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extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_playingcard_away/episode_0000030/metadata.json b/move_playingcard_away/episode_0000030/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2214235557747e3247f924cb2c9e2c90edb10ec8 --- /dev/null +++ b/move_playingcard_away/episode_0000030/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_playingcard_away", + "episode": "episode_0000030", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_playingcard_away/aloha_agilex/data/episode_0000030.hdf5", + "num_frames": 125, + "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": [ + 125, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 125, + 14 + ], + "action_shape": [ + 125, + 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 right arm to pick up the small playingcards container and move it.", + "Place the smooth playingcards holder away from the table outward.", + "Pick up the blue pack holding playingcards and place it further away.", + "Grab the box of playingcards and set it beyond the table.", + "Lift the playingcards box with white symbols and shift it outward.", + "Lift the blue carton for playingcards from the table and move it outward.", + "Pick up the playingcards box with white symbols using the right arm and shift it outward.", + "Shift the blue carton for playingcards outward after grabbing it.", + "Take the playingcards box with white symbols and push it further away.", + "Grab the playingcards box with white symbols and shift it farther away from the table.", + "Using the right arm, lift the rectangular blue playingcards case and move it outward.", + "Slide the blue and white playingcards packaging off the table outward.", + "Move the smooth playingcards holder further outward after picking it up.", + "Lift the small playingcards container using the right arm and transfer it outward.", + "Lift the playingcards pack with blue top and place it farther away with the right arm.", + "Grab the blue playingcards box and take it away from the table.", + "Use the right arm to grab the blue carton for playingcards and move it away.", + "Pick up the box of playingcards and shift it further outward.", + "Pick the blue carton for playingcards and move it outward from the table.", + "Pick up the small playingcards container and move it away.", + "Use the right arm to pick the blue pack holding playingcards and move it outward.", + "Grab the card box with golden designs with the right arm and move it outward.", + "Take the palm-sized playingcards carton and place it further outward.", + "Move the playingcards pack with blue top farther from the table using the right arm.", + "Shift the playingcards box with white symbols off the table to the side.", + "Grab the smooth playingcards holder from the table and shift it outward.", + "Move the palm-sized playingcards carton outward from the table.", + "Grab the blue carton for playingcards using the right arm and move it outward.", + "Pick up the card box with golden designs and move it farther outward.", + "Pick the blue and white playingcards packaging from the table and shift it outward.", + "Lift the palm-sized playingcards carton and relocate it off the table.", + "Pick the blue pack holding playingcards and slide it further outward.", + "Relocate the playingcards box with white symbols farther outward using the right arm.", + "Grab the playingcards box with white symbols and move it further outward.", + "Pick up the blue pack holding playingcards with the right arm and place it outward.", + "Lift the blue pack holding playingcards and slide it off the table.", + "With the right arm, pick up the blue carton for playingcards and slide it outward.", + "Take the smooth playingcards holder and place it beyond the table.", + "Take the smooth playingcards holder and move it away from the table.", + "Lift the rectangular blue playingcards case and set it away from the table.", + "Use the right arm to pick the palm-sized playingcards carton and shift it outward.", + "Grab the blue pack holding playingcards and move it further away.", + "Shift the palm-sized playingcards carton outward by grabbing it with the right arm.", + "Move the small playingcards container off the table outward.", + "Use the right arm to grab the small playingcards container and move it aside.", + "Grab the palm-sized playingcards carton using the right arm and push it outward.", + "Lift the blue playingcards box with the right arm and move it outward.", + "Use the right arm to pick up the small playingcards container and push it outward.", + "Lift the rectangular blue playingcards case and push it off the table.", + "Move the blue pack holding playingcards away from its position on the table.", + "Use the right arm to pick up the small playingcards container and move it.", + "Place the blue playingcards box away from the table outward.", + "Pick up the blue carton for playingcards and place it further away.", + "Grab the rectangular blue playingcards case and set it beyond the table.", + "Lift the blue and white playingcards packaging and shift it outward.", + "Lift the small playingcards container from the table and move it outward.", + "Pick up the rectangular blue playingcards case using the right arm and shift it outward.", + "Shift the card box with golden designs outward after grabbing it.", + "Take the playingcards pack with blue top and push it further away.", + "Grab the palm-sized playingcards carton and shift it farther away from the table.", + "Using the right arm, lift the rectangular blue playingcards case and move it outward.", + "Slide the smooth playingcards holder off the table outward.", + "Move the card box with golden designs further outward after picking it up.", + "Lift the blue carton for playingcards using the right arm and transfer it outward.", + "Lift the card box with golden designs and place it farther away with the right arm.", + "Grab the blue playingcards box and take it away from the table.", + "Use the right arm to grab the smooth playingcards holder and move it away.", + "Pick up the blue playingcards box and shift it further outward.", + "Pick the blue pack holding playingcards and move it outward from the table.", + "Pick up the playingcards pack with blue top and move it away.", + "Use the right arm to pick the box of playingcards