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handover_mic/episode_0000027/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    246,
+    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"
+}

handover_mic/episode_0000027/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    246,
+    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"
+}

handover_mic/episode_0000027/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "handover_mic",
+  "episode": "episode_0000027",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/handover_mic/aloha_agilex/data/episode_0000027.hdf5",
+  "num_frames": 246,
+  "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": [
+      246,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      246,
+      14
+    ],
+    "action_shape": [
+      246,
+      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 long microphone with smooth teal grip, pass it to the other arm, and release.",
+    "Pick up the microphone with slider switch and move it to the opposite side",
+    "Lift the white and teal sound microphone and hand it over to the other arm.",
+    "Hold the microphone with slider switch and deliver it to another side.",
+    "Hold the handheld teal microphone securely and shift it to another arm.",
+    "Grasp the microphone with white rounded head, then give it to the other arm.",
+    "Pick the long microphone with smooth teal grip from the surface and switch hands.",
+    "Hold the white and teal sound microphone with one hand and transfer it",
+    "Hold the microphone with slider switch firmly and pass it to the other arm.",
+    "Grasp the rounded white tip microphone and switch it to another hand.",
+    "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.",
+    "Grab the microphone with white rounded head and give it to the opposite arm.",
+    "Lift the textured white microphone head and deliver it to the other side.",
+    "Grab the microphone with slider switch and transfer it to another hand",
+    "Hold the white bottom microphone with textured tip and pass it to the other hand.",
+    "Lift the sound microphone with teal body and hand it to someone else.",
+    "Lift the compact teal and white microphone and hand it to the other side easily.",
+    "Grab the plastic teal microphone with slider using the right arm and pass it over to the left arm.",
+    "Lift the sound microphone with teal body, then pass it across without delay.",
+    "Take the rounded white tip microphone and pass it to another hand",
+    "Use one arm to pick up the microphone with white rounded head and give it to the other.",
+    "Reach for the compact teal and white microphone and move it to the other hand.",
+    "Use one hand to grab the long microphone with smooth teal grip and pass it.",
+    "Grip the white bottom microphone with textured tip and pass it to the other side",
+    "Take the sound microphone with teal body, pass it, and release it to complete the task.",
+    "Hold the sound microphone with teal body and shift it to the other arm.",
+    "Pick up the compact teal and white microphone and transfer it to the opposite side.",
+    "Seize the white and teal sound microphone and offer it to the other arm",
+    "Hold the white and teal sound microphone with the right arm and give it to the left arm.",
+    "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.",
+    "Lift the rounded white tip microphone using the right arm and pass it to the left arm.",
+    "Take the compact teal and white microphone and move it to the other hand.",
+    "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.",
+    "Grasp the teal microphone, transfer it, then let go of it smoothly.",
+    "Use the right arm to grab the textured white microphone head and transfer it to the left arm.",
+    "Pick up the textured white microphone head and hand it to the other side.",
+    "Grab the plastic teal microphone with slider and smoothly give it to the other arm.",
+    "Take the white and teal sound microphone and move it to another hand.",
+    "Secure the rounded white tip microphone from the table and transfer it.",
+    "Lift the teal microphone and hand it over to the other side.",
+    "Take the white bottom microphone with textured tip, shift it, and release it to the other side.",
+    "Secure the long microphone with smooth teal grip using one arm and transfer it.",
+    "Pick the long microphone with smooth teal grip and transfer it to the other arm.",
+    "Grasp the plastic teal microphone with slider and pass it across.",
