diff --git a/dump_bin_bigbin/episode_0000025/TCP_third/metadata.json b/dump_bin_bigbin/episode_0000025/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..01a3cb50179c33cf17ad68f3c010baf2ff81ae2a --- /dev/null +++ b/dump_bin_bigbin/episode_0000025/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 164, + 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/dump_bin_bigbin/episode_0000028/TCP_head/metadata.json b/dump_bin_bigbin/episode_0000028/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fb2b7dbbdc6f54fc14f3aa4e52469e49017283d2 --- /dev/null +++ b/dump_bin_bigbin/episode_0000028/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 359, + 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/dump_bin_bigbin/episode_0000028/metadata.json b/dump_bin_bigbin/episode_0000028/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fad65d6e69f9926dadcdfacba312c24d2a4dfbe4 --- /dev/null +++ b/dump_bin_bigbin/episode_0000028/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "dump_bin_bigbin", + "episode": "episode_0000028", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000028.hdf5", + "num_frames": 359, + "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": [ + 359, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 359, + 14 + ], + "action_shape": [ + 359, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Hold the small white trashbin and dump its balls.", + "Lift up the compact tabletop trashbin, then pour balls.", + "Take the compact tabletop trashbin and empty balls into the bin.", + "Grab the small white trashbin and transfer balls.", + "Grab and tilt the small white trashbin to empty the balls.", + "Use arm to grab the cylindrical tabletrashbin with flared rim, dump contents", + "Lift the tabletrashbin, pour contents into big bin", + "Lift the white cylindrical waste bin using the arm to pour balls.", + "Lift the tabletrashbin and pour balls into the bin.", + "Take hold of the white bin with flared top edge and dump the balls.", + "Lift the smooth plastic tabletrashbin, pour into the big bin.", + "Take the compact tabletop trashbin using arm, pour contents inside", + "Grab the small white trashbin, then pour balls into the bin.", + "Grab the simple white plastic trashbin with arm and pour contents", + "Hold the cylindrical small white trashbin, then pour contents.", + "Lift the mini white trashbin for desk, then pour the balls.", + "Lift the white bin with flared top edge and pour its contents into bin.", + "Pick up the simple white plastic trashbin and pour into bin.", + "Use the arm to lift the tabletrashbin and empty it.", + "Grasp the compact tabletop trashbin and empty it out.", + "Take the white cylindrical waste bin and pour contents.", + "Pick up the mini white trashbin for desk, empty into the big bin", + "Use the arm to move the tabletrashbin and pour.", + "Hold the white round tabletrashbin and pour the balls.", + "Take the white cylindrical waste bin and empty its contents.", + "Take the white bin with flared top edge and pour the balls.", + "Pick up the white round tabletrashbin using the arm, pour balls.", + "Use the arm to grab the white cylindrical waste bin and pour.", + "Grab the desk-sized white tabletrashbin and empty it into the bin.", + "Pick up the white cylindrical waste bin and pour carefully.", + "Lift the white bin with flared top edge, pour the balls into big bin", + "Use the white bin with flared top edge to pour the balls out.", + "Pick the white bin with flared top edge, pour its contents out.", + "Lift the mini white trashbin for desk and pour contents down.", + "Grab the cylindrical tabletrashbin with flared rim, pour its contents away.", + "Grab the small white trashbin and pour it out.", + "Hold the smooth plastic tabletrashbin and pour all balls into bin", + "Secure the smooth plastic tabletrashbin and pour the balls.", + "Take hold of the small white trashbin, pour contents.", + "Pour balls from the white cylindrical waste bin into the bin.", + "Use arm to pick the mini white trashbin for desk, pour in bin", + "Use the arm to empty the simple white plastic trashbin into the bin.", + "Pick the simple white plastic trashbin up, pour all balls inside bin", + "Take the mini white trashbin for desk and pour the balls out.", + "Raise the mini white trashbin for desk to dump its contents out.", + "Direct the arm to grab the smooth plastic tabletrashbin and tilt.", + "Move the arm, take the white cylindrical waste bin, and pour.", + "Hold the compact tabletop trashbin, dump balls in big bin", + "Control the arm to raise the mini white trashbin for desk and pour.", + "Grab the desk-sized white tabletrashbin and transfer balls to the bin.", + "Hold the white round tabletrashbin and dump its balls.", + "Lift up the white cylindrical waste bin, then pour balls.", + "Take the smooth plastic tabletrashbin and empty balls into the bin.", + "Grab the tabletrashbin and transfer balls.", + "Grab and tilt the cylindrical small white trashbin to empty the balls.", + "Use arm to grab the small white trashbin, dump contents", + "Lift the white round tabletrashbin, pour contents into big bin", + "Lift the white round tabletrashbin using the arm to pour balls.", + "Lift the simple white plastic trashbin and pour balls into the bin.", + "Take hold of the cylindrical tabletrashbin with flared rim and dump the balls.", + "Lift the smooth plastic tabletrashbin, pour into the big bin.", + "Take the white round tabletrashbin using arm, pour contents inside", + "Grab the cylindrical tabletrashbin with flared rim, then pour balls into the bin.", + "Grab the mini white trashbin for desk with arm and pour contents", + "Hold the white cylindrical waste bin, then pour contents.", + "Lift the tabletrashbin, then pour the balls.", + "Lift the desk-sized white tabletrashbin and pour its contents into bin.", + "Pick up the tabletrashbin and pour into bin.", + "Use the arm to lift the tabletrashbin and empty it.", + "Grasp the cylindrical small white trashbin and empty it out.", + "Take the small white trashbin and pour contents.", + "Pick up the tabletrashbin, empty into the big bin", + "Use the arm to move the cylindrical small white trashbin and pour.", + "Hold the cylindrical small white trashbin and pour the balls.", + "Take the desk-sized white tabletrashbin and empty its contents.", + "Take the cylindrical small white trashbin and pour the balls.", + "Pick up the smooth plastic tabletrashbin using the arm, pour balls.", + "Use the arm to grab the tabletrashbin and pour.", + "Grab the cylindrical small white trashbin and empty it into the bin.", + "Pick up the simple white plastic trashbin and pour carefully.", + "Lift the mini white trashbin for desk, pour the balls into big bin", + "Use the cylindrical small white trashbin to pour the balls out.", + "Pick the mini white trashbin for desk, pour its contents out.", + "Lift the mini white trashbin for desk and pour contents down.", + "Grab the cylindrical tabletrashbin with flared rim, pour its contents away.", + "Grab the desk-sized white tabletrashbin and pour it out.", + "Hold the simple white plastic trashbin and pour all balls into bin", + "Secure the desk-sized white tabletrashbin and pour the balls.", + "Take hold of the compact tabletop trashbin, pour contents.", + "Pour balls from the white cylindrical waste bin into the bin.", + "Use arm to pick the small white trashbin, pour in bin", + "Use the arm to empty the white bin with flared top edge into the