and move it outward.", + "Grab the card box with golden designs with the right arm and move it outward.", + "Take the blue playingcards box and place it further outward.", + "Move the playingcards box with white symbols farther from the table using the right arm.", + "Shift the small playingcards container off the table to the side.", + "Grab the small playingcards container from the table and shift it outward.", + "Move the small playingcards container outward from the table.", + "Grab the rectangular blue playingcards case using the right arm and move it outward.", + "Pick up the palm-sized playingcards carton and move it farther outward.", + "Pick the box of playingcards from the table and shift it outward.", + "Lift the box of playingcards and relocate it off the table.", + "Pick the rectangular blue playingcards case and slide it further outward.", + "Relocate the playingcards pack with blue top farther outward using the right arm.", + "Grab the card box with golden designs and move it further outward.", + "Pick up the blue pack holding playingcards with the right arm and place it outward.", + "Lift the box of playingcards and slide it off the table.", + "With the right arm, pick up the box of playingcards and slide it outward.", + "Take the blue playingcards box and place it beyond the table.", + "Take the box of playingcards and move it away from the table.", + "Lift the card box with golden designs and set it away from the table.", + "Use the right arm to pick the blue and white playingcards packaging and shift it outward.", + "Grab the blue and white playingcards packaging and move it further away.", + "Shift the palm-sized playingcards carton outward by grabbing it with the right arm.", + "Move the smooth playingcards holder off the table outward.", + "Use the right arm to grab the blue and white playingcards packaging and move it aside.", + "Grab the blue playingcards box using the right arm and push it outward.", + "Lift the rectangular blue playingcards case with the right arm and move it outward.", + "Use the right arm to pick up the blue pack holding playingcards and push it outward.", + "Lift the palm-sized playingcards carton and push it off the table.", + "Move the small playingcards container away from its position on the table." + ] +} diff --git a/pick_dual_bottles/episode_0000013/TCP_head/metadata.json b/pick_dual_bottles/episode_0000013/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0fdb9efcb9fc71c3f0e3cd7cffb1daf4f27f4166 --- /dev/null +++ b/pick_dual_bottles/episode_0000013/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 126, + 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/pick_dual_bottles/episode_0000013/metadata.json b/pick_dual_bottles/episode_0000013/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..45843331380f7d93ddf44af3f83a8a79c75c56da --- /dev/null +++ b/pick_dual_bottles/episode_0000013/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "pick_dual_bottles", + "episode": "episode_0000013", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000013.hdf5", + "num_frames": 126, + "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": [ + 126, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 126, + 14 + ], + "action_shape": [ + 126, + 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": [ + "Simultaneously grasp and lift the Coca-Cola bottle and the bottle with narrow top.", + "Pick the bottle with white neck and red top as the other arm picks the smooth green plastic bottle.", + "Catch the medium dark brown bottle and the medium-sized green bottle in parallel.", + "Use one arm for the bottle with ridges on bottom and the other for the handheld green bottle.", + "Grasp the brown bottle with red label and the plastic bottle at the same time.", + "Pick up the plastic drink bottle and the medium green bottle with capped neck in one synchronized motion.", + "Pick up the long thin bottle and the bottle with ridges near base simultaneously.", + "Use both arms to lift the plastic drink bottle and the smooth green bottle together.", + "Grab the long thin bottle and the handheld green bottle together.", + "Lift the two bottles the smooth bottle with red lid and the handheld green bottle together.", + "Lift the Coca-Cola bottle and the bottle with rounded neck together with both arms.", + "Use both arms together to pick the red-capped bottle and the medium green bottle with capped neck.", + "Hold the red-capped bottle in one arm and the bottle with white printed label in the other.", + "Grab both bottles at once: the narrow-necked bottle and the medium-sized green bottle.", + "Take hold of the medium dark brown bottle and the smooth green plastic bottle at once.", + "Use each arm to secure one bottle, the plastic drink bottle and the medium-sized green bottle.", + "Pick up both the narrow-necked bottle and the smooth green bottle using separate arms.", + "Raise both bottles together, the bottle with ridges on bottom and the bottle with white printed label.", + "Pick the bottle with white neck and red top and the bottle with rounded neck up in parallel.", + "Hold both the red-capped bottle and the medium-sized green bottle, one in each arm.", + "Raise the Coca-Cola bottle and the medium green bottle at the same time.", + "Grasp both bottles, the smooth bottle with red lid and the medium green bottle, simultaneously.", + "Use separate arms to grasp the narrow-necked bottle and the green bottle with indented base simultaneously.", + "Raise both the red-capped bottle and the medium green bottle simultaneously.", + "Each arm should lift one bottle: the medium dark brown bottle and the bottle with rounded neck.", + "Use each arm to grab one of the hand-sized soda bottle and the smooth green plastic bottle.", + "Secure the dark drink bottle with logo and the plastic bottle simultaneously with separate arms.", + "Lift the medium dark brown bottle with one arm and the bottle with rounded neck with the other.", + "Reach for the narrow-necked bottle and the medium-sized green bottle with both arms simultaneously.", + "Take the brown bottle with red label and the medium green bottle with capped neck together, one per arm.", + "Simultaneously grasp and lift the long thin bottle and the green bottle with indented base.", + "Pick the dark drink bottle with logo as the other arm picks the smooth green