+    "Lift the white and teal sound microphone and pass it across.",
+    "Pick up the teal microphone, pass it to the other arm, and release.",
+    "Pick up the rounded white tip microphone and move it to the opposite side",
+    "Lift the sound microphone with teal body and hand it over to the other arm.",
+    "Hold the microphone with slider switch and deliver it to another side.",
+    "Hold the teal microphone securely and shift it to another arm.",
+    "Grasp the handheld teal microphone, then give it to the other arm.",
+    "Pick the long microphone with smooth teal grip from the surface and switch hands.",
+    "Hold the plastic teal microphone with slider with one hand and transfer it",
+    "Hold the compact teal and white microphone firmly and pass it to the other arm.",
+    "Grasp the teal microphone and switch it to another hand.",
+    "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.",
+    "Grab the sound microphone with teal body and give it to the opposite arm.",
+    "Lift the white and teal sound microphone and deliver it to the other side.",
+    "Grab the white bottom microphone with textured tip and transfer it to another hand",
+    "Hold the microphone with white rounded head and pass it to the other hand.",
+    "Lift the handheld teal microphone and hand it to someone else.",
+    "Lift the textured white microphone head and hand it to the other side easily.",
+    "Grab the textured white microphone head using the right arm and pass it over to the left arm.",
+    "Lift the plastic teal microphone with slider, then pass it across without delay.",
+    "Take the white and teal sound microphone and pass it to another hand",
+    "Use one arm to pick up the handheld teal microphone and give it to the other.",
+    "Reach for the microphone with slider switch and move it to the other hand.",
+    "Use one hand to grab the white and teal sound microphone and pass it.",
+    "Grip the plastic teal microphone with slider and pass it to the other side",
+    "Take the microphone with slider switch, pass it, and release it to complete the task.",
+    "Hold the sound microphone with teal body and shift it to the other arm.",
+    "Pick up the textured white microphone head and transfer it to the opposite side.",
+    "Seize the microphone with white rounded head and offer it to the other arm",
+    "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.",
+    "Take the rounded white tip microphone using the right arm and transfer it to the left arm.",
+    "Lift the sound microphone with teal body using the right arm and pass it to the left arm.",
+    "Take the rounded white tip microphone and move it to the other hand.",
+    "Grasp the sound microphone with teal body and shift it to the opposite hand.",
+    "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.",
+    "Use the right arm to grab the textured white microphone head and transfer it to the left arm.",
+    "Pick up the teal microphone and hand it to the other side.",
+    "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.",
+    "Take the compact teal and white microphone and move it to another hand.",
+    "Secure the microphone with white rounded head from the table and transfer it.",
+    "Lift the plastic teal microphone with slider and hand it over to the other side.",
+    "Take the microphone with white rounded head, shift it, and release it to the other side.",
+    "Secure the plastic teal microphone with slider using one arm and transfer it.",
+    "Pick the teal microphone and transfer it to the other arm.",
+    "Grasp the microphone with white rounded head and pass it across.",
+    "Lift the textured white microphone head and pass it across.",
+    "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.",
+    "Pick up the white and teal sound microphone and move it to the opposite side",
+    "Lift the textured white microphone head and hand it over to the other arm.",
+    "Hold the long microphone with smooth teal grip and deliver it to another side.",
+    "Hold the long microphone with smooth teal grip securely and shift it to another arm.",
+    "Grasp the sound microphone with teal body, then give it to the other arm.",
+    "Pick the sound microphone with teal body from the surface and switch hands.",
+    "Hold the teal microphone with one hand and transfer it",
+    "Hold the rounded white tip microphone firmly and pass it to the other arm.",
+    "Grasp the compact teal and white microphone and switch it to another hand."
+  ]
+}