bin.", + "Pick the white round tabletrashbin up, pour all balls inside bin", + "Take the small white trashbin and pour the balls out.", + "Raise the cylindrical small white trashbin to dump its contents out.", + "Direct the arm to grab the white round tabletrashbin and tilt.", + "Move the arm, take the white round tabletrashbin, and pour.", + "Hold the tabletrashbin, dump balls in big bin", + "Control the arm to raise the cylindrical tabletrashbin with flared rim and pour.", + "Grab the white bin with flared top edge and transfer balls to the bin." + ] +} diff --git a/move_pillbottle_pad/episode_0000027/depths/head_view/000000.png b/move_pillbottle_pad/episode_0000027/depths/head_view/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..808ea91f7e368a1ca30332549ddf6490f07ea433 --- /dev/null +++ b/move_pillbottle_pad/episode_0000027/depths/head_view/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32095f398724dc7bb388aa78f85bd1d7a69def8d37174df44c686b789a104355 +size 3677 diff --git 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"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_0000012/TCP_third/metadata.json b/place_object_scale/episode_0000012/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c55463dd170ba5e910a4ac73fb6471681273d0 --- /dev/null +++ b/place_object_scale/episode_0000012/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 159, + 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_0000012/metadata.json b/place_object_scale/episode_0000012/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3d8956b83fb0181826d2360faaf49167b219b402 --- /dev/null +++ b/place_object_scale/episode_0000012/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_object_scale", + "episode": "episode_0000012", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_object_scale/aloha_agilex/data/episode_0000012.hdf5", + "num_frames": 159, + "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": [ + 159, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 159, + 14 + ], + "action_shape": [ + 159, + 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 mouse for cursor control up and set it on the small rectangular electronicscale.", + "Set the smooth plastic mouse down on the electronicscale with silver buttons using one arm", + "Pick the mouse for cursor control and carefully move it to the electronicscale with digital screen", + "Place the gray mouse with smooth surface carefully on the electronicscale with a glass display using the left arm", + "Using the left arm, grab the dark mouse with logo on top and place on the electronicscale with black weighing pad", + "Place the mouse for cursor control onto the small rectangular electronicscale using the left arm.", + "Put the mouse with sleek design on the electronicscale with black weighing pad without mention of arm", + "Place the compact oval-shaped mouse on the modern electronicscale with durable design with one arm", + "Lift the dark gray mouse with one arm and set on the electronicscale with rubber feet", + "Lift the mouse for cursor control with the left arm and position it on the electronicscale with small LCD screen", + "Lift the compact oval-shaped mouse and stick it on the electronicscale with silver buttons carefully", + "Pick up the dark mouse with logo on top and drop it on the electronicscale with rubber feet.", + "Pick up the rounded gray mouse and set it on the electronicscale with black control panel", + "Use the left arm to hold the small computer mouse and drop it on the electronicscale with silver buttons", + "Pick up the dark mouse with logo on top and drop it on the electronicscale with black control panel", + "Pick the rounded gray mouse and lay it down gently onto the electronicscale with black control panel", + "Move the mouse with two buttons and wheel to the position on the electronicscale with silver buttons", + "Carry the dark mouse with logo on top with one arm to the modern electronicscale with durable design", + "Grab the dark gray mouse with the left arm and set it on the electronicscale with black control panel", + "With the left arm, pick the compact oval-shaped mouse and position it on the electronicscale with smooth surface", + "Transport the dark gray mouse to the electronicscale with silver buttons and put it there.", + "Using the left arm, grab the dark mouse with logo on top and put it on the electronicscale with digital screen", + "Set the gray mouse with smooth surface on the electronicscale with silver buttons after grabbing it with the left arm.", + "Move the mouse with sleek design to the black and white electronicscale and leave it there.", + "Using the left arm, pick the mouse with two buttons and wheel then place it on the electronicscale with small LCD screen", + "With the left arm, secure the dark mouse with logo on top then release it on the black and white electronicscale", + "Utilize the left arm to grab the mouse with sleek design and place on the electronicscale with smooth surface", + "Lift the dark gray mouse and drop it onto the modern electronicscale with durable design", + "Lift the gray mouse with smooth surface and position it on the electronicscale with black control panel", + "Pick the mouse for cursor control with the left arm and move it to the electronicscale with digital screen", + "Using the left arm, grab the palm-fitting mouse and transfer it to the electronicscale with small LCD screen.", + "Using the left arm, grasp the small computer mouse and position it on the electronicscale with rubber feet", + "With the left arm, lift the compact oval-shaped mouse to set it on the electronicscale with smooth surface", + "Grab the rounded gray mouse and carefully set it on the electronicscale with a glass display", + "Use the left arm to lift the mouse with sleek design onto the black and white electronicscale", + "Lift the mouse with two buttons and wheel with the left arm and set it on the electronicscale with small LCD screen.", + "Take the smooth plastic mouse and put it down on the electronicscale with a glass display", + "Use the left arm to lift the mouse with two buttons and wheel and place on the electronicscale with smooth surface.", + "Pick up the mouse with sleek design and set it on the electronicscale with small LCD screen", + "Lift the dark gray mouse and place on the electronicscale with black weighing pad", + "Use one arm to place the mouse with two buttons and wheel on the electronicscale with smooth surface", + "After grabbing the mouse for cursor control, place it on the electronicscale with rubber feet.", + "Place the dark gray mouse on the modern electronicscale with durable design after picking it", + "Take the dark mouse with logo on top and lay it onto the electronicscale with a glass display", + "Take the mouse with two buttons and wheel and place it over the electronicscale with smooth surface", + "Use the left arm to grab the dark gray mouse for the electronicscale with black weighing pad", + "Hold the mouse for cursor control with the left arm, set it down on the electronicscale with silver buttons", + "Grab the mouse with two buttons and wheel, then place it smoothly on the small rectangular electronicscale", + "Set the dark gray mouse onto the modern electronicscale with durable design after grabbing", + "Grab the compact oval-shaped mouse and drop it on the small rectangular electronicscale", + "Pick the small computer mouse up and set it on the electronicscale with small LCD screen.", + "Set