bottle.", + "Catch the long thin bottle and the smooth green bottle in parallel.", + "Use one arm for the bottle with ridges on bottom and the other for the medium green bottle with capped neck.", + "Grasp the bottle with ridges on bottom and the bottle with white printed label at the same time.", + "Pick up the narrow-necked bottle and the bottle with rounded neck in one synchronized motion.", + "Pick up the red-capped bottle and the green bottle with indented base simultaneously.", + "Use both arms to lift the medium dark brown bottle and the medium green bottle with capped neck together.", + "Grab the bottle with white neck and red top and the plastic bottle together.", + "Lift the two bottles the hand-sized soda bottle and the bottle with narrow top together.", + "Lift the long thin bottle and the bottle with white printed label together with both arms.", + "Use both arms together to pick the Coca-Cola bottle and the handheld green bottle.", + "Hold the bottle with ridges on bottom in one arm and the bottle with ridges near base in the other.", + "Grab both bottles at once: the medium dark brown bottle and the handheld green bottle.", + "Take hold of the plastic drink bottle and the medium green bottle with capped neck at once.", + "Use each arm to secure one bottle, the smooth bottle with red lid and the bottle with narrow top.", + "Pick up both the bottle with white neck and red top and the bottle with rounded neck using separate arms.", + "Raise both bottles together, the smooth bottle with red lid and the bottle with narrow top.", + "Pick the plastic drink bottle and the green bottle with indented base up in parallel.", + "Hold both the Coca-Cola bottle and the bottle with rounded neck, one in each arm.", + "Raise the long thin bottle and the green bottle with indented base at the same time.", + "Grasp both bottles, the brown bottle with red label and the smooth green plastic bottle, simultaneously.", + "Use separate arms to grasp the plastic drink bottle and the medium-sized green bottle simultaneously.", + "Raise both the brown bottle with red label and the smooth green plastic bottle simultaneously.", + "Each arm should lift one bottle: the long thin bottle and the bottle with rounded neck.", + "Use each arm to grab one of the plastic drink bottle and the medium green bottle with capped neck.", + "Secure the plastic drink bottle and the bottle with ridges near base simultaneously with separate arms.", + "Lift the narrow-necked bottle with one arm and the smooth green bottle with the other.", + "Reach for the plastic drink bottle and the smooth green bottle with both arms simultaneously.", + "Take the Coca-Cola bottle and the smooth green bottle together, one per arm.", + "Simultaneously grasp and lift the Coca-Cola bottle and the bottle with rounded neck.", + "Pick the plastic drink bottle as the other arm picks the bottle with narrow top.", + "Catch the red-capped bottle and the medium green bottle in parallel.", + "Use one arm for the smooth bottle with red lid and the other for the bottle with ridges near base.", + "Grasp the bottle with ridges on bottom and the bottle with ridges near base at the same time.", + "Pick up the hand-sized soda bottle and the smooth green bottle in one synchronized motion.", + "Pick up the Coca-Cola bottle and the bottle with white printed label simultaneously.", + "Use both arms to lift the bottle with white neck and red top and the bottle with rounded neck together.", + "Grab the medium dark brown bottle and the green bottle with indented base together.", + "Lift the two bottles the red-capped bottle and the medium green bottle with capped neck together.", + "Lift the brown bottle with red label and the smooth green bottle together with both arms.", + "Use both arms together to pick the plastic drink bottle and the green bottle with indented base.", + "Hold the dark drink bottle with logo in one arm and the bottle with rounded neck in the other.", + "Grab both bottles at once: the Coca-Cola bottle and the bottle with narrow top.", + "Take hold of the Coca-Cola bottle and the green bottle with indented base at once.", + "Use each arm to secure one bottle, the plastic drink bottle and the smooth green plastic bottle.", + "Pick up both the medium dark brown bottle and the bottle with white printed label using separate arms.", + "Raise both bottles together, the long thin bottle and the bottle with white printed label.", + "Pick the long thin bottle and the handheld green bottle up in parallel.", + "Hold both the bottle with white neck and red top and the bottle with white printed label, one in each arm.", + "Raise the smooth bottle with red lid and the medium green bottle with capped neck at the same time.", + "Grasp both bottles, the dark drink bottle with logo and the bottle with rounded neck, simultaneously.", + "Use separate arms to grasp the narrow-necked bottle and the bottle with narrow top simultaneously.", + "Raise both the brown bottle with red label and the medium green bottle with capped neck simultaneously.", + "Each arm should lift one bottle: the plastic drink bottle and the medium green bottle with capped neck.", + "Use each arm to grab one of the hand-sized soda bottle and the medium-sized green bottle.", + "Secure the bottle with ridges on bottom and the smooth green bottle simultaneously with separate arms.", + "Lift the bottle with white neck and red top with one arm and the bottle with white printed label with the other.", + "Reach for the smooth bottle with red lid and the smooth green bottle with both arms simultaneously.", + "Take the brown bottle with red label and the bottle with white printed label together, one per arm.", + "Simultaneously grasp and lift the bottle with white neck and red top and the smooth green bottle.", + "Pick the smooth bottle with red lid as the other arm picks the medium green bottle with capped neck.", + "Catch the narrow-necked bottle and the medium-sized green bottle in parallel.", + "Use one arm for the bottle with white neck and red top and the other for the medium green bottle with capped neck.", + "Grasp the bottle with ridges on bottom and the handheld green bottle at the same time.", + "Pick up the smooth bottle with red lid and the smooth green plastic bottle in one synchronized motion.", + "Pick up the brown bottle with red label and the smooth green plastic bottle simultaneously.", + "Use both arms to lift the red-capped bottle and the handheld green bottle together.", + "Grab the red-capped bottle and the bottle with white printed label together.", + "Lift the two bottles the bottle with white neck and red top and the smooth green bottle together." + ] +} diff --git a/place_burger_fries/episode_0000002/images/right_view/000001.png b/place_burger_fries/episode_0000002/images/right_view/000001.png new file mode 100644 index 0000000000000000000000000000000000000000..52b607dcdd68bd21d8de46b469ebfd3d55908ac5 --- /dev/null +++ b/place_burger_fries/episode_0000002/images/right_view/000001.