diff --git a/click_bell/episode_0000011/TCP_head/metadata.json b/click_bell/episode_0000011/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5ecf74cf84bce2583dde7c92eaa17cbfa8b2835c --- /dev/null +++ b/click_bell/episode_0000011/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 78, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_can_pot/episode_0000025/TCP_third/metadata.json b/move_can_pot/episode_0000025/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..95807ef848e043ee00aebc8274573a0c0e4ad56b --- /dev/null +++ b/move_can_pot/episode_0000025/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 150, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_can_pot/episode_0000028/TCP_head/metadata.json b/move_can_pot/episode_0000028/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..af3b53674df0fe0aeed18d12354eac2e16a04467 --- /dev/null +++ b/move_can_pot/episode_0000028/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 156, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/move_can_pot/episode_0000028/metadata.json b/move_can_pot/episode_0000028/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1b6050306c86816796d93c2b158bbc1746610f --- /dev/null +++ b/move_can_pot/episode_0000028/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "move_can_pot", + "episode": "episode_0000028", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000028.hdf5", + "num_frames": 156, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 156, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 156, + 14 + ], + "action_shape": [ + 156, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Take the smooth metal sauce can white with the left arm, place it near the black kitchenpot with flat lid", + "Grab the hand-held sauce container and move it close to the kitchenpot for boiling food", + "Take the cylindrical container for sauce with the left arm, bring it, and set next to the black kitchenpot with silver and black handles", + "Pick up the smooth metal sauce can white and put it beside the black kitchenpot with flat lid", + "Grab the cylindrical container for sauce with the left arm and move it close to the black kitchenpot with plastic lid handle", + "Pick the brown cap sauce storage can up and carefully position it beside the cooking kitchenpot with sturdy handles", + "Move the white sauce can with label from its spot to near the black kitchenpot with round lid", + "Use the left arm to take the hand-held sauce container to the black kitchenpot", + "Move the hand-held sauce container to the black kitchenpot with flat lid with the left arm", + "Grab the white cylindrical sauce holder, shift it, and place it close to the black kitchenpot with flat lid", + "Lift the brown top white sauce can using the left arm and position it by the kitchenpot with metallic round lid", + "Use the left arm to lift the smooth metal sauce can white and place it near the black cooking pot with silver handles", + "Pick up the hand-held sauce container using the left arm, transfer it beside the medium kitchenpot with smooth surface", + "Lift the metal can with plastic lid, place it by the black kitchenpot with plastic lid handle", + "Lift the brown-lid sauce can and move it near the black kitchenpot with round lid", + "Place the white sauce can brown top beside the black kitchenpot with plastic lid handle after picking it up", + "Use the left arm to grab the white cylindrical sauce holder and transfer it near the black kitchenpot with flat lid", + "Move the white sauce can with label to be next to the black kitchenpot", + "Grab the brown-lid sauce can, move it, and place by the black metal kitchenpot", + "Pick the white sauce can with label and position it next to the black kitchenpot with round lid", + "Use the left arm to grab the white sauce can with label and move it beside the black kitchenpot with silver and black handles", + "Take the cylindrical container for sauce using the left arm, set it next to the black kitchenpot with flat lid", + "Lift the hand-held sauce container and set it next to the cooking kitchenpot with sturdy handles", + "Bring the smooth metal sauce can white over and set it near the cooking kitchenpot with sturdy handles", + "Set the white sauce can brown top right next to the black metal kitchenpot", + "Take the white sauce can brown top to the black kitchenpot with silver handle bars using the left arm", + "Pick up the metal can with plastic lid with the left arm and set by the black kitchenpot with round lid", + "Use the left arm to lift the white sauce can with label and place it next to the black kitchenpot with plastic lid handle", + "Use the left arm to grab the white sauce can with label and move it next to the medium kitchenpot with smooth surface", + "Pick the cylindrical can brown round top up and move it next to the black cooking