the rounded gray mouse down on the electronicscale with small LCD screen using one arm", + "Pick the ergonomic mouse and carefully move it to the electronicscale with silver buttons", + "Place the small computer mouse carefully on the black and white electronicscale using the left arm", + "Using the left arm, grab the ergonomic mouse and place on the electronicscale with digital screen", + "Place the mouse for cursor control onto the electronicscale with black weighing pad using the left arm.", + "Put the dark gray mouse on the electronicscale with small LCD screen without mention of arm", + "Place the mouse for cursor control on the compact white electronicscale with one arm", + "Lift the mouse with two buttons and wheel with one arm and set on the black and white electronicscale", + "Lift the ergonomic mouse with the left arm and position it on the electronicscale with black weighing pad", + "Lift the compact oval-shaped mouse and stick it on the electronicscale with black control panel carefully", + "Pick up the smooth plastic mouse and drop it on the electronicscale with rubber feet.", + "Pick up the palm-fitting mouse and set it on the electronicscale with digital screen", + "Use the left arm to hold the rounded gray mouse and drop it on the electronicscale with silver buttons", + "Pick up the mouse with sleek design and drop it on the electronicscale with rubber feet", + "Pick the ergonomic mouse and lay it down gently onto the electronicscale with a glass display", + "Move the dark gray mouse to the position on the small rectangular electronicscale", + "Carry the dark mouse with logo on top with one arm to the electronicscale with black control panel", + "Grab the dark gray mouse with the left arm and set it on the compact white electronicscale", + "With the left arm, pick the mouse for cursor control and position it on the small rectangular electronicscale", + "Transport the rounded gray mouse to the compact white electronicscale and put it there.", + "Using the left arm, grab the mouse with sleek design and put it on the electronicscale with smooth surface", + "Set the smooth plastic mouse on the electronicscale with rubber feet after grabbing it with the left arm.", + "Move the compact oval-shaped mouse to the black and white electronicscale and leave it there.", + "Using the left arm, pick the dark mouse with logo on top then place it on the compact white electronicscale", + "With the left arm, secure the mouse for cursor control then release it on the modern electronicscale with durable design", + "Utilize the left arm to grab the smooth plastic mouse and place on the electronicscale with silver buttons", + "Lift the dark mouse with logo on top and drop it onto the electronicscale with black weighing pad", + "Lift the ergonomic mouse and position it on the compact white electronicscale", + "Pick the gray mouse with smooth surface with the left arm and move it to the small rectangular electronicscale", + "Using the left arm, grab the ergonomic mouse and transfer it to the electronicscale with a glass display.", + "Using the left arm, grasp the mouse for cursor control and position it on the electronicscale with black weighing pad", + "With the left arm, lift the compact oval-shaped mouse to set it on the electronicscale with a glass display", + "Grab the compact oval-shaped mouse and carefully set it on the electronicscale with small LCD screen", + "Use the left arm to lift the mouse with sleek design onto the electronicscale with black weighing pad", + "Lift the compact oval-shaped mouse with the left arm and set it on the compact white electronicscale.", + "Take the gray mouse with smooth surface and put it down on the electronicscale with a glass display", + "Use the left arm to lift the mouse for cursor control and place on the electronicscale with black control panel.", + "Pick up the dark gray mouse and set it on the electronicscale with a glass display", + "Lift the smooth plastic mouse and place on the electronicscale with rubber feet", + "Use one arm to place the gray mouse with smooth surface on the electronicscale with black control panel", + "After grabbing the mouse with sleek design, place it on the black and white electronicscale.", + "Place the rounded gray mouse on the electronicscale with silver buttons after picking it", + "Take the ergonomic mouse and lay it onto the black and white electronicscale", + "Take the dark mouse with logo on top and place it over the electronicscale with black control panel", + "Use the left arm to grab the ergonomic mouse for the electronicscale with small LCD screen", + "Hold the dark gray mouse with the left arm, set it down on the small rectangular electronicscale", + "Grab the mouse for cursor control, then place it smoothly on the electronicscale with black control panel", + "Set the dark gray mouse onto the black and white electronicscale after grabbing", + "Grab the dark mouse with logo on top and drop it on the electronicscale with black weighing pad" + ] +} diff --git a/place_object_scale/episode_0000032/TCP_head/metadata.json b/place_object_scale/episode_0000032/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b0628779334a87cd614e299086518b19988412b4 --- /dev/null +++ b/place_object_scale/episode_0000032/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 165, + 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_0000032/TCP_third/metadata.json b/place_object_scale/episode_0000032/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ace79cdb991d4d27a332a9f6a48bff4ee868be1e --- /dev/null +++ b/place_object_scale/episode_0000032/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 165, + 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_0000032/metadata.json b/place_object_scale/episode_0000032/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..57ebfd7086cf2e5996f5f3c2e100cd79ed38e7cf --- /dev/null +++ b/place_object_scale/episode_0000032/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_object_scale", + "episode": "episode_0000032", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_object_scale/aloha_agilex/data/episode_0000032.hdf5", + "num_frames": 165, + "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": [ + 165, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 165, + 14 + ], + "action_shape": [ + 165, + 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 brown-bottomed bell onto the electronicscale for measuring weights", + "Pick up the round bell and drop it on the small weighing electronicscale", + "Lift the blue dome-shaped bell with the left arm and set it on the electronicscale for measuring weights.", + "Use one arm to place the bell with brown base on the handheld electronicscale", + "Set the compact bell with round base down on the electronicscale with digital screen using one arm", + "Grab the bell with circular body with the left arm and set it on the electronicscale with digital screen", + "Lift the metal bell with plastic parts with the left arm and position it on the compact electronicscale", + "Pick up the brown-bottomed bell and drop it on the lightweight electronicscale.", + "Use the left arm to hold the compact bell with round base and drop it on the white electronicscale", + "Move the metal bell with plastic parts to the position on the electronicscale with digital screen", + "Set the round bell on the electronicscale with black display screen after grabbing it with the left arm.", + "Lift the blue bell and stick