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+ "normalized_text": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.", + "raw_texts": [ + "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad." + ], + "num_links": 1 + }, + { + "key": "f7b239b5e91fd77869b10859dd6b7cc9bab7d841", + "file": "f7b239b5e91fd77869b10859dd6b7cc9bab7d841.pt", + "normalized_text": "Use your arms to shift the red block.", + "raw_texts": [ + "Use your arms to shift the red block." + ], + "num_links": 2 + }, + { + "key": "fa3440f1fc556bc72d7a3b5f2d23344398a55b08", + "file": "fa3440f1fc556bc72d7a3b5f2d23344398a55b08.pt", + "normalized_text": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.", + "raw_texts": [ + "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad." + ], + "num_links": 1 + }, + { + "key": "fada1961d9bd084b2703c8ba0cd0d61e5502e80d", + "file": "fada1961d9bd084b2703c8ba0cd0d61e5502e80d.pt", + "normalized_text": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", + "raw_texts": [ + "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad." + ], + "num_links": 1 + }, + { + "key": "fc292a3e12bf34f547b142a51a5cd6fa30415dfd", + "file": "fc292a3e12bf34f547b142a51a5cd6fa30415dfd.pt", + "normalized_text": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", + "raw_texts": [ + "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad." + ], + "num_links": 2 + } + ] +} \ No newline at end of file diff --git a/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/episodes.jsonl b/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8be492e697d181c94c0be66575bb195b0ce36db4 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/episodes.jsonl @@ -0,0 +1,50 @@ +{"episode_index": 0, "tasks": ["Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad."], "length": 286, "action_config": [{"start_frame": 0, "end_frame": 286, "action_text": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", "skill": ""}]} +{"episode_index": 1, "tasks": ["Use your arms to shift the red block."], "length": 287, "action_config": [{"start_frame": 0, "end_frame": 287, "action_text": "Use your arms to shift the red block.", "skill": ""}]} +{"episode_index": 2, "tasks": ["Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad."], "length": 276, "action_config": [{"start_frame": 0, "end_frame": 276, "action_text": "Take the red block from 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"end_frame": 278, "action_text": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.", "skill": ""}]} +{"episode_index": 38, "tasks": ["Move the red block from the left hand to the pad."], "length": 289, "action_config": [{"start_frame": 0, "end_frame": 289, "action_text": "Move the red block from the left hand to the pad.", "skill": ""}]} +{"episode_index": 39, "tasks": ["Move the red block from the left hand to the pad."], "length": 276, "action_config": [{"start_frame": 0, "end_frame": 276, "action_text": "Move the red block from the left hand to the pad.", "skill": ""}]} +{"episode_index": 40, "tasks": ["Lift the red block with your left arm."], "length": 278, "action_config": [{"start_frame": 0, "end_frame": 278, "action_text": "Lift the red block with your left arm.", "skill": ""}]} +{"episode_index": 41, "tasks": ["Place the red block on the blue pad."], "length": 280, "action_config": [{"start_frame": 0, "end_frame": 280, "action_text": "Place the red block on the blue pad.", "skill": ""}]} +{"episode_index": 42, "tasks": ["With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad."], "length": 286, "action_config": [{"start_frame": 0, "end_frame": 286, "action_text": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.", "skill": ""}]} +{"episode_index": 43, "tasks": ["Lift the block with the left arm, pass it to the right arm."], "length": 280, "action_config": [{"start_frame": 0, "end_frame": 280, "action_text": "Lift the block with the left arm, pass it to the right arm.", "skill": ""}]} +{"episode_index": 44, "tasks": ["Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad."], "length": 284, "action_config": [{"start_frame": 0, "end_frame": 284, "action_text": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the 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"skill": ""}]} +{"episode_index": 48, "tasks": ["Move the red block from the left hand to the pad."], "length": 275, "action_config": [{"start_frame": 0, "end_frame": 275, "action_text": "Move the red block from the left hand to the pad.", "skill": ""}]} +{"episode_index": 49, "tasks": ["Grab the red block, transfer it, and set it on blue."], "length": 279, "action_config": [{"start_frame": 0, "end_frame": 279, "action_text": "Grab the red block, transfer it, and set it on blue.", "skill": ""}]} diff --git a/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/episodes_ori.jsonl b/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/episodes_ori.