pot with silver handles", + "Lift the white label brown lidded can and set it next to the black kitchenpot with silver and black handles", + "Place the smooth metal sauce can white next to the kitchenpot with metallic round lid", + "Pick the cylindrical can brown round top up with the left arm then place near the black kitchenpot with round lid", + "Grab the white cylindrical sauce holder with the left arm and set it near the black kitchenpot with plastic lid handle", + "Lift the metal can with plastic lid, then place it next to the black kitchenpot", + "Move the cylindrical container for sauce beside the black kitchenpot with silver handle bars after lifting it", + "Lift the brown top white sauce can using the left arm and drop it beside the black kitchenpot", + "Using the left arm, lift the metal can with plastic lid and place it by the black kitchenpot with round lid", + "Grab the smooth metal sauce can white, move it to the kitchenpot with metallic round lid's side", + "Set the white label brown lidded can near the kitchenpot with metallic round lid after picking it up", + "With the left arm, grab the brown top white sauce can and move to the black kitchenpot with plastic lid handle", + "Use the left arm to move the cylindrical container for sauce beside the kitchenpot with metallic round lid", + "Lift the white cylindrical sauce holder and place it next to the black kitchenpot with plastic lid handle", + "Use the left arm to pick the cylindrical container for sauce up and set it beside the medium kitchenpot with smooth surface", + "Use the left arm to pick the white sauce can with label, position it near the kitchenpot for boiling food", + "Grab the cylindrical can brown round top with the left arm and position it beside the black kitchenpot with silver and black handles", + "Use the left arm to lift the white label brown lidded can, then move it next to the black kitchenpot with silver handle bars", + "Pick the white sauce can with label with the left arm and relocate it near the black metal kitchenpot", + "Lift the white sauce can with label and set it beside the black metal kitchenpot", + "Use the left arm to grab the hand-held sauce container, move it beside the cooking kitchenpot with sturdy handles", + "Take the white sauce can brown top with the left arm, place it near the black cooking pot with silver handles", + "Grab the brown top white sauce can and move it close to the black kitchenpot", + "Take the brown top white sauce can with the left arm, bring it, and set next to the medium kitchenpot with smooth surface", + "Pick up the hand-held sauce container and put it beside the kitchenpot for boiling food", + "Grab the white sauce can with label with the left arm and move it close to the black metal kitchenpot", + "Pick the cylindrical container for sauce up and carefully position it beside the black cooking pot with silver handles", + "Move the hand-held sauce container from its spot to near the black kitchenpot with round lid", + "Use the left arm to take the brown top white sauce can to the cooking kitchenpot with sturdy handles", + "Move the cylindrical container for sauce to the kitchenpot for boiling food with the left arm", + "Grab the metal can with plastic lid, shift it, and place it close to the kitchenpot with metallic round lid", + "Lift the cylindrical can brown round top using the left arm and position it by the black kitchenpot with silver and black handles", + "Use the left arm to lift the metal can with plastic lid and place it near the cooking kitchenpot with sturdy handles", + "Pick up the cylindrical can brown round top using the left arm, transfer it beside the black cooking pot with silver handles", + "Lift the white sauce can brown top, place it by the kitchenpot for boiling food", + "Lift the smooth metal sauce can white and move it near the kitchenpot for boiling food", + "Place the white sauce can with label beside the kitchenpot for boiling food after picking it up", + "Use the left arm to grab the cylindrical container for sauce and transfer it near the kitchenpot for boiling food", + "Move the white sauce can brown top to be next to the black kitchenpot with silver handle bars", + "Grab the white sauce can with label, move it, and place by the black kitchenpot with silver handle bars", + "Pick the white sauce can brown top and position it next to the black cooking pot with silver handles", + "Use the left arm to grab the white sauce can brown top and move it beside the black kitchenpot with round lid", + "Take the cylindrical can brown round top using the left arm, set it next to the black kitchenpot with plastic lid handle", + "Lift the metal can with plastic lid and set it next to the black kitchenpot with plastic lid handle", + "Bring the smooth metal sauce can white over and set it near the black