to the kitchenpot with flat lid and knob", + "Lift the sauce can with flat top and set it next to the medium teal blue kitchenpot with handles", + "Move the red can with gold patterns to be next to the kitchenpot with two sturdy blue handles", + "Pick the medium-sized red sauce can up with the right arm then place near the teal pot for boiling and cooking", + "Lift the sauce can with white details, place it by the round teal cooking pot with matte texture", + "Pick up the red can with gold patterns with the right arm and set by the cooking pot with two blue handles", + "Grab the red and gold sauce can, shift it, and place it close to the round teal cooking pot with matte texture", + "Pick the red and gold sauce can up and move it next to the kitchenpot with two sturdy blue handles", + "Use the right arm to take the red sauce can to the medium teal blue kitchenpot with handles", + "Pick the red cylindrical sauce can up and carefully position it beside the round teal cooking pot with matte texture", + "Take the red cylindrical sauce can to the medium teal-colored pot with flat lid using the right arm", + "Lift the cylindrical sauce can and set it next to the kitchenpot with flat lid and knob" + ] +} diff --git a/move_pillbottle_pad/episode_0000032/depths/third_views/000003.png b/move_pillbottle_pad/episode_0000032/depths/third_views/000003.png new file mode 100644 index 0000000000000000000000000000000000000000..75dc20def689a098f3517792c1c084cdfaca9c26 --- /dev/null +++ b/move_pillbottle_pad/episode_0000032/depths/third_views/000003.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c9471fc9e6df2c0879bc6840e114878e50aa7126d1c328865ba93b720741e79 +size 10405 diff --git a/move_pillbottle_pad/episode_0000032/depths/third_views/000013.png b/move_pillbottle_pad/episode_0000032/depths/third_views/000013.png new file mode 100644 index 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