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2590ab201a5ad12038dc063d0912500d37787549 --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/episodes_ori.jsonl @@ -0,0 +1,50 @@ +{"task": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", "source_name": "robotwin", "source_episode_id": "handover_block-aloha-agilex_clean_50:episode0", "action_config": [{"start_frame": 0, "end_frame": 286, "action_text": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", "skill": ""}], "source_meta": {"dataset_name": "robotwin", "raw_record_payload": {"run_dir": "/media/damoxing/datasets/robotwin-depth-f1/handover_block/demo_clean", "task_name": "handover_block", "task_config": "aloha-agilex_clean_50", "task_repo_name": "handover_block-aloha-agilex_clean_50", "raw_task_config": "demo_clean", "episode_path": "/media/damoxing/datasets/robotwin-depth-f1/handover_block/demo_clean/data/episode0.hdf5", "instruction": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.", "fps": 16.666666666666668, "depth_sources": {"main": "/media/damoxing/datasets/robotwin-depth-f1/handover_block/demo_clean/data/episode0.hdf5::observation/head_camera/depth", 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b/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/tasks.jsonl @@ -0,0 +1,33 @@ +{"task_index": 0, "task": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad."} +{"task_index": 1, "task": "Use your arms to shift the red block."} +{"task_index": 2, "task": "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad."} +{"task_index": 3, "task": "Take the red block, pass it to the right arm, and drop it."} +{"task_index": 4, "task": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad."} +{"task_index": 5, "task": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad."} +{"task_index": 6, "task": "Use the left arm to grab the red block."} +{"task_index": 7, "task": "Grab red block, pass to the right arm, then drop on blue pad."} +{"task_index": 8, "task": "Hand the red block to the right arm."} +{"task_index": 9, "task": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad."} +{"task_index": 10, "task": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad."} +{"task_index": 11, "task": "Hold the red block, transfer to the right arm, then set it down."} +{"task_index": 12, "task": "The left arm should grab the red block, hand it to the right, and put it on the blue pad."} +{"task_index": 13, "task": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad."} +{"task_index": 14, "task": "Take the red block using the left arm and hand it over."} +{"task_index": 15, "task": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad."} +{"task_index": 16, "task": "Use left arm to grab the block and hand it to the right."} +{"task_index": 17, "task": "Set the red block on the blue pad gently."} +{"task_index": 18, "task": "Lift the block with the left arm, pass it to the right arm."} +{"task_index": 19, "task": "Hold the red block with the left arm and place it on the pad."} +{"task_index": 20, "task": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad."} +{"task_index": 21, "task": "Hand over the red block to the right arm."} +{"task_index": 22, "task": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad."} +{"task_index": 23, "task": "Grab the red block and transfer to the right."} +{"task_index": 24, "task": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad."} +{"task_index": 25, "task": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad."} +{"task_index": 26, "task": "Move the red block from the left hand to the pad."} +{"task_index": 27, "task": "Lift the red block with your left arm."} +{"task_index": 28, "task": "Place the red block on the blue pad."} +{"task_index": 29, "task": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad."} +{"task_index": 30, "task": "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad."} +{"task_index": 31, "task": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad."} +{"task_index": 32, "task": "Grab the red block, transfer it, and set it on blue."} diff --git a/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/text_instruction_backup/episodes.jsonl b/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/text_instruction_backup/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..096b70430a8409a7eb7c874cab7438f926044def --- /dev/null +++ b/data/aloha_clean/handover_block-aloha-agilex_clean_50/meta/text_instruction_backup/episodes.jsonl @@ -0,0 +1,50 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