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7451a2d5ac80455ce34463f351d8bc8955895e41fc05de287211d73872f25cbe +size 20040 diff --git a/place_burger_fries/episode_0000002/images/right_view/000005.png b/place_burger_fries/episode_0000002/images/right_view/000005.png new file 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"extrinsics": { + "shape": [ + 303, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 303, + 14 + ], + "action_shape": [ + 303, + 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 both arms, position the red can with white Coca-Cola logo and the gold-decorated aluminum can within the durable plasticbox with side handle.", + "Drop the red can with white lettering and the bright red drink container can into the plasticbox for keeping items safe with both arms", + "First move the cylindrical red drink can with logo to the boxy light blue plasticbox, then move the metallic soda can into the boxy light blue plasticbox.", + "Pick the red can with white Coca-Cola logo and the metallic can with rounded edges simultaneously, then place them inside the rectangular plasticbox with rounded edges.", + "Lift the Coca-Cola soda can and the metallic soda can simultaneously, then set them into the durable plasticbox with side handle.", + "Use both arms to grab the red cylindrical can with silver top and the metallic can with rounded edges, place them in the plasticbox with rounded corners and lid.", + "Grab the red can with smooth metallic texture and the red and gold cylindrical can together, then transfer them to the durable plasticbox with side handle.", + "Move the cylindrical red drink can with logo to the plasticbox for keeping items safe and repeat with the palm-sized drink can.", + "Lift the smooth red can with silver bottom and the metallic can with rounded edges together, then place each in the rectangular plasticbox with rounded edges.", + "Grasp the hand-sized red can for drinks and the gold patterned beverage can together; transfer the hand-sized red can for drinks, then the gold patterned beverage can, to the plasticbox for carrying items.", + "Pick up the smooth red can with silver bottom and the red can with separate arms, then fill the durable plasticbox with side handle.", + "Place the metallic red beverage can and the red beverage can with curved top into the smooth blue plasticbox with handle using both arms.", + "Pick the rounded red Coca-Cola soda container and the red can together, then put both inside the plasticbox with rounded corners and lid.", + "First grasp the metallic red beverage can and the gold-decorated aluminum can together, then place both in the smooth blue plasticbox with handle.", + "Place the red can with white Coca-Cola logo into the blue plasticbox for storing things, then place the metallic can with rounded edges into the blue plasticbox for storing things.", + "Using dual arms, place the red can with smooth metallic texture and the red beverage can with curved top inside the blue plasticbox for storing things", + "Move the smooth red can with silver bottom and the red and gold cylindrical can into the plasticbox for keeping items safe using separate arms.", + "Pick the red can with white Coca-Cola logo and the compact metal drink can together; place the red can with white Coca-Cola logo, then the compact metal drink can, in the plasticbox with hinged lid.", + "Use both arms to place the metallic red beverage can and the gold patterned beverage can inside the light blue plasticbox.", + "Transfer the red cylindrical can with silver top to the plasticbox with hinged lid, then transfer the gold-decorated aluminum can to the plasticbox with hinged lid.", + "Both arms lift the small aluminum red drink can and the red and gold cylindrical can, then place them in the plasticbox for keeping items safe.", + "Pick the hand-sized red can for drinks and the compact metal drink can together, then drop each into the plasticbox for keeping items safe", + "Pick the red cylindrical can with silver top and the palm-sized drink can using both arms and put them in the smooth blue plasticbox with handle", + "Utilize the arms to deposit both the red can with smooth metallic texture and the red beverage can with curved top into the plasticbox with smooth plastic texture.", + "Use both arms to move the hand-sized red can for drinks and the gold-decorated aluminum can into the light blue rectangular storage plasticbox", + "Employ both arms to pick the Coca-Cola soda can and the gold patterned beverage can, and place them inside the plasticbox for keeping items safe.", + "Use both arms to pick the red can with smooth metallic texture and the bright red drink container can together for the rectangular plasticbox with rounded edges.", + "Pick the red can with white Coca-Cola logo and the palm-sized drink can together, then move each into the plasticbox for carrying items", + "Use both arms to move the Coca-Cola can and the bright red drink container can into the smooth blue plasticbox with handle.", + "Use your arms to set the Coca-Cola soda can and the gold-decorated aluminum can gently into the plasticbox for carrying items.", + "After grasping the red can with white Coca-Cola logo and the red beverage can with curved top together, place each into the light blue rectangular storage plasticbox.", + "Pick and drop the Coca-Cola can and the compact metal drink can into the blue plasticbox for storing things.", + "Use dual arms to pick the red can with white Coca-Cola logo and the palm-sized drink can, placing both in the plasticbox with rounded corners and lid.", + "Lift the red can with white lettering and the gold patterned beverage can, then set them inside the plasticbox