kitchenpot", + "Set the white sauce can brown top right next to the black kitchenpot with round lid", + "Take the white sauce can with label to the black kitchenpot with round lid using the left arm", + "Pick up the cylindrical container for sauce with the left arm and set by the black kitchenpot with silver handle bars", + "Use the left arm to lift the brown-lid sauce can and place it next to the black kitchenpot", + "Use the left arm to grab the hand-held sauce container and move it next to the kitchenpot with metallic round lid", + "Pick the white sauce can brown top up and move it next to the medium kitchenpot with smooth surface", + "Lift the cylindrical container for sauce and set it next to the black kitchenpot with silver handle bars", + "Place the metal can with plastic lid next to the black metal kitchenpot", + "Pick the brown-lid sauce can up with the left arm then place near the black metal kitchenpot", + "Grab the white sauce can brown top with the left arm and set it near the black kitchenpot", + "Lift the brown-lid sauce can, then place it next to the black kitchenpot", + "Move the brown cap sauce storage can beside the kitchenpot for boiling food after lifting it", + "Lift the white sauce can with label using the left arm and drop it beside the black kitchenpot with silver and black handles", + "Using the left arm, lift the white sauce can with label and place it by the black kitchenpot with round lid", + "Grab the white label brown lidded can, move it to the medium kitchenpot with smooth surface's side", + "Set the white sauce can brown top near the black kitchenpot with round lid after picking it up", + "With the left arm, grab the white cylindrical sauce holder and move to the black kitchenpot", + "Use the left arm to move the cylindrical can brown round top beside the black kitchenpot with round lid", + "Lift the brown cap sauce storage can and place it next to the black kitchenpot", + "Use the left arm to pick the white sauce can brown top up and set it beside the black kitchenpot with silver handle bars", + "Use the left arm to pick the smooth metal sauce can white, position it near the kitchenpot with metallic round lid", + "Grab the brown-lid sauce can with the left arm and 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"tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_mouse_pad/episode_0000026/TCP_head/metadata.json b/place_mouse_pad/episode_0000026/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..24baf806cf77605345dd80e4b28a58791e7708e6 --- /dev/null +++ b/place_mouse_pad/episode_0000026/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 149, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)", + "camera": "head_view", + "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_mouse_pad/episode_0000026/TCP_third/metadata.json b/place_mouse_pad/episode_0000026/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bb093b74de0aa102cfd1f3530667f5951d564d51 --- /dev/null +++ b/place_mouse_pad/episode_0000026/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 149, + 7 + ], + "columns": [ + "x", + "y", + "z", + "roll", + "pitch", + "yaw", + "gripper_open" + ], + "position_unit": "meter", + "rotation_unit": "radian", + "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))", + "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)", + "camera": "third_views", + "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy", + "gripper": { + "type": "binary", + "open": 1, + "closed": 0, + "source_threshold": 0.5 + }, + "tcp_definition": "midpoint of the two inner fingertip contact faces", + "source": "robot_state.npy" +} diff --git a/place_mouse_pad/episode_0000026/metadata.json b/place_mouse_pad/episode_0000026/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b65437f4de91cc3e75e2c38f61df6c9ee893c2 --- /dev/null +++ b/place_mouse_pad/episode_0000026/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_mouse_pad", + "episode": "episode_0000026", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_mouse_pad/aloha_agilex/data/episode_0000026.hdf5", + "num_frames": 149, + "image_height": 240, + "image_width": 320, + "views": { + "left_view": "cam_left_wrist", + "right_view": "cam_right_wrist", + "head_view": "cam_head", + "third_views": "cam_third_view" + }, + "rgb": { + "format": "PNG", + "dtype": "uint8", + "channel_order": "RGB" + }, + "depth": { + "format": "PNG", + "dtype": "uint16", + "unit": "millimeter", + "invalid_value": 0 + }, + "intrinsics": { + "shape": [ + 3, + 3 + ], + "convention": "OpenCV pinhole pixel coordinates", + "per_view_constant": true + }, + "extrinsics": { + "shape": [ + 149, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 149, + 14 + ], + "action_shape": [ + 149, + 14 + ], + "dtype": "float32", + "columns": [ + { + "name": "left_arm_joint_states", + "start": 0, + "end": 6 + }, + { + "name": "left_ee_joint_states", + "start": 6, + "end": 7 + }, + { + "name": "right_arm_joint_states", + "start": 7, + "end": 13 + }, + { + "name": "right_ee_joint_states", + "start": 13, + "end": 14 + } + ] + }, + "frequency_hz": 15, + "instructions": [ + "Pick up the mouse with scroll wheel and set it on the Yellow colored mat.", + "Lift the dark gray mouse using the left arm and stick it on the Yellow mat.", + "Grab the mouse with buttons and wheel and position it onto the Yellow mat.", + "Take the dark gray palm-sized mouse and adjust it to rest on the Yellow mat.", + "Pick the mouse with curved top with the left arm and move it to the Yellow mat.", + "Lift the dark gray mouse with smooth texture using the left arm and move it to the Yellow mat.", + "Take the rounded computer mouse and put it onto Yellow mat.", + "Pick up the oval-shaped mouse with the left arm and place it on the Yellow mat.", + "Lift the mouse with curved top and stick it on Yellow mat.", + "Lift the dark gray palm-sized mouse and set it down on the Yellow mat.", + "Take the dark gray palm-sized mouse and put it on the Yellow mat.", + "Use the left arm to grab the smooth dark gray computer mouse and drop it on the Yellow colored mat.", + "Pick the mouse with scroll wheel and place it on the Yellow colored mat.", + "With the left arm, take the oval-shaped mouse and set it on Yellow mat.", + "Use the left arm to pick the mouse with curved top and place it on the Yellow mat.", + "With the left arm, grab the plastic mouse and position it on Yellow mat.", + "Use the left arm to grab the rounded computer mouse and set it on the Yellow mat.", + "Use the left arm to grab the dark gray mouse with smooth texture and position it onto the Yellow mat.", + "Hold the smooth dark gray computer mouse and carefully place it on the Yellow mat.", + "Grab the mouse with ergonomic design with the left arm and lay it onto the Yellow colored mat.", + "Use the left arm to pick the smooth dark gray computer mouse up and set it on the Yellow colored mat.", + "Slide the mouse with curved top onto the Yellow mat gently.", + "Using the left arm, pick the oval-shaped mouse and position it on Yellow colored mat.", + "Lift the mouse with ergonomic design using the left arm and drop it on the Yellow colored mat.", + "With the left arm, grab the rounded computer mouse and position it on the Yellow mat.", + "Pick up the mouse with scroll wheel with the left arm and move it to the Yellow mat.", + "Take the mouse with curved top and place it on the Yellow mat.", + "Grip the wireless dark gray computer mouse and move it onto the Yellow mat.", + "Take the mouse with curved top and place it on the Yellow colored mat.", + "Using the left arm, grab the rounded computer mouse and set it on the Yellow mat.", + "Take hold of the mouse with ergonomic design and place it on the Yellow mat.", + "Take the mouse with buttons and wheel and place it onto the Yellow mat.", + "Lift the dark gray mouse and place it onto Yellow mat.", + "Grab the rounded computer mouse and move it onto the Yellow mat.", + "With the left arm, pick up the plastic mouse and lay it on Yellow mat.", + "Grip the mouse with scroll wheel using the left arm and move it to the Yellow mat.", + "Using the left arm, grab the rounded computer mouse and place it on Yellow colored mat.", + "Hold the mouse with scroll wheel and transfer it to the Yellow mat.", + "Take hold of the mouse with curved top with the left arm and drop it on the Yellow mat.", + "Pick up the oval-shaped mouse and move it to Yellow mat.", + "Position the plastic mouse on the Yellow mat by picking it up.", + "Grab the dark gray mouse and place it firmly on the Yellow mat.", + "Lift the wireless dark gray computer mouse and position it on the Yellow mat.", + "Lift the mouse with ergonomic design up with the left arm and stick it onto the Yellow mat.", + "Grab the smooth dark gray computer mouse using the left arm and place it on the Yellow mat.", + "Lift the dark gray mouse with the left arm and place it on the Yellow mat.", + "Lift the rounded computer mouse and put it down onto the Yellow mat.", + "Use the left arm to lift the rounded computer mouse and set it on the Yellow mat.", + "Grab the rounded computer mouse and drop it on Yellow mat.", + "Use the left arm to grab the dark gray mouse with smooth texture and place it on the Yellow colored mat.", + "Pick up the dark gray mouse with smooth texture and set it on the Yellow colored mat.", + "Lift the dark gray palm-sized mouse using the left arm and stick it on the Yellow mat.", + "Grab the oval-shaped mouse and position it onto the Yellow mat.", + "Take the mouse with ergonomic design and adjust it to rest on the Yellow mat.", + "Pick the dark gray palm-sized mouse with the left arm and move it to the Yellow mat.", + "Lift the dark gray palm-sized