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a/place_object_scale/episode_0000010/TCP_head/metadata.json b/place_object_scale/episode_0000010/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..409c65d7a8b65c80c5b14d0a8955b935047f4ad2 --- /dev/null +++ b/place_object_scale/episode_0000010/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 150, + 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 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+ "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 150, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 150, + 14 + ], + "action_shape": [ + 150, + 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 wireless dark gray computer mouse with the left arm and position it on the small weighing electronicscale", + "Using the left arm, grab the mouse with curved top and place on the white electronicscale", + "Lift the dark gray palm-sized mouse and place on the lightweight electronicscale", + "Place the dark gray mouse with smooth texture carefully on the handheld electronicscale using the left arm", + "Place the mouse with buttons and wheel on the small weighing electronicscale with one arm", + "Lift the dark gray palm-sized mouse with one arm and set on the handheld electronicscale", + "Using the left arm, grab the smooth dark gray computer mouse and transfer it to the electronicscale with digital screen.", + "Lift the dark gray mouse with smooth texture with the left arm and set it on the electronicscale with black display screen.", + "Lift the mouse with buttons and wheel and stick it on the electronicscale with black display screen carefully", + "With the left arm, pick the mouse with buttons and wheel and position it on the electronicscale with smooth finish", + "Place the dark gray mouse with smooth texture onto the electronicscale with smooth finish using the left arm.", + "Pick up the mouse with scroll wheel and drop it on the electronicscale with smooth finish.", + "Pick up the wireless dark gray computer mouse and drop it on the electronicscale", + "Use the left arm to lift the mouse with ergonomic design onto the small weighing electronicscale", + "Transport the plastic mouse to the white body electronicscale and put it there.", + "Pick the dark gray palm-sized mouse and carefully move it to the electronicscale with smooth finish", + "Using the left arm, grasp the dark gray palm-sized mouse and position it on the handheld electronicscale", + "Take the oval-shaped mouse and lay it onto the electronicscale for measuring weights", + "Use one arm to place the rounded computer mouse on the compact electronicscale", + "Move the oval-shaped mouse to the position on the electronicscale for measuring weights", + "Pick up the dark gray mouse with smooth texture and set it on the medium electronicscale with gold top", + "With the left arm, lift the mouse with curved top to set it on the electronicscale with smooth finish", + "Place the mouse with ergonomic design on the white body electronicscale after picking it", + "Pick the oval-shaped mouse with the left arm and move it to the compact electronicscale", + "Using the left arm, grab the wireless dark gray computer mouse and put it on the lightweight electronicscale", + "Use the left arm to hold the wireless dark gray computer mouse and drop it on the handheld electronicscale", + "Take the smooth dark gray computer mouse and put it down on the electronicscale with black display screen", + "Grab the mouse with ergonomic design and drop it on the electronicscale for measuring weights", + "Grab the smooth dark gray computer mouse, then place it smoothly on the white electronicscale", + "Lift the oval-shaped mouse and position it on the small weighing electronicscale", + "Put the plastic mouse on the electronicscale for measuring weights without mention of arm", + "With the left arm, secure the wireless dark gray computer mouse then release it on the electronicscale", + "Pick the dark gray mouse and lay it down gently onto the lightweight electronicscale", + "Set the mouse with ergonomic design on the small weighing electronicscale after grabbing it with the left arm.", + "Utilize the left arm to grab the oval-shaped mouse and place on the lightweight electronicscale", + "Set the wireless dark gray computer mouse onto the medium electronicscale with gold top after grabbing", + "After grabbing the oval-shaped mouse, place it on the white body electronicscale.", + "Pick the plastic mouse up and set it on the compact electronicscale.", + "Using the left arm, pick the mouse with ergonomic design then place it on the white body electronicscale", + "Grab the oval-shaped mouse and carefully set it on the electronicscale", + "Use the left arm to lift the wireless dark gray computer mouse and place on the small weighing electronicscale.", + "Hold the oval-shaped mouse with the left arm, set it down on the handheld electronicscale", + "Grab the wireless dark gray computer mouse with the left arm and set it on the electronicscale with black display screen", + "Take the dark gray palm-sized mouse and place it over the electronicscale with smooth finish", + "Carry the mouse with curved top with one arm to the handheld electronicscale", + "Set the mouse with curved top down on the white body electronicscale using one arm", + "Use the left arm to grab the dark gray mouse with smooth texture for the medium electronicscale with gold top", + "Pick up the mouse with ergonomic design and set it on the small weighing electronicscale", + "Move the smooth dark