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click_alarmclock/episode_0000012/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    79,
+    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"
+}

click_alarmclock/episode_0000012/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    79,
+    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"
+}

click_alarmclock/episode_0000012/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_alarmclock",
+  "episode": "episode_0000012",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_alarmclock/aloha_agilex/data/episode_0000012.hdf5",
+  "num_frames": 79,
+  "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": [
+      79,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      79,
+      14
+    ],
+    "action_shape": [
+      79,
+      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": [
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Point the left arm to press the button of the alarm-clock with digital display.",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Use the left arm to press the compact alarm-clock button",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Press the center top button of the rectangular alarm-clock",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Push the top button on the black alarm-clock",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Use the left arm to click the center button on the digital screen alarm-clock",
+    "Use the left arm to tap the palm-sized alarm-clock's top center button.",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with rounded edges",
+    "Use the left arm to press the black alarm-clock's top button",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Direct the left arm to click the button found on the alarm-clock with digital display.",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Use the left arm to press the center top of the alarm-clock with buttons on side",
+    "Tap the button at the black alarm-clock's top center.",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Use the left arm to click the top center button on the alarm-clock with buttons on side.",
+    "the left arm activates the rectangular alarm-clock by clicking the top button",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "Press the top button at the alarm-clock with rounded edges's center.",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Use the left arm to activate the alarm-clock with buttons on side's button",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "the left arm presses the center top button on the black alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Hit the center of the alarm-clock with digital display's top button",
+    "Use the left arm to press the palm-sized alarm-clock button",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "the left arm clicks the center top button on the alarm-clock with buttons on side",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Click the middle button on the small alarm-clock's top side",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Click the center of the smooth black alarm-clock's top",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Use the left arm to click the center button on the smooth black alarm-clock",
+    "Use the left arm to tap the black matte alarm-clock's top center button.",
+    "Click the palm-sized alarm-clock's top center button using the left arm.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Click the top center button of the compact alarm-clock",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Use the left arm to press the alarm-clock with rounded edges's top button",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Tap the black matte alarm-clock's top button with the left arm",
+    "Direct the left arm to click the button found on the alarm-clock with digital display.",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Tap the button at the black alarm-clock's top center.",
+    "Use the left arm to press the central button on the black alarm-clock.",
+    "Use the left arm to click the top of the alarm-clock with buttons on side",
+    "Press the center button on the compact alarm-clock's top.",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Click the button centered on the black alarm-clock.",
+    "Push the center area of the compact alarm-clock's top",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Touch the rectangular alarm-clock's center top button with the left arm",
+    "Locate and press the black alarm-clock's top center button",
+    "Use the left arm to click the top center button on the palm-sized alarm-clock.",
+    "the left arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Press the top button in the small alarm-clock's center.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Guide the left arm to press the centered button on the alarm-clock with digital display.",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Use the left arm to tap the palm-sized alarm-clock's top button center",
+    "the left arm presses the center top button on the smooth black alarm-clock",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Push the button on the palm-sized alarm-clock's top center."
+  ]
+}

click_alarmclock/episode_0000013/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    100,
+    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"
+}