with smooth plastic texture", + "Grab the red can with white lettering and the metallic soda can together, then insert each into the plasticbox with rounded corners and lid.", + "Use the arms to transfer the small aluminum red drink can and the metallic soda can into the plasticbox for carrying items.", + "Use both arms to place the metallic red beverage can and the metallic soda can into the boxy light blue plasticbox.", + "Place the red can with white lettering and the red beverage can with curved top into the plasticbox for carrying items with dual arms", + "With both arms, transfer the red can with white Coca-Cola logo and the red can into the light blue plasticbox.", + "Grasp the red can with white lettering and the smooth red soda can simultaneously, then place both in the rectangular plasticbox with rounded edges.", + "Pick the red can with white Coca-Cola logo and the compact metal drink can together, then move both into the light blue rectangular storage plasticbox.", + "Begin with the red can with white lettering, place it in the boxy light blue plasticbox, finish with the red and gold cylindrical can into the boxy light blue plasticbox.", + "Transfer the cylindrical red drink can with logo and the red beverage can with curved top into the smooth blue plasticbox with handle using dual arms", + "Place the red can with smooth metallic texture in the light blue rectangular storage plasticbox, follow with the red beverage can with curved top using each arm.", + "Use arms to set the cylindrical red drink can with logo and the palm-sized drink can into the plasticbox with hinged lid.", + "Place the Coca-Cola can and the palm-sized drink can in the light blue rectangular storage plasticbox using both arms.", + "Grip the red can with smooth metallic texture and the metallic soda can simultaneously, then insert both into the boxy light blue plasticbox.", + "Lift the smooth red can with silver bottom and the red can with gold illustrations together, then place both in the plasticbox with smooth plastic texture.", + "Transfer the small aluminum red drink can into the boxy light blue plasticbox, then position the metallic soda can within the boxy light blue plasticbox.", + "Lift the rounded red Coca-Cola soda container and the metallic soda can, and stick them into the boxy light blue plasticbox", + "Use both arms, position the red can with smooth metallic texture and the compact metal drink can within the rectangular plasticbox with rounded edges.", + "Drop the red can with smooth metallic texture and the palm-sized drink can into the boxy light blue plasticbox with both arms", + "First move the red cylindrical can with silver top to the light blue rectangular storage plasticbox, then move the compact metal drink can into the light blue rectangular storage plasticbox.", + "Pick the rounded red Coca-Cola soda container and the palm-sized drink can simultaneously, then place them inside the light blue plasticbox.", + "Lift the red can with white lettering and the red and gold cylindrical can simultaneously, then set them into the plasticbox with rounded corners and lid.", + "Use both arms to grab the red can with white lettering and the gold-decorated aluminum can, place them in the plasticbox with rounded corners and lid.", + "Grab the metallic red beverage can and the palm-sized drink can together, then transfer them to the light blue plasticbox.", + "Move the metallic red beverage can to the plasticbox with rounded corners and lid and repeat with the metallic soda can.", + "Lift the small aluminum red drink can and the red can with gold illustrations together, then place each in the plasticbox for keeping items safe.", + "Grasp the red can with white lettering and the red and gold cylindrical can together; transfer the red can with white lettering, then the red and gold cylindrical can, to the plasticbox for carrying items.", + "Pick up the red can with white Coca-Cola logo and the bright red drink container can with separate arms, then fill the plasticbox for carrying items.", + "Place the red can with white lettering and the palm-sized drink can into the smooth blue plasticbox with handle using both arms.", + "Pick the Coca-Cola can and the red can together, then put both inside the plasticbox with smooth plastic texture.", + "First grasp the smooth red can with silver bottom and the red beverage can with curved top together, then place both in the light blue rectangular storage plasticbox.", + "Place the smooth red can with silver bottom into the light blue rectangular storage plasticbox, then place the gold-decorated aluminum can into the light blue rectangular storage plasticbox.", + "Using dual arms, place the small aluminum red drink can and the compact metal drink can inside the plasticbox with hinged lid", + "Move the cylindrical red drink can with logo and the gold patterned beverage can into the plasticbox for keeping items safe using separate arms.", + "Pick the red can with white Coca-Cola logo and the red can together; place the red can with white Coca-Cola logo, then the red can, in the boxy light blue plasticbox.", + "Use both arms to place the rounded red Coca-Cola soda container and the red and gold cylindrical can inside the durable plasticbox with side handle.", + "Transfer the Coca-Cola can to the light blue rectangular storage plasticbox, then transfer the red can to the light blue rectangular storage plasticbox.", + "Both arms lift the small aluminum red drink can and the bright red drink container can, then place them in the light blue plasticbox.", + "Pick the red can with white lettering and the gold patterned beverage can together, then drop each into the plasticbox with smooth plastic texture", + "Pick the red can with white lettering and the palm-sized drink can using both arms and put them in the blue plasticbox for storing things", + "Utilize the arms to deposit both the hand-sized red can for drinks and the metallic soda can into the rectangular plasticbox with rounded edges.", + "Use both arms to move the metallic red beverage can and the red and gold cylindrical can into the boxy light blue plasticbox", + "Employ both arms to pick the rounded red Coca-Cola soda container and the red beverage can with curved top, and place them inside the durable plasticbox with side handle.", + "Use both arms to pick the smooth