gray computer mouse to the small weighing electronicscale and leave it there.", + "Lift the mouse with curved top and drop it onto the electronicscale with smooth finish", + "Lift the dark gray mouse with smooth texture with the left arm and position it on the lightweight electronicscale", + "Using the left arm, grab the mouse with scroll wheel and place on the electronicscale", + "Lift the plastic mouse and place on the compact electronicscale", + "Place the dark gray mouse with smooth texture carefully on the medium electronicscale with gold top using the left arm", + "Place the smooth dark gray computer mouse on the white electronicscale with one arm", + "Lift the mouse with scroll wheel with one arm and set on the small weighing electronicscale", + "Using the left arm, grab the dark gray palm-sized mouse and transfer it to the handheld electronicscale.", + "Lift the oval-shaped mouse with the left arm and set it on the white electronicscale.", + "Lift the oval-shaped mouse and stick it on the electronicscale carefully", + "With the left arm, pick the oval-shaped mouse and position it on the medium electronicscale with gold top", + "Place the dark gray palm-sized mouse onto the electronicscale with digital screen using the left arm.", + "Pick up the plastic mouse and drop it on the medium electronicscale with gold top.", + "Pick up the dark gray palm-sized mouse and drop it on the electronicscale", + "Use the left arm to lift the oval-shaped mouse onto the compact electronicscale", + "Transport the wireless dark gray computer mouse to the electronicscale with black display screen and put it there.", + "Pick the dark gray mouse with smooth texture and carefully move it to the medium electronicscale with gold top", + "Using the left arm, grasp the dark gray mouse and position it on the medium electronicscale with gold top", + "Take the rounded computer mouse and lay it onto the electronicscale", + "Use one arm to place the oval-shaped mouse on the handheld electronicscale", + "Move the dark gray palm-sized mouse to the position on the lightweight electronicscale", + "Pick up the dark gray mouse and set it on the electronicscale with digital screen", + "With the left arm, lift the oval-shaped mouse to set it on the white electronicscale", + "Place the dark gray palm-sized mouse on the electronicscale after picking it", + "Pick the rounded computer mouse with the left arm and move it to the small weighing electronicscale", + "Using the left arm, grab the wireless dark gray computer mouse and put it on the white body electronicscale", + "Use the left arm to hold the dark gray mouse and drop it on the handheld electronicscale", + "Take the mouse with curved top and put it down on the white body electronicscale", + "Grab the mouse with buttons and wheel and drop it on the compact electronicscale", + "Grab the oval-shaped mouse, then place it smoothly on the electronicscale for measuring weights", + "Lift the mouse with scroll wheel and position it on the electronicscale with black display screen", + "Put the mouse with curved top on the electronicscale with digital screen without mention of arm", + "With the left arm, secure the dark gray mouse with smooth texture then release it on the compact electronicscale", + "Pick the dark gray mouse and lay it down gently onto the electronicscale", + "Set the wireless dark gray computer mouse on the handheld electronicscale after grabbing it with the left arm.", + "Utilize the left arm to grab the mouse with buttons and wheel and place on the compact electronicscale", + "Set the smooth dark gray computer mouse onto the lightweight electronicscale after grabbing", + "After grabbing the wireless dark gray computer mouse, place it on the electronicscale with smooth finish.", + "Pick the rounded computer mouse up and set it on the electronicscale with digital screen.", + "Using the left arm, pick the mouse with curved top then place it on the medium electronicscale with gold top", + "Grab the plastic mouse and carefully set it on the lightweight electronicscale", + "Use the left arm to lift the smooth dark gray computer mouse and place on the lightweight electronicscale.", + "Hold the mouse with ergonomic design with the left arm, set it down on the medium electronicscale with gold top", + "Grab the rounded computer mouse with the left arm and set it on the electronicscale with digital screen", + "Take the mouse with buttons and wheel and place it over the white electronicscale", + "Carry the dark gray mouse with one arm to the electronicscale with black display screen", + "Set the oval-shaped mouse down on the lightweight electronicscale using one arm", + "Use the left arm to grab the rounded computer mouse for the handheld electronicscale", + "Pick up the dark gray mouse with smooth texture and set it on the handheld electronicscale", + "Move the oval-shaped mouse to the white electronicscale and leave it there.", + "Lift the mouse with ergonomic design and drop it onto the compact electronicscale" + ] +} diff --git a/place_object_scale/episode_0000020/TCP_head/metadata.json b/place_object_scale/episode_0000020/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..24baf806cf77605345dd80e4b28a58791e7708e6 --- /dev/null +++ b/place_object_scale/episode_0000020/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 149, + 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/place_object_scale/episode_0000020/TCP_third/metadata.json b/place_object_scale/episode_0000020/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bb093b74de0aa102cfd1f3530667f5951d564d51 --- /dev/null +++ b/place_object_scale/episode_0000020/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 149, + 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/place_object_scale/episode_0000020/metadata.json b/place_object_scale/episode_0000020/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8e14eeb0b5b5dc25515882b88839b3801637345d --- /dev/null +++ b/place_object_scale/episode_0000020/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_object_scale", + "episode": "episode_0000020", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_object_scale/aloha_agilex/data/episode_0000020.hdf5", + "num_frames": 149, + "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": [ + 149, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 149, + 14 + ], + "action_shape": [ + 149, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Pick the stapler for stapling paper up and set it on the compact electronicscale.", + "Using the right arm, grab the stapler with white metallic components and transfer it to the compact electronicscale.", + "Use one arm to place the handheld stapler on the electronicscale with digital screen", + "Lift the handheld stapler with one arm and set on the white electronicscale", + "Place the plastic blue stapler with metal parts on the electronicscale for measuring weights with one arm", + "Place the stapler with black top section carefully on the medium electronicscale with gold top using the right arm", + "Set the compact blue stapler down on the white body electronicscale using one arm", + "With the right arm, lift the stapler with white metallic components to set it on the white electronicscale", + "Use the right arm to lift the small lightweight blue stapler and place on the white electronicscale.", + "Use the right arm to grab the blue stapler for the white body electronicscale", + "Pick the blue stapler with curved design and lay it down gently onto the small weighing electronicscale", + "Using the right arm, grab the blue stapler with curved design and put it on the white body electronicscale", + "Take the stapler for stapling paper and put it down on the white body electronicscale", + "Put the metal and plastic stapler on the compact electronicscale without mention of arm", + "Grab the blue stapler with curved design with the right arm and set it on the small weighing electronicscale", + "Move the blue stapler with black handle area to the electronicscale for measuring weights and leave it there.", + "After grabbing the small lightweight blue stapler, place it on the white body electronicscale.", + "Grab the small stapler and drop it on the electronicscale with smooth finish", + "Grab the stapler for stapling paper, then place it smoothly on the small weighing electronicscale", + "Take the stapler with black top section and lay it onto the compact electronicscale", + "Carry the blue stapler with one arm to the electronicscale with black display screen", + "Lift the stapler with black top section and drop it onto the electronicscale for measuring weights", + "Lift the plastic blue stapler with metal parts with the right arm and position it on the medium electronicscale with gold top", + "Lift the plastic blue stapler with metal parts and position it on the compact electronicscale", + "Pick up the small lightweight blue stapler and drop it on the compact electronicscale", + "Pick the small lightweight blue stapler and carefully move it to the electronicscale with smooth finish", + "Using the right arm, grasp the compact blue stapler and position it on the electronicscale with black display screen", + "Move the stapler with black top section to the position on the electronicscale with smooth finish", + "Using the right arm, pick the stapler with white metallic components then place it on the white electronicscale", + "Use the right arm to lift the stapler with black top section onto the electronicscale with black display screen", + "Pick up the plastic blue stapler with metal parts and set it on the lightweight electronicscale", + "Place the small lightweight blue stapler on the white body electronicscale after picking it", + "Lift the small lightweight blue stapler and place on the electronicscale", + "Lift the compact blue stapler with the right arm and set it on the electronicscale with smooth finish.", + "Set the compact blue stapler on the electronicscale with black display screen after grabbing it with the right arm.", + "Place the plastic blue stapler with metal parts onto the lightweight electronicscale using the right arm.", + "Hold the stapler with white metallic components with the right arm, set it down on the lightweight electronicscale", + "Pick up the plastic blue stapler with metal parts and drop it on the electronicscale with smooth finish.", + "Take the small stapler and place it over the handheld electronicscale", + "Lift the stapler with white metallic components and stick it on the electronicscale carefully", + "Pick the stapler for stapling paper with the right arm and move it to the electronicscale with black display screen", + "Utilize the right arm to grab the blue stapler with curved design and place on the compact electronicscale", + "With the right arm, pick the small lightweight blue stapler and position it on the white body electronicscale", + "Set the blue stapler with black handle area onto the small weighing electronicscale after grabbing", + "Transport the blue stapler with black handle area to the medium electronicscale with gold top