handover_mic/episode_0000029/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    226,
+    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"
+}

handover_mic/episode_0000029/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    226,
+    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"
+}

handover_mic/episode_0000029/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "handover_mic",
+  "episode": "episode_0000029",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/handover_mic/aloha_agilex/data/episode_0000029.hdf5",
+  "num_frames": 226,
+  "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": [
+      226,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      226,
+      14
+    ],
+    "action_shape": [
+      226,
+      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": [
+    "Grasp the white bottom microphone with textured tip and pass it across.",
+    "Seize the sound microphone with teal body and offer it to the other arm",
+    "Lift the sound microphone with teal body and hand it over to the other side.",
+    "Use one arm to pick up the rounded white tip microphone and give it to the other.",
+    "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.",
+    "Secure the white bottom microphone with textured tip from the table and transfer it.",
+    "Take the sound microphone with teal body, pass it, and release it to complete the task.",
+    "Lift the microphone with slider switch and hand it to the other side easily.",
+    "Hold the white and teal sound microphone firmly and pass it to the other arm.",
+    "Lift the rounded white tip microphone and hand it to someone else.",
+    "Hold the microphone with white rounded head with one hand and transfer it",
+    "Take the white and teal sound microphone and move it to another hand.",
+    "Secure the microphone with white rounded head using one arm and transfer it.",
+    "Lift the white and teal sound microphone and hand it over to the other arm.",
+    "Lift the rounded white tip microphone, then pass it across without delay.",
+    "Grab the compact teal and white microphone and give it to the opposite arm.",
+    "Pick up the microphone with white rounded head and hand it to the other side.",
+    "Take the handheld teal microphone and move it to the other hand.",
+    "Take the microphone with slider switch using the right arm and transfer it to the left arm.",
+    "Hold the microphone with slider switch with the right arm and give it to the left arm.",
+    "Grab the plastic teal microphone with slider and transfer it to another hand",
+    "Use one hand to grab the microphone with white rounded head and pass it.",
+    "Hold the microphone with white rounded head and pass it to the other hand.",
+    "Grasp the compact teal and white microphone and shift it to the opposite hand.",
+    "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.",
+    "Pick the microphone with white rounded head and transfer it to the other arm.",
+    "Pick up the long microphone with smooth teal grip and move it to the opposite side",
+    "Lift the white bottom microphone with textured tip and deliver it to the other side.",
+    "Lift the microphone with slider switch and pass it across.",
+    "Grasp the white bottom microphone with textured tip and switch it to another hand.",
+    "Hold the teal microphone securely and shift it to another arm.",
+    "Hold the handheld teal microphone and shift it to the other arm.",
+    "Take the plastic teal microphone with slider and pass it to another hand",
+    "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.",
+    "Reach for the textured white microphone head and move it to the other hand.",
+    "Pick up the microphone with slider switch, pass it to the other arm, and release.",
+    "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.",
+    "Take the microphone with slider switch, shift it, and release it to the other side.",
+    "Hold the microphone with slider switch and deliver it to another side.",
+    "Pick the plastic teal microphone with slider from the surface and switch hands.",
+    "Pick up the microphone with slider switch and transfer it to the opposite side.",
+    "Lift the compact teal and white microphone using the right arm and pass it to the left arm.",
+    "Grasp the sound microphone with teal body, then give it to the other arm.",
+    "Grip the white and teal sound microphone and pass it to the other side",
+    "Grab the microphone with slider switch and smoothly give it to the other arm.",
+    "Grasp the plastic teal microphone with slider and pass it across.",
+    "Seize the handheld teal microphone and offer it to the other arm",
+    "Lift the sound microphone with teal body and hand it over to the other side.",
+    "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.",
+    "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.",
+    "Secure the microphone with slider switch from the table and transfer it.",
+    "Take the sound microphone with teal body, pass it, and release it to complete the task.",
+    "Lift the compact teal and white microphone and hand it to the other side easily.",
+    "Hold the textured white microphone head firmly and pass it to the other arm.",
+    "Lift the sound microphone with teal body and hand it to someone else.",
+    "Hold the sound microphone with teal body with one hand and transfer it",
+    "Take the teal microphone and move it to another hand.",
+    "Secure the handheld teal microphone using one arm and transfer it.",
+    "Lift the textured white microphone head and hand it over to the other arm.",
+    "Lift the rounded white tip microphone, then pass it across without delay.",
+    "Grab the microphone with white rounded head and give it to the opposite arm.",
+    "Pick up the white bottom microphone with textured tip and hand it to the other side.",
+    "Take the teal microphone and move it to the other hand.",
+    "Take the compact teal and white microphone using the right arm and transfer it to the left arm.",
+    "Hold the textured white microphone head with the right arm and give it to the left arm.",
+    "Grab the textured white microphone head and transfer it to another hand",
+    "Use one hand to grab the white bottom microphone with textured tip and pass it.",
+    "Hold the textured white microphone head and pass it to the other hand.",
+    "Grasp the microphone with white rounded head and shift it to the opposite hand.",
+    "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.",
+    "Pick the plastic teal microphone with slider and transfer it to the other arm.",
+    "Pick up the white and teal sound microphone and move it to the opposite side",
+    "Lift the handheld teal microphone and deliver it to the other side.",
+    "Lift the textured white microphone head and pass it across.",
+    "Grasp the teal microphone and switch it to another hand.",
+    "Hold the microphone with white rounded head securely and shift it to another arm.",
+    "Hold the textured white microphone head and shift it to the other arm.",
+    "Take the white and teal sound microphone and pass it to another hand",
+    "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.",
+    "Reach for the white bottom microphone with textured tip and move it to the other hand.",
+    "Pick up the white and teal sound microphone, pass it to the other arm, and release.",
+    "Grab the handheld teal microphone using the right arm and pass it over to the left arm.",
+    "Take the compact teal and white microphone, shift it, and release it to the other side.",
+    "Hold the microphone with slider switch and deliver it to another side.",
+    "Pick the rounded white tip microphone from the surface and switch hands.",
+    "Pick up the sound microphone with teal body and transfer it to the opposite side.",
+    "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.",
+    "Grasp the sound microphone with teal body, then give it to the other arm.",
+    "Grip the white bottom microphone with textured tip and pass it to the other side",
+    "Grab the microphone with slider switch and smoothly give it to the other arm.",
+    "Grasp the teal microphone and pass it across.",
+    "Seize the sound microphone with teal body and offer it to the other arm",
+    "Lift the compact teal and white microphone and hand it over to the other side.",
+    "Use one arm to pick up the textured white microphone head and give it to the other.",
+    "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.",
+    "Secure the handheld teal microphone from the table and transfer it.",
+    "Take the plastic teal microphone with slider, pass it, and release it to complete the task.",
+    "Lift the teal microphone and hand it to the other side easily.",
+    "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.",
+    "Lift the microphone with white rounded head and hand it to someone else."
+  ]
+}