red can with silver bottom and the palm-sized drink can together for the light blue rectangular storage plasticbox.", + "Pick the red can with white lettering and the red beverage can with curved top together, then move each into the plasticbox with hinged lid", + "Use both arms to move the Coca-Cola soda can and the red beverage can with curved top into the blue plasticbox for storing things.", + "Use your arms to set the smooth red can with silver bottom and the red and gold cylindrical can gently into the durable plasticbox with side handle.", + "After grasping the red can with white lettering and the red can with gold illustrations together, place each into the blue plasticbox for storing things.", + "Pick and drop the metallic red beverage can and the red and gold cylindrical can into the light blue rectangular storage plasticbox.", + "Use dual arms to pick the rounded red Coca-Cola soda container and the gold patterned beverage can, placing both in the light blue rectangular storage plasticbox.", + "Lift the rounded red Coca-Cola soda container and the red can with gold illustrations, then set them inside the plasticbox with hinged lid", + "Grab the Coca-Cola can and the palm-sized drink can together, then insert each into the rectangular plasticbox with rounded edges.", + "Use the arms to transfer the cylindrical red drink can with logo and the gold-decorated aluminum can into the plasticbox with rounded corners and lid.", + "Use both arms to place the Coca-Cola can and the red beverage can with curved top into the rectangular plasticbox with rounded edges.", + "Place the red cylindrical can with silver top and the red can into the light blue plasticbox with dual arms", + "With both arms, transfer the hand-sized red can for drinks and the red and gold cylindrical can into the durable plasticbox with side handle.", + "Grasp the metallic red beverage can and the gold patterned beverage can simultaneously, then place both in the plasticbox with smooth plastic texture.", + "Pick the red can with smooth metallic texture and the red can together, then move both into the plasticbox with hinged lid.", + "Begin with the rounded red Coca-Cola soda container, place it in the light blue plasticbox, finish with the metallic soda can into the light blue plasticbox.", + "Transfer the hand-sized red can for drinks and the compact metal drink can into the smooth blue plasticbox with handle using dual arms", + "Place the red can with white lettering in the plasticbox with rounded corners and lid, follow with the red can using each arm.", + "Use arms to set the metallic red beverage can and the gold patterned beverage can into the plasticbox for keeping items safe.", + "Place the Coca-Cola can and the metallic can with rounded edges in the plasticbox with rounded corners and lid using both arms.", + "Grip the red can with white lettering and the metallic soda can simultaneously, then insert both into the plasticbox for carrying items.", + "Lift the Coca-Cola can and the smooth red soda can together, then place both in the plasticbox for carrying items.", + "Transfer the red cylindrical can with silver top into the plasticbox for carrying items, then position the red beverage can with curved top within the plasticbox for carrying items.", + "Lift the red cylindrical can with silver top and the palm-sized drink can, and stick them into the blue plasticbox for storing things" + ] +} diff --git a/place_empty_cup/episode_0000009/TCP_third/metadata.json b/place_empty_cup/episode_0000009/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c991048fcdd91b3b9a31eda55f77eb9fec46b9 --- /dev/null +++ b/place_empty_cup/episode_0000009/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 181, + 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_phone_stand/episode_0000011/depths/right_view/000000.png b/place_phone_stand/episode_0000011/depths/right_view/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..29e3a4ed9086fa2b03db1192059e7869174c5a30 --- /dev/null +++ b/place_phone_stand/episode_0000011/depths/right_view/000000.png @@ -0,0 +1,3 @@ +version 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"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/shake_bottle/episode_0000023/metadata.json b/shake_bottle/episode_0000023/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a48e2818e6aab88fa48fe906af90ebe169f378da --- /dev/null +++ b/shake_bottle/episode_0000023/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "shake_bottle", + "episode": "episode_0000023", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle/aloha_agilex/data/episode_0000023.hdf5", + "num_frames": 262, + "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": [ + 262, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 262, + 14 + ], + "action_shape": [ + 262, + 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": [ + "Shake the bottle for liquids after grabbing it.", + "Grab the medium-sized bottle with the left arm and shake.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Grab the handheld bottle and give it a shake.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Hold the cylindrical bottle and shake it properly.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Lift up the white and blue bottle using the left arm, then shake.", + "Hold the bottle for liquids, shake it briefly.", + "Take the blue bottle using the left arm and give it a shake.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Shake the medium-sized bottle after grabbing it.", + "Pick up the white bottle with blue accents and shake it well.", + "Shake the blue bottle firmly after grabbing.", + "Hold the handheld bottle steady, then shake it.", + "Pick the white bottle with blue accents, shake it with the left arm.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Grab and shake the bottle for liquids using the left arm.", + "Grab the blue bottle with label and move it to shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Grasp the white bottle with blue accents with the left arm and shake it.", + "Shake the medium-sized bottle after holding it firmly.", + "Use the left arm to hold the blue bottle with label and shake it.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Shake the white and blue bottle after lifting it.", + "Shake the handheld bottle properly after lifting.