mouse using the left arm and move it to the Yellow mat.", + "Take the smooth dark gray computer mouse and put it onto Yellow mat.", + "Pick up the mouse with ergonomic design with the left arm and place it on the Yellow mat.", + "Lift the dark gray palm-sized mouse and stick it on Yellow mat.", + "Lift the oval-shaped mouse and set it down on the Yellow mat.", + "Take the mouse with curved top and put it on the Yellow mat.", + "Use the left arm to grab the plastic mouse and drop it on the Yellow colored mat.", + "Pick the dark gray palm-sized mouse and place it on the Yellow colored mat.", + "With the left arm, take the oval-shaped mouse and set it on Yellow mat.", + "Use the left arm to pick the mouse with ergonomic design and place it on the Yellow mat.", + "With the left arm, grab the mouse with ergonomic design and position it on Yellow mat.", + "Use the left arm to grab the oval-shaped mouse and set it on the Yellow mat.", + "Use the left arm to grab the dark gray mouse with smooth texture and position it onto the Yellow mat.", + "Hold the rounded computer mouse and carefully place it on the Yellow mat.", + "Grab the mouse with scroll wheel with the left arm and lay it onto the Yellow colored mat.", + "Use the left arm to pick the mouse with buttons and wheel up and set it on the Yellow colored mat.", + "Slide the mouse with scroll wheel onto the Yellow mat gently.", + "Using the left arm, pick the mouse with buttons and wheel and position it on Yellow colored mat.", + "Lift the dark gray palm-sized mouse using the left arm and drop it on the Yellow colored mat.", + "With the left arm, grab the smooth dark gray computer mouse and position it on the Yellow mat.", + "Pick up the dark gray mouse with the left arm and move it to the Yellow mat.", + "Take the dark gray mouse with smooth texture and place it on the Yellow mat.", + "Grip the smooth dark gray computer mouse and move it onto the Yellow mat.", + "Take the dark gray mouse and place it on the Yellow colored mat.", + "Using the left arm, grab the rounded computer mouse and set it on the Yellow mat.", + "Take hold of the mouse with curved top and place it on the Yellow mat.", + "Take the rounded computer mouse and place it onto the Yellow mat.", + "Lift the mouse with buttons and wheel and place it onto Yellow mat.", + "Grab the dark gray mouse and move it onto the Yellow mat.", + "With the left arm, pick up the wireless dark gray computer mouse and lay it on Yellow mat.", + "Grip the dark gray palm-sized mouse using the left arm and move it to the Yellow mat.", + "Using the left arm, grab the mouse with curved top and place it on Yellow colored mat.", + "Hold the mouse with scroll wheel and transfer it to the Yellow mat.", + "Take hold of the rounded computer mouse with the left arm and drop it on the Yellow mat.", + "Pick up the mouse with scroll wheel and move it to Yellow mat.", + "Position the mouse with buttons and wheel on the Yellow mat by picking it up.", + "Grab the dark gray mouse with smooth texture and place it firmly on the Yellow mat.", + "Lift the plastic mouse and position it on the Yellow mat.", + "Lift the mouse with curved top up with the left arm and stick it onto the Yellow mat.", + "Grab the dark gray mouse using the left arm and place it on the Yellow mat.", + "Lift the mouse with ergonomic design with the left arm and place it on the Yellow mat.", + "Lift the dark gray mouse and put it down onto the Yellow mat.", + "Use the left arm to lift the oval-shaped mouse and set it on the Yellow mat.", + "Grab the mouse with scroll wheel and drop it on Yellow mat.", + "Use the left arm to grab the dark gray mouse and place it on the Yellow colored mat." + ] +} diff --git a/place_mouse_pad/episode_0000038/TCP_head/metadata.json b/place_mouse_pad/episode_0000038/TCP_head/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..27fc75c06d66c8022a3257f5846801a8c6ed560c --- /dev/null +++ b/place_mouse_pad/episode_0000038/TCP_head/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 153, + 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_mouse_pad/episode_0000038/metadata.json b/place_mouse_pad/episode_0000038/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..406b6b66e81942b3192eb8436f8c16f0f93a93ba --- /dev/null +++ b/place_mouse_pad/episode_0000038/metadata.json @@ -0,0 +1,180 @@ +{ + "format_version": "robotwin_4d_v1", + "task": "place_mouse_pad", + "episode": "episode_0000038", + "embodiment": "aloha_agilex", + "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_mouse_pad/aloha_agilex/data/episode_0000038.hdf5", + "num_frames": 153, + "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": [ + 153, + 3, + 4 + ], + "transform": "world_to_camera", + "camera_coordinates": "OpenCV: +x right, +y down, +z forward" + }, + "robot": { + "state_shape": [ + 153, + 14 + ], + "action_shape": [ + 153, + 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": [ + "Slide the computer mouse onto the Yellow mat gently.", + "Grip the plastic mouse with smooth finish using the right arm and move it to the Yellow mat.", + "Take the gray mouse and adjust it to rest on the Yellow mat.", + "With the right arm, grab the computer mouse and position it on Yellow mat.", + "Using the right arm, grab the small mouse with smooth surface and place it on Yellow colored mat.", + "Pick the plastic mouse with smooth finish with the right arm and move it to the Yellow mat.", + "With the right arm, grab the oval-shaped mouse for computer use and position it on the Yellow mat.", + "Lift the mouse with scroll wheel in center and set it down on the Yellow mat.", + "Grab the dark mouse with slight textured sides and move it onto the Yellow mat.", + "Hold the dark ergonomic mouse for computer navigation and transfer it to the Yellow mat.", + "Use the right arm to grab the small mouse with smooth surface and position it onto the Yellow mat.", + "Lift the mouse with two buttons and a scroll wheel using the right arm and drop it on the Yellow colored mat.", + "Grab the mouse with curved ergonomic shape and place it firmly on the Yellow mat.", + "Pick up the mouse with two buttons and a scroll wheel and set it on the Yellow colored mat.", + "Pick up the computer mouse with the right arm and move it to the Yellow mat.", + "Lift the rounded top mouse with glossy logo and stick it on Yellow mat.", + "Hold the dark mouse with slight textured sides and carefully place it on the Yellow mat.", + "Lift the mouse with two buttons and a scroll wheel using the right arm and move it to the Yellow mat.", + "Lift the compact matte gray computer mouse using the right arm and stick it on the Yellow mat.", + "Grab the computer mouse and position it onto the Yellow mat.", + "Use the right arm to pick the mouse with scroll wheel in center and place it on the Yellow mat.", + "Using the right arm, pick the small mouse with smooth surface and position it on Yellow colored mat.", + "Grip the mouse with scroll wheel in center and move it onto the Yellow mat.", + "Lift the gray mouse and put it down onto the Yellow mat.", + "Position the dark ergonomic mouse for computer navigation on the Yellow mat by picking it up.", + "Use the right arm to grab the rounded top mouse with glossy logo and drop it on the Yellow colored mat.", + "With the right arm, take the mouse with curved ergonomic shape and set it on Yellow mat.", + "Take hold of the computer mouse and place it on the Yellow mat.", + "Use the right arm to grab the rounded top mouse with glossy logo and set it on the Yellow mat.", + "Lift the oval-shaped mouse for computer use and place it onto Yellow mat.", + "Take hold of the dark mouse with slight textured sides with the right arm and drop it on the Yellow mat.", + "Use the right arm to grab the mouse with two buttons and a scroll wheel and place it on the Yellow colored mat.", + "Lift the dark mouse with slight textured sides and position it on the Yellow mat.", + "Grab the mouse with scroll wheel in center with the right arm and lay it onto the Yellow colored mat.", + "Take the mouse with curved ergonomic shape and place it onto the Yellow mat.", + "Lift the oval-shaped mouse for computer use up with the right arm and stick it onto the Yellow mat.", + "Grab the oval-shaped mouse for computer use using the right arm and place it on the Yellow mat.", + "With the right arm, pick up the dark ergonomic mouse for computer navigation and lay it on Yellow mat.", + "Pick the mouse with curved ergonomic shape and place it on the Yellow colored mat.", + "Using the right arm, grab the rounded top mouse with glossy logo and set it on the Yellow mat.", + "Use the right arm to pick the computer mouse up and set it on the Yellow colored mat.", + "Lift the computer mouse with the right arm and place it on the Yellow mat.", + "Pick up the small mouse with smooth surface and move it to Yellow mat.", + "Grab the gray mouse and drop it on Yellow mat.", + "Take the compact matte gray computer mouse and place it on the Yellow mat.", + "Take the small mouse with smooth surface and place it on the Yellow colored mat.", + "Take the computer mouse and put it onto Yellow mat.", + "Use the right arm to lift the compact matte gray computer mouse and set it on the Yellow mat.", + "Take the oval-shaped mouse for computer use and put it on the Yellow mat.", + "Pick up the mouse with two buttons and a scroll wheel with the right arm and place it on the Yellow mat.", + "Slide the compact matte gray computer mouse onto the Yellow mat gently.", + "Grip the oval-shaped mouse for computer use using the right arm and move it to the Yellow mat.", + "Take the mouse with curved ergonomic shape and adjust it to rest