click_alarmclock/episode_0000013/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_alarmclock",
+  "episode": "episode_0000013",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_alarmclock/aloha_agilex/data/episode_0000013.hdf5",
+  "num_frames": 100,
+  "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": [
+      100,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      100,
+      14
+    ],
+    "action_shape": [
+      100,
+      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": [
+    "Direct the left arm to click the button found on the blue clock with green stripe.",
+    "the left arm activates the small plastic alarm clock by clicking the top button",
+    "Tap the center button on the clock with black hands.",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Click the center of the blue clock with green stripe's top",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Use the left arm to press the dark blue clock's top button",
+    "Use the left arm to activate the clock with black hands's button",
+    "Use the left arm to tap the rounded square-shaped alarm clock's central button.",
+    "Touch the blue clock with green stripe's center top button with the left arm",
+    "Tap the square plastic alarm clock's top button with the left arm",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Click the button centered on the clock with black hands's top.",
+    "Press the button on the square alarm clock's top side",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Use the left arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Use the left arm to click the center button on the rounded square-shaped alarm clock",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Click the clock with white dial's top center button using the left arm.",
+    "Point the left arm to press the button of the small plastic alarm clock.",
+    "the left arm clicks the center top button on the clock with black hands",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Push the top button of the dark blue clock using the left arm",
+    "Press the square alarm clock's top button using the left arm",
+    "Locate and press the top button on the square alarm clock",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Use the left arm to press the blue clock with green stripe's top center button.",
+    "Ensure the left arm clicks the top center button of the clock with white dial",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Guide the left arm to press the centered button on the blue clock with green stripe.",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Activate the clock with black hands by pressing its top",
+    "Push the top button on the square plastic alarm clock",
+    "Press the top button in the clock with black hands's center.",
+    "Use the left arm to press the center top of the alarm clock with green stripe",
+    "Press the top middle button of the blue clock with green stripe",
+    "Press the center top button of the white-faced alarm clock",
+    "Use the left arm to click the top of the alarm clock with green stripe",
+    "Press the center top button on the square alarm clock with the left arm",
+    "Use the left arm to tap the dark blue clock's top center button.",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Push the center area of the small clock with rounded edges's top",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Use the left arm to press the white-faced alarm clock button",
+    "Click the top center button of the white-faced alarm clock",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "the left arm activates the square plastic alarm clock by clicking the top button",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Use the left arm to press the central button on the small clock with rounded edges.",
+    "Click the center of the blue clock with green stripe's top",
+    "Press the center button on the clock with black hands's top.",
+    "Use the left arm to press the small plastic alarm clock's top button",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Use the left arm to tap the clock with white dial's central button.",
+    "Touch the small plastic alarm clock's center top button with the left arm",
+    "Tap the small plastic alarm clock's top button with the left arm",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Press the button on the blue clock with green stripe's top side",
+    "Touch the dark blue clock's button on the top side.",
+    "Push the button on the clock with white dial's top center.",
+    "Use the left arm to click the top center button on the small plastic alarm clock.",
+    "Use the left arm to click the center button on the square alarm clock",
+    "Click the button centered on the square plastic alarm clock.",
+    "Click the small clock with rounded edges's top center button using the left arm.",
+    "Point the left arm to press the button of the small plastic alarm clock.",
+    "the left arm clicks the center top button on the palm-sized dark blue clock",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Push the top button of the small clock with rounded edges using the left arm",
+    "Press the blue clock with green stripe's top button using the left arm",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Use the left arm to press the square alarm clock's top center button.",
+    "Ensure the left arm clicks the top center button of the clock with black hands",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Guide the left arm to press the centered button on the alarm clock with green stripe.",
+    "Activate the square alarm clock by pressing the top button",
+    "Click the middle button on the square alarm clock's top side",
+    "Hit the center of the square alarm clock's top button",
+    "Activate the palm-sized dark blue clock by pressing its top",
+    "Push the top button on the small plastic alarm clock",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Use the left arm to press the center top of the small clock with rounded edges",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Press the center top button of the clock with black hands",
+    "Use the left arm to click the top of the small clock with rounded edges",
+    "Press the center top button on the rounded square-shaped alarm clock with the left arm",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Tap the button at the clock with white dial's top center.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Use the left arm to press the dark blue clock button",
+    "Click the top center button of the clock with black hands",
+    "the left arm presses the center top button on the square alarm clock"
+  ]
+}

click_alarmclock/episode_0000032/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    101,
+    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"
+}

lift_pot/episode_0000004/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    114,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