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Pick up the white and blue bottle and shake it.", + "Grab the medium bottle for beverages using the left arm, then shake.", + "Shake the handheld bottle using the left arm after grabbing.", + "Grip the blue bottle with label using the left arm and shake.", + "With the left arm, pick the white bottle with blue accents and shake properly.", + "Lift the cylindrical bottle with the left arm and shake.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Pick the medium bottle for beverages up with the left arm and shake.", + "Shake the medium-sized bottle after grabbing it.", + "Secure the medium bottle for beverages and perform a shake.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Use the left arm to grab the bottle with blue cap and shake properly.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Hold and shake the handheld bottle carefully.", + "Use the left arm to lift and shake the blue bottle.", + "Grab the cylindrical bottle and shake it steadily.", + "Use the left arm to grab the cylindrical bottle and shake it.", + "Catch the bottle for liquids and shake it instantly.", + "Secure the bottle with blue cap, shake it, and place it down.", + "Grab the medium-sized bottle carefully and shake.", + "Lift the smooth plastic bottle and shake it gently.", + "Shake the plastic bottle after grabbing it.", + "Grab the cylindrical bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grab the blue bottle and give it a shake.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Hold the smooth plastic bottle and shake it properly.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Hold the white bottle with blue accents, shake it briefly.", + "Take the bottle for liquids using the left arm and give it a shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the medium bottle for beverages after grabbing it.", + "Pick up the white bottle with blue accents and shake it well.", + "Shake the medium-sized bottle firmly after grabbing.", + "Hold the white and blue bottle steady, then shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Lift the blue bottle with the left arm and shake it.", + "Grab and shake the white and blue bottle using the left arm.", + "Grab the blue bottle with label and move it to shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grasp the bottle with blue cap with the left arm and shake it.", + "Shake the medium bottle for beverages after holding it firmly.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Use the left arm to pick and shake the blue bottle with label.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the blue bottle after lifting it.", + "Shake the bottle for liquids properly after lifting.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Pick up the medium bottle for beverages and shake it.", + "Grab the blue bottle using the left arm, then shake.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Grip the cylindrical bottle using the left arm and shake.", + "With the left arm, pick the blue bottle with label and shake properly.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Secure the white bottle with blue accents and perform a shake.", + "Using the left arm, shake the blue bottle with label and then place it back.", + "Use the left arm to grab the blue bottle and shake properly.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Hold and shake the medium-sized bottle carefully.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Grab the handheld bottle and shake it steadily.", + "Use the left arm to grab the cylindrical bottle and shake it.", + "Catch the smooth plastic bottle and shake it instantly.", + "Secure the handheld bottle, shake it, and place it down.", + "Grab the plastic bottle carefully and shake.", + "Lift the bottle with blue cap and shake it gently." + ] +} diff --git a/shake_bottle_horizontally/episode_0000044/TCP_head/metadata.json b/shake_bottle_horizontally/episode_0000044/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..96540ceb3bebd3ed841bd2e86d53162342c89d1f --- /dev/null +++ b/shake_bottle_horizontally/episode_0000044/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 310, + 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/shake_bottle_horizontally/episode_0000044/metadata.json b/shake_bottle_horizontally/episode_0000044/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..73443d94addbb2b0e7779c27f9982d69ae81e4f8 --- /dev/null +++ b/shake_bottle_horizontally/episode_0000044/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "shake_bottle_horizontally", + "episode": "episode_0000044", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle_horizontally/aloha_agilex/data/episode_0000044.hdf5", + "num_frames": 310, + "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": [ + 310, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 310, + 14 + ], + "action_shape": [ + 310, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Using the right arm, grab the plastic bottle and shake it sideways.", + "Grab the cylindrical orange bottle with yellow top, shake it horizontally, then release.", + "Using the right arm, shake the bottle with yellow cap horizontally.", + "Secure the cylindrical orange bottle with yellow top with the right arm, shake in horizontal motion.", + "Hold the bottle with narrow neck and move it side to side.", + "Grab the bottle with narrow neck and move it side-to-side repeatedly.", + "Move the cylindrical orange bottle with yellow top side-to-side after grabbing it.", + "Lift the cylindrical orange bottle with yellow top with the right arm, then shake it side to side.", + "Grab the yellow-capped plastic bottle and shake in a horizontal motion.", + "Pick up the plastic bottle and shake it from side to side.", + "Take hold of the smooth plastic bottle using the right arm and move horizontally.", + "Utilize the right arm to grab the bottle with printed label and shake sideways.", + "Pick up the orange bottle using the right arm and shake sideways.", + "Lift the yellow-capped plastic bottle and shake it horizontally.", + "Shake the bottle with narrow neck side-to-side after grabbing it.", + "Hold the orange bottle using the right arm and shake it horizontally.", + "Pick up the plastic bottle and shake it horizontally.", + "Shake the bottle with printed label from side to side.", + "Grip the bottle for