it on the electronicscale with black display screen carefully", + "With the left arm, secure the blue dome-shaped bell then release it on the electronicscale with digital screen", + "Set the blue dome-shaped bell onto the electronicscale after grabbing", + "Take the bell with circular body and lay it onto the electronicscale with black display screen", + "After grabbing the compact bell with round base, place it on the compact electronicscale.", + "Using the left arm, grab the compact bell with round base and put it on the electronicscale with black display screen", + "Using the left arm, pick the brown-bottomed bell then place it on the electronicscale with digital screen", + "Pick the metal bell with plastic parts and carefully move it to the white body electronicscale", + "Take the compact bell with round base and place it over the electronicscale with smooth finish", + "With the left arm, pick the blue dome-shaped bell and position it on the white electronicscale", + "Hold the bell with brown base with the left arm, set it down on the lightweight electronicscale", + "Pick up the round bell and set it on the electronicscale", + "Lift the smooth blue bell and drop it onto the handheld electronicscale", + "Pick up the bell with brown base and set it on the electronicscale for measuring weights", + "Pick the bell with brown base and lay it down gently onto the medium electronicscale with gold top", + "Place the flat-topped bell on the small weighing electronicscale after picking it", + "Lift the blue dome-shaped bell and place on the electronicscale with digital screen", + "Pick the bell with brown base up and set it on the small weighing electronicscale.", + "Put the bell with protruding knob on the lightweight electronicscale without mention of arm", + "Place the round bell on the medium electronicscale with gold top with one arm", + "Pick the flat-topped bell with the left arm and move it to the electronicscale with black display screen", + "Take the metal bell with plastic parts and put it down on the handheld electronicscale", + "Grab the round bell, then place it smoothly on the electronicscale with black display screen", + "Using the left arm, grab the small blue and brown bell and place on the compact electronicscale", + "Using the left arm, grab the flat-topped bell and transfer it to the compact electronicscale.", + "Grab the blue dome-shaped bell and drop it on the medium electronicscale with gold top", + "Carry the blue bell with one arm to the compact electronicscale", + "Using the left arm, grasp the bell with protruding knob and position it on the medium electronicscale with gold top", + "Utilize the left arm to grab the round bell and place on the electronicscale with digital screen", + "Place the small blue and brown bell onto the electronicscale for measuring weights using the left arm.", + "Place the flat-topped bell carefully on the electronicscale for measuring weights using the left arm", + "Use the left arm to lift the bell with protruding knob and place on the electronicscale for measuring weights.", + "With the left arm, lift the blue bell to set it on the lightweight electronicscale", + "Transport the small blue and brown bell to the white body electronicscale and put it there.", + "Grab the flat-topped bell and carefully set it on the compact electronicscale", + "Lift the round bell with one arm and set on the small weighing electronicscale", + "Move the metal bell with plastic parts to the compact electronicscale and leave it there.", + "Lift the small blue and brown bell and position it on the handheld electronicscale", + "Use the left arm to grab the bell with circular body for the electronicscale", + "Use the left arm to lift the bell with circular body onto the electronicscale", + "Pick up the compact bell with round base and drop it on the small weighing electronicscale", + "Lift the flat-topped bell with the left arm and set it on the medium electronicscale with gold top.", + "Use one arm to place the flat-topped bell on the small weighing electronicscale", + "Set the compact bell with round base down on the handheld electronicscale using one arm", + "Grab the flat-topped bell with the left arm and set it on the white electronicscale", + "Lift the bell with circular body with the left arm and position it on the white body electronicscale", + "Pick up the metal bell with plastic parts and drop it on the electronicscale for measuring weights.", + "Use the left arm to hold the bell with brown base and drop it on the lightweight electronicscale", + "Move the brown-bottomed bell to the position on the electronicscale with black display screen", + "Set the smooth blue bell on the electronicscale with digital screen after grabbing it with the left arm.", + "Lift the metal bell with plastic parts and stick it on the small weighing electronicscale carefully", + "With the left arm, secure the bell with circular body then release it on the medium electronicscale with gold top", + "Set the smooth blue bell onto the electronicscale with black display screen after grabbing", + "Take the smooth blue bell and lay it onto the electronicscale with digital screen", + "After grabbing the blue dome-shaped bell, place it on the electronicscale.", + "Using the left arm, grab the round bell and put it on the electronicscale for measuring weights", + "Using the left arm, pick the bell with protruding knob then place it on the electronicscale", + "Pick the blue bell and carefully move it to the white electronicscale", + "Take the bell with circular body and place it over the handheld electronicscale", + "With the left arm, pick the compact bell with round base and position it on the electronicscale with smooth finish", + "Hold the blue dome-shaped bell with the left arm, set it down on the electronicscale with black display screen", + "Pick up the blue dome-shaped bell and set it on the medium electronicscale with gold top", + "Lift the round bell and drop it onto the electronicscale for measuring weights", + "Pick up the blue bell and set it on the medium electronicscale with gold top", + "Pick the brown-bottomed bell and lay it down gently onto the medium electronicscale with gold top", + "Place the bell with brown base on the electronicscale with smooth finish after picking it", + "Lift the bell with protruding knob and place on the white electronicscale", + "Pick the metal bell with plastic parts up and set it on the white electronicscale.", + "Put the bell with brown base on the electronicscale with smooth finish without mention of arm", + "Place the smooth blue bell on the white body electronicscale with one arm", + "Pick the compact bell with round base with the left arm and move it to the electronicscale with digital screen", + "Take the bell with circular body and put it down on the electronicscale with digital screen", + "Grab the metal bell with plastic parts, then place it smoothly on the electronicscale with smooth finish", + "Using the left arm, grab the small blue and brown bell and place on the handheld electronicscale", + "Using the left arm, grab the small blue and brown bell and transfer it to the electronicscale for measuring weights.", + "Grab the brown-bottomed bell and drop it on the lightweight electronicscale", + "Carry the bell with protruding knob with one arm to the electronicscale with black display screen", + "Using the left arm, grasp the smooth blue bell and position it on the electronicscale for