and put it there.", + "Pick up the blue stapler and set it on the electronicscale with digital screen", + "Use the right arm to hold the handheld stapler and drop it on the lightweight electronicscale", + "Using the right arm, grab the small stapler and place on the white body electronicscale", + "Grab the stapler for stapling paper and carefully set it on the electronicscale with smooth finish", + "With the right arm, secure the stapler with white metallic components then release it on the white electronicscale", + "Pick the blue stapler with black handle area up and set it on the white electronicscale.", + "Using the right arm, grab the handheld stapler and transfer it to the electronicscale.", + "Use one arm to place the stapler for stapling paper on the compact electronicscale", + "Lift the stapler with white metallic components with one arm and set on the electronicscale for measuring weights", + "Place the handheld stapler on the electronicscale with one arm", + "Place the blue stapler carefully on the handheld electronicscale using the right arm", + "Set the small lightweight blue stapler down on the compact electronicscale using one arm", + "With the right arm, lift the blue stapler with black handle area to set it on the white electronicscale", + "Use the right arm to lift the handheld stapler and place on the compact electronicscale.", + "Use the right arm to grab the stapler for stapling paper for the electronicscale", + "Pick the stapler with white metallic components and lay it down gently onto the medium electronicscale with gold top", + "Using the right arm, grab the stapler with white metallic components and put it on the compact electronicscale", + "Take the metal and plastic stapler and put it down on the white electronicscale", + "Put the blue stapler on the small weighing electronicscale without mention of arm", + "Grab the metal and plastic stapler with the right arm and set it on the electronicscale with smooth finish", + "Move the handheld stapler to the small weighing electronicscale and leave it there.", + "After grabbing the small lightweight blue stapler, place it on the electronicscale.", + "Grab the blue stapler with black handle area and drop it on the white body electronicscale", + "Grab the blue stapler with black handle area, then place it smoothly on the electronicscale with black display screen", + "Take the stapler with white metallic components and lay it onto the electronicscale with black display screen", + "Carry the metal and plastic stapler with one arm to the electronicscale with smooth finish", + "Lift the plastic blue stapler with metal parts and drop it onto the electronicscale with black display screen", + "Lift the stapler with white metallic components with the right arm and position it on the white body electronicscale", + "Lift the blue stapler with curved design and position it on the compact electronicscale", + "Pick up the blue stapler with black handle area and drop it on the electronicscale", + "Pick the small stapler and carefully move it to the electronicscale with black display screen", + "Using the right arm, grasp the stapler for stapling paper and position it on the electronicscale with smooth finish", + "Move the handheld stapler to the position on the electronicscale", + "Using the right arm, pick the small stapler then place it on the electronicscale for measuring weights", + "Use the right arm to lift the plastic blue stapler with metal parts onto the white body electronicscale", + "Pick up the blue stapler and set it on the electronicscale with digital screen", + "Place the stapler with white metallic components on the compact electronicscale after picking it", + "Lift the metal and plastic stapler and place on the electronicscale for measuring weights", + "Lift the handheld stapler with the right arm and set it on the electronicscale for measuring weights.", + "Set the stapler with black top section on the white electronicscale after grabbing it with the right arm.", + "Place the small stapler onto the white body electronicscale using the right arm.", + "Hold the small lightweight blue stapler with the right arm, set it down on the electronicscale with black display screen", + "Pick up the blue stapler with curved design and drop it on the electronicscale.", + "Take the blue stapler with black handle area and place it over the electronicscale with digital screen", + "Lift the stapler with black top section and stick it on the medium electronicscale with gold top carefully", + "Pick the stapler with black top section with the right arm and move it to the small weighing electronicscale", + "Utilize the right arm to grab the stapler with black top section and place on the white electronicscale", + "With the right arm, pick the blue stapler with curved design and position it on the electronicscale with digital screen", + "Set the stapler with white metallic components onto the white electronicscale after grabbing", + "Transport the stapler with black top section to the electronicscale and put it there.", + "Pick up the stapler with white metallic components and set it on the lightweight electronicscale", + "Use the right arm to hold the small stapler and drop it on the white electronicscale", + "Using the right arm, grab the small stapler and place on the small weighing electronicscale", + "Grab the blue stapler with curved design and carefully set it on the white body electronicscale", + "With the right arm, secure the blue stapler then release it on the compact electronicscale" + ] +}