lift_pot/episode_0000004/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "lift_pot",
+  "episode": "episode_0000004",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000004.hdf5",
+  "num_frames": 114,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      114,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      114,
+      14
+    ],
+    "action_shape": [
+      114,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Bring the medium kitchenpot made of metal up together",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Raise the round kitchenpot with handles together with arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Lift the metal kitchenpot steadily with support",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Securely lift the gray kitchenpot together",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Lift the dark gray stove kitchenpot up together",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Lift the metal kitchenpot upward and hold it",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Raise the metal kitchenpot together using arms",
+    "Hold and raise the gray kitchenpot together",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Both arms lift the metal kitchenpot upright",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Use both arms to raise the gray kitchenpot.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Grab the metal kitchenpot and lift it up",
+    "Raise and hold the round kitchenpot with handles together",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Raise the gray kitchenpot securely with arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Grip the kitchenpot for boiling and cooking firmly and lift"
+  ]
+}

lift_pot/episode_0000008/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    114,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

lift_pot/episode_0000008/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    114,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

lift_pot/episode_0000008/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "lift_pot",
+  "episode": "episode_0000008",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000008.hdf5",
+  "num_frames": 114,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      114,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      114,
+      14
+    ],
+    "action_shape": [
+      114,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Lift the gray kitchenpot upward and hold it",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Securely lift the round kitchenpot with handles together",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Lift the gray kitchenpot up using your arms",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Hold the metal kitchenpot and lift upward",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Raise the round kitchenpot with handles together using arms",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Both arms lift the gray kitchenpot upright",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Bring the gray kitchenpot upwards together",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Hold and raise the metal kitchenpot together",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Lift the gray kitchenpot steadily using arms",
+    "Raise the gray kitchenpot steadily using arms",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Grab the metal kitchenpot using both arms",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Hold the gray kitchenpot firmly with arms",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Hold the medium kitchenpot made of metal firmly and lift it"
+  ]
+}

lift_pot/episode_0000037/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    114,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

lift_pot/episode_0000037/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    114,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

lift_pot/episode_0000037/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "lift_pot",
+  "episode": "episode_0000037",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000037.hdf5",
+  "num_frames": 114,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      114,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      114,
+      14
+    ],
+    "action_shape": [
+      114,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Lift the gray kitchenpot upwards with care",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the metal kitchenpot with strong support",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Grab the metal kitchenpot using both arms",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Securely lift the gray kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Lift the metal kitchenpot using both arms now.",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Grip the gray kitchenpot firmly and lift",
+    "Carry the gray kitchenpot securely using arms",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Raise the metal kitchenpot evenly with arms",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Bring the round kitchenpot with handles upwards together",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Hold the metal kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Securely lift the cylindrical kitchenpot together",
+    "Lift the smooth gray kitchenpot up together",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together"
+  ]
+}

lift_pot/episode_0000044/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    112,
+    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"
+}

lift_pot/episode_0000044/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    112,
+    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"
+}

lift_pot/episode_0000044/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "lift_pot",
+  "episode": "episode_0000044",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/lift_pot/aloha_agilex/data/episode_0000044.hdf5",
+  "num_frames": 112,
+  "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": [
+      112,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      112,
+      14
+    ],
+    "action_shape": [
+      112,
+      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": [
+    "Grab the metal kitchenpot and lift it upwards",
+    "Raise the metal kitchenpot together using arms",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Lift the gray kitchenpot upward with both arms",
+    "Use arms to lift the metal kitchenpot upward",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Grab the metal kitchenpot using both arms",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Securely lift the smooth gray kitchenpot together",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Use both arms to raise the metal kitchenpot",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Bring the round kitchenpot with handles upwards together",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Raise the metal kitchenpot upward with both hands",
+    "Take hold of the metal kitchenpot and lift up",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Raise the metal kitchenpot together using arms",
+    "Hold the gray kitchenpot and lift upward",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Hold and raise the gray kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Lift the cylindrical kitchenpot up together",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Raise the metal kitchenpot steadily using arms",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Bring the round kitchenpot with handles up together",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Grab the round kitchenpot with handles and lift together",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Take hold of the cooking kitchenpot with side grips and lift up"
+  ]
+}

place_a2b_right/episode_0000011/TCP_head/left_state.npy

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