measuring weights", + "Utilize the left arm to grab the blue dome-shaped bell and place on the electronicscale", + "Place the metal bell with plastic parts onto the electronicscale with black display screen using the left arm.", + "Place the bell with brown base carefully on the medium electronicscale with gold top using the left arm", + "Use the left arm to lift the bell with protruding knob and place on the white body electronicscale.", + "With the left arm, lift the blue bell to set it on the white body electronicscale", + "Transport the bell with brown base to the electronicscale and put it there.", + "Grab the flat-topped bell and carefully set it on the electronicscale with black display screen", + "Lift the smooth blue bell with one arm and set on the compact electronicscale", + "Move the small blue and brown bell to the handheld electronicscale and leave it there.", + "Lift the blue bell and position it on the electronicscale with smooth finish", + "Use the left arm to grab the blue bell for the lightweight electronicscale" + ] +} diff --git a/place_object_stand/episode_0000043/TCP_third/metadata.json b/place_object_stand/episode_0000043/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2785aa0baf5222dc9e7543a7e2977e7b7d05fcf0 --- /dev/null +++ b/place_object_stand/episode_0000043/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 148, + 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_stand/episode_0000046/TCP_head/metadata.json b/place_object_stand/episode_0000046/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bfa7c91f01d82a331966d7dfa760c651131e5080 --- /dev/null +++ b/place_object_stand/episode_0000046/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 146, + 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_stand/episode_0000046/TCP_third/metadata.json b/place_object_stand/episode_0000046/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..cc942a4e69160656d171d79548386c5c4c174599 --- /dev/null +++ b/place_object_stand/episode_0000046/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 146, + 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_stand/episode_0000046/metadata.json b/place_object_stand/episode_0000046/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5eae7ff4b756dabd5892e42e0e1a4fc92aafc071 --- /dev/null +++ b/place_object_stand/episode_0000046/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_object_stand", + "episode": "episode_0000046", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_object_stand/aloha_agilex/data/episode_0000046.hdf5", + "num_frames": 146, + "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": [ + 146, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 146, + 14 + ], + "action_shape": [ + 146, + 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": [ + "Carefully place the white bell with black bottom onto the lightweight black rectangular displaystand.", + "Grab the simple hand bell with black stand and set it on the lightweight black rectangular displaystand", + "Pick the white bell with black bottom with the left arm and place on the lightweight black rectangular displaystand.", + "Select the left arm, grab the simple hand bell with black stand, and move it to the medium black plastic displaystand", + "Pick up the rounded bell with flat black part with the left arm and set it on the displaystand frame", + "Pick up the plastic and metal bell and drop it on the plastic black rectangular displaystand.", + "Locate the compact tabletop bell, pick it up, and place on the lightweight black rectangular displaystand.", + "Take the simple hand bell with black stand with the left arm and put it on the black smooth stand.", + "With the left arm, pick the simple hand bell with black stand and position it on the black displaystand for showcasing things", + "Grab and place the white dome bell directly on the rectangular black stand frame.", + "Set the bell with black flat base on the smooth black hollow displaystand after moving it", + "Place the plastic and metal bell on the rectangular black stand frame after grabbing it", + "Use the left arm to lift the white dome bell and set on the black smooth stand.", + "Place the bell with black flat base precisely on the displaystand frame.", + "Grab and move the rounded bell with flat black part to position it on the smooth black hollow displaystand.", + "Pick the simple hand bell with black stand and position it on the displaystand for holding items", + "Set the white bell with black bottom in position on the displaystand frame.", + "Grab the small desk bell for tapping and set it onto the compact black displaystand frame.", + "Pick up the bell with black flat base using the left arm and set it on the simple black displaystand.", + "Use the left arm to position the bell shaped like half-circle dome on the displaystand frame.", + "Lift the rounded bell with flat black part with the left arm and align it on the black displaystand for showcasing things.", + "Pick the bell shaped like half-circle dome and place it carefully onto the rectangular black stand frame.", + "Position the bell shaped like half-circle dome on the compact black displaystand frame.", + "Set the white and black colored bell on the black smooth stand using the left arm", + "Use the left arm to lift the white bell with black bottom and set it on the black rectangular frame", + "Move the white dome bell to the smooth black hollow displaystand using the left arm.", + "Move the bell shaped like half-circle dome to the black smooth stand and set it there.", + "Grab the simple hand bell with black stand using the left arm and place it on the medium black plastic displaystand", + "Grab the rounded bell with flat black part with the left arm and place on the lightweight black rectangular displaystand.", + "Use the left arm to move the plastic and metal bell onto the displaystand for holding items.", + "Grab and put the rounded bell with flat black part on the displaystand for holding items", + "Move the white dome bell onto the smooth black hollow displaystand.", + "Transfer the compact tabletop bell to the lightweight black rectangular displaystand securely with the left arm.", + "Position the white dome bell on the medium black plastic displaystand with the left arm", + "Lift the rounded bell with flat black part with the left arm and position on the displaystand frame.", + "Grab the plastic and metal bell with the left arm and move to the compact black displaystand frame", + "Pick the rounded bell with flat black part up and place on the displaystand for holding items", + "Lift the white bell with black bottom and position it on the black displaystand for showcasing things", + "Move the simple hand bell with black stand to the black displaystand for showcasing things and release it", + "Place the small desk bell for tapping precisely on top of the compact black displaystand frame.", + "Lift the simple hand bell with black stand and position on the black smooth stand", + "Take the white bell and set it on the displaystand frame", + "Transfer the bell with black flat base using the left arm to the black rectangular frame.", + "Set the white bell in position on the black rectangular frame.", + "Bring the rounded bell with flat black part to the rectangular black stand frame and set it in place.", + "Put the bell shaped like half-circle dome on the displaystand frame after picking it", + "Move the bell with black flat base using the left arm and place on