liquids, then shake it back and forth.", + "Grab and shake the bottle with printed label horizontally.", + "Pick the bottle with narrow neck using the right arm and move it horizontally.", + "Use the right arm to hold the bottle with narrow neck firmly and shake horizontally.", + "Pick up the bottle for liquids using the right arm, shake it horizontally.", + "Use the right arm to pick the orange bottle and shake it horizontally.", + "Using the right arm, pick up the smooth plastic bottle and shake sideways.", + "Pick up the plastic bottle with sealed yellow cap and shake it side to side.", + "Lift the cylindrical orange bottle with yellow top using the right arm and shake it sideways.", + "Shake the orange cylindrical bottle smoothly without using the right arm reference.", + "With the right arm, grab the medium-sized orange bottle and shake it horizontally.", + "Shake the orange cylindrical bottle horizontally after lifting with the right arm.", + "Shake the bottle with narrow neck horizontally.", + "Take the smooth plastic bottle in the right arm and shake it back and forth.", + "Hold the cylindrical orange bottle with yellow top and shake it side to side.", + "Pick the plastic bottle with sealed yellow cap up and shake it horizontally.", + "Hold the plastic bottle with sealed yellow cap steady and shake it horizontally.", + "Hold the orange bottle with the right arm and shake horizontally.", + "Lift the orange cylindrical bottle and move it back and forth.", + "Use the right arm to grab the bottle with printed label and move it horizontally.", + "Shake the orange cylindrical bottle side-to-side after grabbing it.", + "Use the right arm to grab the orange cylindrical bottle and shake horizontally.", + "Hold the smooth plastic bottle with the right arm and move it left and right.", + "Grab the bottle with yellow cap using the right arm and move it side-to-side.", + "Pick the bottle with narrow neck, then shake it horizontally.", + "Simply shake the cylindrical orange bottle with yellow top horizontally without the right arm details.", + "Use the right arm to hold the bottle for liquids and shake it sideways.", + "Lift the smooth plastic bottle and move it side-to-side.", + "Pick up the bottle with yellow cap with the right arm, shake it sideways.", + "Grab the cylindrical orange bottle with yellow top with the right arm and shake horizontally.", + "Hold the bottle with yellow cap and move it side to side.", + "Lift the bottle with printed label using the right arm and shake horizontally.", + "Using the right arm, grab the plastic bottle and shake it sideways.", + "Grab the bottle for liquids, shake it horizontally, then release.", + "Using the right arm, shake the orange bottle horizontally.", + "Secure the orange bottle with the right arm, shake in horizontal motion.", + "Hold the yellow-capped plastic bottle and move it side to side.", + "Grab the bottle with yellow cap and move it side-to-side repeatedly.", + "Move the plastic bottle side-to-side after grabbing it.", + "Lift the bottle for liquids with the right arm, then shake it side to side.", + "Grab the bottle for liquids and shake in a horizontal motion.", + "Pick up the bottle with narrow neck and shake it from side to side.", + "Take hold of the bottle with yellow cap using the right arm and move horizontally.", + "Utilize the right arm to grab the plastic bottle with sealed yellow cap and shake sideways.", + "Pick up the plastic bottle using the right arm and shake sideways.", + "Lift the plastic bottle and shake it horizontally.", + "Shake the medium-sized orange bottle side-to-side after grabbing it.", + "Hold the plastic bottle using the right arm and shake it horizontally.", + "Pick up the smooth plastic bottle and shake it horizontally.", + "Shake the bottle with printed label from side to side.", + "Grip the bottle with printed label, then shake it back and forth.", + "Grab and shake the orange cylindrical bottle horizontally.", + "Pick the bottle with narrow neck using the right arm and move it horizontally.", + "Use the right arm to hold the bottle with narrow neck firmly and shake horizontally.", + "Pick up the plastic bottle using the right arm, shake it horizontally.", + "Use the right arm to pick the orange bottle and shake it horizontally.", + "Using the right arm, pick up the bottle with printed label and shake sideways.", + "Pick up the yellow-capped plastic bottle and shake it side to side.", + "Lift the medium-sized orange bottle using the right arm and shake it sideways.", + "Shake the medium-sized orange bottle smoothly without using the right arm reference.", + "With the right arm, grab the orange bottle and shake it horizontally.", + "Shake the orange cylindrical bottle horizontally after lifting with the right arm.", + "Shake the bottle with printed label horizontally.", + "Take the cylindrical orange bottle with yellow top in the right arm and shake it back and forth.", + "Hold the plastic bottle with sealed yellow cap and shake it side to side.", + "Pick the bottle with printed label up and shake it horizontally.", + "Hold the bottle with narrow neck steady and shake it horizontally.", + "Hold the bottle with narrow neck with the right arm and shake horizontally.", + "Lift the bottle with yellow cap and move it back and forth.", + "Use the right arm to grab the plastic bottle with sealed yellow cap and move it horizontally.", + "Shake the cylindrical orange bottle with yellow top side-to-side after grabbing it.", + "Use the right arm to grab the plastic bottle and shake horizontally.", + "Hold the cylindrical orange bottle with yellow top with the right arm and move it left and right.", + "Grab the bottle with printed label using the right arm and move it side-to-side.", + "Pick the orange bottle, then shake it horizontally.", + "Simply shake the bottle with yellow cap horizontally without the right arm details.", + "Use the right arm to hold the bottle with narrow neck and shake it sideways.", + "Lift the plastic bottle and move it side-to-side.", + "Pick up the medium-sized orange bottle with the right arm, shake it sideways.", + "Grab the orange bottle with the right arm and shake horizontally.", + "Hold the cylindrical orange bottle with yellow top and move it side to side.", + "Lift the bottle with narrow neck using the right arm and shake horizontally." + ] +}