on the Yellow mat.", + "With the right arm, grab the gray mouse and position it on Yellow mat.", + "Using the right arm, grab the mouse with two buttons and a scroll wheel and place it on Yellow colored mat.", + "Pick the rounded top mouse with glossy logo with the right arm and move it to the Yellow mat.", + "With the right arm, grab the dark mouse with slight textured sides and position it on the Yellow mat.", + "Lift the mouse with two buttons and a scroll wheel and set it down on the Yellow mat.", + "Grab the mouse with two buttons and a scroll wheel and move it onto the Yellow mat.", + "Hold the mouse with scroll wheel in center and transfer it to the Yellow mat.", + "Use the right arm to grab the small mouse with smooth surface and position it onto the Yellow mat.", + "Lift the mouse with two buttons and a scroll wheel using the right arm and drop it on the Yellow colored mat.", + "Grab the dark ergonomic mouse for computer navigation and place it firmly on the Yellow mat.", + "Pick up the mouse with scroll wheel in center and set it on the Yellow colored mat.", + "Pick up the dark mouse with slight textured sides with the right arm and move it to the Yellow mat.", + "Lift the mouse with scroll wheel in center and stick it on Yellow mat.", + "Hold the computer mouse and carefully place it on the Yellow mat.", + "Lift the small mouse with smooth surface using the right arm and move it to the Yellow mat.", + "Lift the computer mouse using the right arm and stick it on the Yellow mat.", + "Grab the mouse with curved ergonomic shape and position it onto the Yellow mat.", + "Use the right arm to pick the rounded top mouse with glossy logo and place it on the Yellow mat.", + "Using the right arm, pick the plastic mouse with smooth finish and position it on Yellow colored mat.", + "Grip the oval-shaped mouse for computer use and move it onto the Yellow mat.", + "Lift the computer mouse and put it down onto the Yellow mat.", + "Position the dark ergonomic mouse for computer navigation on the Yellow mat by picking it up.", + "Use the right arm to grab the mouse with scroll wheel in center and drop it on the Yellow colored mat.", + "With the right arm, take the mouse with scroll wheel in center and set it on Yellow mat.", + "Take hold of the dark mouse with slight textured sides and place it on the Yellow mat.", + "Use the right arm to grab the mouse with scroll wheel in center and set it on the Yellow mat.", + "Lift the compact matte gray computer mouse and place it onto Yellow mat.", + "Take hold of the dark ergonomic mouse for computer navigation with the right arm and drop it on the Yellow mat.", + "Use the right arm to grab the rounded top mouse with glossy logo and place it on the Yellow colored mat.", + "Lift the rounded top mouse with glossy logo and position it on the Yellow mat.", + "Grab the mouse with curved ergonomic shape with the right arm and lay it onto the Yellow colored mat.", + "Take the small mouse with smooth surface and place it onto the Yellow mat.", + "Lift the dark mouse with slight textured sides up with the right arm and stick it onto the Yellow mat.", + "Grab the gray mouse using the right arm and place it on the Yellow mat.", + "With the right arm, pick up the mouse with two buttons and a scroll wheel and lay it on Yellow mat.", + "Pick the gray mouse and place it on the Yellow colored mat.", + "Using the right arm, grab the rounded top mouse with glossy logo and set it on the Yellow mat.", + "Use the right arm to pick the mouse with curved ergonomic shape up and set it on the Yellow colored mat.", + "Lift the oval-shaped mouse for computer use with the right arm and place it on the Yellow mat.", + "Pick up the rounded top mouse with glossy logo and move it to Yellow mat.", + "Grab the dark ergonomic mouse for computer navigation and drop it on Yellow mat.", + "Take the computer mouse and place it on the Yellow mat.", + "Take the compact matte gray computer mouse and place it on the Yellow colored mat.", + "Take the mouse with curved ergonomic shape and put it onto Yellow mat.", + "Use the right arm to lift the compact matte gray computer mouse and set it on the Yellow mat.", + "Take the mouse with curved ergonomic shape and put it on the Yellow mat.", + "Pick up the small mouse with smooth surface with the right arm and place it on the Yellow mat." + ] +} diff --git a/place_object_stand/episode_0000001/TCP_third/metadata.json b/place_object_stand/episode_0000001/TCP_third/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..db9914958bbf3feba5ae475805b80b99d7224103 --- /dev/null +++ b/place_object_stand/episode_0000001/TCP_third/metadata.json @@ -0,0 +1,30 @@ +{ + "format": "robotwin_tcp_v1", + "shape": [ + 142, + 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" 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