the black displaystand for showcasing things", + "Use the left arm to grab the white and black colored bell and place on the simple black displaystand.", + "Pick up the bell with black flat base and set it on the displaystand frame.", + "Place the white bell on the smooth black hollow displaystand.", + "Carefully place the compact tabletop bell onto the plastic black rectangular displaystand.", + "Grab the small desk bell for tapping and set it on the black rectangular frame", + "Pick the white and black colored bell with the left arm and place on the black displaystand for showcasing things.", + "Select the left arm, grab the white dome bell, and move it to the black rectangular frame", + "Pick up the white bell with black bottom with the left arm and set it on the medium black plastic displaystand", + "Pick up the compact tabletop bell and drop it on the black rectangular frame.", + "Locate the simple hand bell with black stand, pick it up, and place on the displaystand for holding items.", + "Take the white dome bell with the left arm and put it on the black smooth stand.", + "With the left arm, pick the white bell and position it on the displaystand frame", + "Grab and place the compact tabletop bell directly on the medium black plastic displaystand.", + "Set the white bell with black bottom on the medium black plastic displaystand after moving it", + "Place the simple hand bell with black stand on the smooth black hollow displaystand after grabbing it", + "Use the left arm to lift the rounded bell with flat black part and set on the smooth black hollow displaystand.", + "Place the plastic and metal bell precisely on the plastic black rectangular displaystand.", + "Grab and move the compact tabletop bell to position it on the black smooth stand.", + "Pick the white bell with black bottom and position it on the black smooth stand", + "Set the bell shaped like half-circle dome in position on the medium black plastic displaystand.", + "Grab the bell with black flat base and set it onto the lightweight black rectangular displaystand.", + "Pick up the bell with metallic top and plastic base using the left arm and set it on the compact black displaystand frame.", + "Use the left arm to position the bell shaped like half-circle dome on the black rectangular frame.", + "Lift the white dome bell with the left arm and align it on the black smooth stand.", + "Pick the simple hand bell with black stand and place it carefully onto the rectangular black stand frame.", + "Position the plastic and metal bell on the displaystand for holding items.", + "Set the white bell on the black displaystand for showcasing things using the left arm", + "Use the left arm to lift the plastic and metal bell and set it on the lightweight black rectangular displaystand", + "Move the white and black colored bell to the compact black displaystand frame using the left arm.", + "Move the plastic and metal bell to the lightweight black rectangular displaystand and set it there.", + "Grab the bell shaped like half-circle dome using the left arm and place it on the displaystand for holding items", + "Grab the small desk bell for tapping with the left arm and place on the medium black plastic displaystand.", + "Use the left arm to move the white bell onto the black displaystand for showcasing things.", + "Grab and put the small desk bell for tapping on the simple black displaystand", + "Move the bell shaped like half-circle dome onto the black smooth stand.", + "Transfer the bell with metallic top and plastic base to the rectangular black stand frame securely with the left arm.", + "Position the bell with black flat base on the smooth black hollow displaystand with the left arm", + "Lift the simple hand bell with black stand with the left arm and position on the lightweight black rectangular displaystand.", + "Grab the white bell with black bottom with the left arm and move to the compact black displaystand frame", + "Pick the white bell up and place on the displaystand frame", + "Lift the simple hand bell with black stand and position it on the rectangular black stand frame", + "Move the simple hand bell with black stand to the black displaystand for showcasing things and release it", + "Place the bell shaped like half-circle dome precisely on top of the lightweight black rectangular displaystand.", + "Lift the simple hand bell with black stand and position on the black displaystand for showcasing things", + "Take the bell with black flat base and set it on the plastic black rectangular displaystand", + "Transfer the plastic and metal bell using the left arm to the displaystand for holding items.", + "Set the plastic and metal bell in position on the compact black displaystand frame.", + "Bring the white bell to the plastic black rectangular displaystand and set it in place.", + "Put the white bell with black bottom on the compact black displaystand frame after picking it", + "Move the white dome bell using the left arm and place on the plastic black rectangular displaystand", + "Use the left arm to grab the white bell with black bottom and place on the black smooth stand.", + "Pick up the bell with metallic top and plastic base and set it on the medium black plastic displaystand.", + "Place the compact tabletop bell on the smooth black hollow displaystand." + ] +} diff --git a/place_phone_stand/episode_0000035/TCP_third/left_state.npy b/place_phone_stand/episode_0000035/TCP_third/left_state.npy new file mode 100644 index 0000000000000000000000000000000000000000..4cb4dee0a999846e7a97c64577c233d251f99cd6 --- /dev/null +++ b/place_phone_stand/episode_0000035/TCP_third/left_state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f34108b80e5a95717364b87bfdb444cc5ebbe2f641d1ae1f15a05fa0e92bf4ef +size 3796 diff --git a/place_phone_stand/episode_0000035/TCP_third/right_state.npy b/place_phone_stand/episode_0000035/TCP_third/right_state.npy new file mode 100644 index 0000000000000000000000000000000000000000..e92ed7e88c2710e7cf75b738d6ba6ee6eb829cbc --- /dev/null +++ b/place_phone_stand/episode_0000035/TCP_third/right_state.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:566bed0752f336f7e1de138e0eedd37d9a2de8639c958e2606fa2a931b28522b +size 3796 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"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/press_stapler/episode_0000010/metadata.json b/press_stapler/episode_0000010/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f12df7770a8be069c80f0a8be7389a00080978f2 --- /dev/null +++ b/press_stapler/episode_0000010/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "press_stapler", + "episode": "episode_0000010", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/press_stapler/aloha_agilex/data/episode_0000010.hdf5", + "num_frames": 129, + "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": [ + 129, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 129, + 14 + ], + "action_shape": [ + 129, + 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 your arm the right arm to push the paper stapler with silver tray down.", + "Push the handheld stapler until it staples.", + "Push down firmly on the stapler with orange button to complete.", + "Press down on the stapler the plastic and metal stapler firmly.", + "Press on the stapler with rounded edges using the right arm.", + "Press the stapler for fastening papers to staple the sheets together.", + "Push the stapler the small office stapler to operate it.", + "Apply pressure to the stapler with orange button with the right arm.", + "Push down on the stapler with orange top lever to staple papers.", + "Apply pressure on the paper stapler with silver tray until it works.", + "Firmly press the stapler with orange button using an arm.", + "Place pressure on the white body stapler with accents to staple.", + "Apply force to the small office stapler to staple.", + "Apply pressure to the small office stapler with the right arm.", + "Push the stapler the smooth plastic stapler with the right arm.", + "Press the stapler for fastening papers downward using your arm the right arm.", + "Push down on the stapler the smooth plastic stapler.", + "Push down on the paper stapler with silver tray to staple", + "Press the smooth plastic stapler until it works", + "Press the smooth plastic stapler to complete the task.", + "Push the stapler the paper stapler with silver tray to activate it.", + "Apply one arm the right arm to press the white body stapler with accents firmly.", + "Lower the handheld stapler using an arm", + "Push down on the stapler for fastening papers firmly.", + "Simply press the stapler the stapler with orange button downward.", + "Push down forcefully on the stapler the white body stapler with accents.", + "Firmly push down on the plastic and metal stapler.", + "Push the stapler with orange top lever down completely", + "Push down on the stapler the stapler with orange button.", + "Push the smooth plastic stapler down firmly.", + "Apply pressure to the stapler with orange top lever firmly", + "Apply pressure to the smooth plastic stapler using one arm the right arm.", + "Push the white body stapler with accents using one arm", + "Push down hard on the stapler with orange top lever with the right arm.", + "Firmly push the stapler for fastening papers using the right arm to operate it.", + "Push the top of the smooth plastic stapler down", + "Use an arm to press the handheld stapler", + "Operate the stapler for fastening papers by pressing it with the right arm.", + "Press down on the small office stapler until it functions.", + "Use one arm to press the paper stapler with silver tray.", + "Firmly press down on the handheld stapler to staple.", + "Press the white stapler with rounded design firmly to staple", + "Engage the white body stapler with accents by using the right arm to press it.", + "Lower the right arm onto the stapler the white stapler with rounded design.", + "Apply enough force to the paper stapler with silver tray to press it.", + "Use one arm the right arm to press the small office stapler.", + "Press the stapler the small office stapler using an arm the right arm.", + "Use your the right arm to press the stapler the stapler with orange top lever.", + "Press on the small office stapler to activate it.", + "Apply force to the handheld stapler with the right arm", + "Use your arm the right arm to push the paper stapler with silver tray down.", + "Push the plastic and metal stapler until it staples.", + "Push down firmly on the smooth plastic stapler to complete.", + "Press down on the stapler the stapler for fastening papers firmly.", + "Press on the white body stapler with accents using the right arm.", + "Press the paper stapler with silver tray to staple the sheets together.", + "Push the stapler the stapler with orange top lever to operate it.", + "Apply pressure to the stapler with orange top lever with the right arm.", + "Push down on the handheld stapler to staple papers.", + "Apply pressure on the stapler for fastening papers until it works.", + "Firmly press the stapler with rounded edges using an arm.", + "Place pressure on the stapler with orange button to staple.", + "Apply force to the stapler with orange button to staple.", + "Apply pressure to the white body stapler with accents with the right arm.", + "Push the stapler the white body stapler with accents with the right arm.", + "Press the white body stapler with accents downward using your arm the right arm.", + "Push down on the stapler the white stapler with rounded design.", + "Push down on the smooth plastic stapler to staple", + "Press the stapler for fastening papers until it works", + "Press the plastic and metal stapler to complete the task.", + "Push the stapler the paper stapler with silver tray to activate it.", + "Apply one arm the right arm to press the small office stapler firmly.", + "Lower the plastic and metal stapler using an arm", + "Push down on the small office stapler firmly.", + "Simply press the stapler the white stapler with rounded design downward.", + "Push down forcefully on the stapler the smooth plastic stapler.", + "Firmly push down on the white stapler with rounded design.", + "Push the modern design stapler down completely", + "Push down on the stapler the white body stapler with accents.", + "Push the white stapler with rounded design down firmly.", + "Apply pressure to the white body stapler with accents firmly", + "Apply pressure to the stapler with orange button using one arm the right arm.", + "Push the modern design stapler using one arm", + "Push down hard on the paper stapler with silver tray with the right arm.", + "Firmly push the smooth plastic stapler using the right arm to operate it.", + "Push the top of the modern design stapler down", + "Use an arm to press the handheld stapler", + "Operate the stapler with orange top lever by pressing it with the right arm.", + "Press down on the white stapler with rounded design until it functions.", + "Use one arm to press the plastic and metal stapler.", + "Firmly press down on the white stapler with rounded design to staple.", + "Press the smooth plastic stapler firmly to staple", + "Engage the smooth plastic stapler by using the right arm to press it.", + "Lower the right arm onto the stapler the stapler for fastening papers.", + "Apply enough force to the stapler with orange top lever to press it.", + "Use one arm the right arm to press the stapler with orange button.", + "Press the stapler the plastic and metal stapler using an arm the right arm.", + "Use your the right arm to press the stapler the small office stapler.", + "Press on the white body stapler with accents to activate it.", + "Apply force to the plastic and metal stapler with the right arm" + ] +} diff --git a/press_stapler/episode_0000020/TCP_head/metadata.json b/press_stapler/episode_0000020/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..327f95ef623b5edebf315f94e23da653fbb3cd73 --- /dev/null +++ b/press_stapler/episode_0000020/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 114, + 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/press_stapler/episode_0000020/TCP_third/metadata.json b/press_stapler/episode_0000020/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb75d65c6811bab9269c6a5439dd8de59eb41bc --- /dev/null +++ b/press_stapler/episode_0000020/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 114, + 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/press_stapler/episode_0000020/metadata.json b/press_stapler/episode_0000020/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4249a9a33d8f3b428099a7f0489fb8eaaaf191 --- /dev/null +++ b/press_stapler/episode_0000020/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "press_stapler", + "episode": "episode_0000020", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/press_stapler/aloha_agilex/data/episode_0000020.hdf5", + "num_frames": 114, + "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": [ + 114, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 114, + 14 + ], + "action_shape": [ + 114, + 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": [ + "Press on the red stapler using the right arm.", + "Push the metallic stapler with red body until it staples.", + "Apply enough force to the stapler in bright red color to press it.", + "Apply pressure to the red stapler for binding papers firmly", + "Push the stapler the compact stapler with the right arm.", + "Press the handheld red stapler until it works", + "Use one arm to press the small red stapler.", + "Press down on the compact stapler until it functions.", + "Press on the metallic stapler with red body to activate it.", + "Apply pressure to the handheld red stapler with the right arm.", + "Place pressure on the stapler with rectangular silver mechanism to staple.", + "Lower the right arm onto the stapler the compact stapler.", + "Press the red stapler downward using your arm the right arm.", + "Push the stapler with rectangular silver mechanism using one arm", + "Use an arm to press the red stapler", + "Push the stapler the small red stapler to activate it.", + "Apply force to the stapler with rectangular silver mechanism to staple.", + "Press the stapler with rectangular silver mechanism firmly to staple", + "Push the stapler the handheld red stapler to operate it.", + "Firmly push the red stapler for binding papers using the right arm to operate it.", + "Operate the plastic stapler with metal top by pressing it with the right arm.", + "Firmly press the lightweight red stapler using an arm.", + "Use one arm the right arm to press the metallic stapler with red body.", + "Press the compact red stapler with silver accents to complete the task.", + "Apply pressure on the lightweight red stapler until it works.", + "Push down on the stapler the compact red stapler with silver accents.", + "Use your the right arm to press the stapler the red stapler for binding papers.", + "Press down on the stapler the metallic stapler with red body firmly.", + "Push down on the compact red stapler with silver accents to staple papers.", + "Push down on the stapler in bright red color to staple", + "Firmly press down on the stapler with rectangular silver mechanism to staple.", + "Apply force to the curved red stapler with the right arm", + "Engage the stapler in bright red color by using the right arm to press it.", + "Apply pressure to the stapler with rectangular silver mechanism using one arm the right arm.", + "Push down forcefully on the stapler the metallic stapler with red body.", + "Simply press the stapler the small red stapler downward.", + "Push down firmly on the compact stapler to complete.", + "Apply pressure to the red stapler with the right arm.", + "Press the compact stapler to staple the sheets together.", + "Push the top of the curved red stapler down", + "Apply one arm the right arm to press the stapler with rectangular silver mechanism firmly.", + "Push down hard on the curved red stapler with the right arm.", + "Push the compact red stapler with silver accents down completely", + "Push the compact red stapler with silver accents down firmly.", + "Push down on the stapler in bright red color firmly.", + "Use your arm the right arm to push the stapler with rectangular silver mechanism down.", + "Push down on the stapler the lightweight red stapler.", + "Lower the compact stapler using an arm", + "Firmly push down on the compact stapler.", + "Press the stapler the stapler in bright red color using an arm the right arm.", + "Press on the lightweight red stapler using the right arm.", + "Push the metallic stapler with red body until it staples.", + "Apply enough force to the metallic stapler with red body to press it.", + "Apply pressure to the red stapler firmly", + "Push the stapler the metallic stapler with red body with the right arm.", + "Press the handheld red stapler until it works", + "Use one arm to press the small red stapler.", + "Press down on the plastic stapler with metal top until it functions.", + "Press on the metallic stapler with red body to activate it.", + "Apply pressure to the red stapler for binding papers with the right arm.", + "Place pressure on the stapler with rectangular silver mechanism to staple.", + "Lower the right arm onto the stapler the compact red stapler with silver accents.", + "Press the red stapler for binding papers downward using your arm the right arm.", + "Push the plastic stapler with metal top using one arm", + "Use an arm to press the stapler with rectangular silver mechanism", + "Push the stapler the stapler with rectangular silver mechanism to activate it.", + "Apply force to the plastic stapler with metal top to staple.", + "Press the curved red stapler firmly to staple", + "Push the stapler the stapler with rectangular silver mechanism to operate it.", + "Firmly push the plastic stapler with metal top using the right arm to operate it.", + "Operate the red stapler for binding papers by pressing it with the right arm.", + "Firmly press the red stapler for binding papers using an arm.", + "Use one arm the right arm to press the stapler in bright red color.", + "Press the handheld red stapler to complete the task.", + "Apply pressure on the compact red stapler with silver accents until it works.", + "Push down on the stapler the stapler with rectangular silver mechanism.", + "Use your the right arm to press the stapler the small red stapler.", + "Press down on the stapler the red stapler for binding papers firmly.", + "Push down on the compact red stapler with silver accents to staple papers.", + "Push down on the stapler in bright red color to staple", + "Firmly press down on the metallic stapler with red body to staple.", + "Apply force to the stapler with rectangular silver mechanism with the right arm", + "Engage the plastic stapler with metal top by using the right arm to press it.", + "Apply pressure to the plastic stapler with metal top using one arm the right arm.", + "Push down forcefully on the stapler the stapler in bright red color.", + "Simply press the stapler the handheld red stapler downward.", + "Push down firmly on the red stapler for binding papers to complete.", + "Apply pressure to the plastic stapler with metal top with the right arm.", + "Press the compact red stapler with silver accents to staple the sheets together.", + "Push the top of the stapler with rectangular silver mechanism down", + "Apply one arm the right arm to press the compact stapler firmly.", + "Push down hard on the plastic stapler with metal top with the right arm.", + "Push the small red stapler down completely", + "Push the handheld red stapler down firmly.", + "Push down on the small red stapler firmly.", + "Use your arm the right arm to push the plastic stapler with metal top down.", + "Push down on the stapler the compact stapler.", + "Lower the metallic stapler with red body using an arm", + "Firmly push down on the compact red stapler with silver accents.", + "Press the stapler the stapler with rectangular silver mechanism using an arm the right arm." + ] +} diff --git a/press_stapler/episode_0000036/TCP_third/metadata.json b/press_stapler/episode_0000036/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..240bcee9af4ac6f1e28bba9ff2361a250f1dbbdd --- /dev/null +++ b/press_stapler/episode_0000036/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 118, + 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" +}