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beat_block_hammer/episode_0000000/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    124,
+    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"
+}

beat_block_hammer/episode_0000000/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    124,
+    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"
+}

beat_block_hammer/episode_0000000/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000000",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000000.hdf5",
+  "num_frames": 124,
+  "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": [
+      124,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      124,
+      14
+    ],
+    "action_shape": [
+      124,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Lift the hammer for nails and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Pick the hammer for nails and strike the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the silver hammer and hit the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Pick the grippy handle hammer from the table and strike"
+  ]
+}

beat_block_hammer/episode_0000033/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    124,
+    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"
+}

beat_block_hammer/episode_0000033/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000033",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000033.hdf5",
+  "num_frames": 124,
+  "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": [
+      124,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      124,
+      14
+    ],
+    "action_shape": [
+      124,
+      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": [
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Hold the hammer for nails then hit the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the silver hammer to beat the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the left arm to take the hammer for nails and strike",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the hammer for nails and strike the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Hold the nail-driving hammer then hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the silver hammer and smash the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the silver hammer and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the black and yellow hammer grip, then strike the block."
+  ]
+}

beat_block_hammer/episode_0000046/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    123,
+    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_bell/episode_0000010/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_bell/episode_0000010/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_bell/episode_0000010/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000010",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000010.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": [
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Guide the left arm to click the blue dome-shaped bell's top center.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Have the left arm click at the round bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Press the center of the blue bell using the left arm.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Locate the bell with circular body and click its top center.",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Tap the top center of the flat-topped bell.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Push the round bell's <top center> on the table",
+    "Press the specified top area of the compact bell with round base.",
+    "Click the top center of the flat-topped bell on table.",
+    "Click using the left arm on the round bell's center.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Press the center top of the bell with circular body.",
+    "Ask the left arm to interact with the bell with protruding knob's top.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Click the smooth blue bell at its top center on table.",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Click the designated center of the small blue and brown bell.",
+    "Have the left arm click at the smooth blue bell's top center.",
+    "Press down the compact bell with round base's top center gently.",
+    "Push the center of the small blue and brown bell using the left arm.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Locate the blue bell and click its top center.",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Click the round bell's top center using the left arm.",
+    "Press the top center of the blue bell on table.",
+    "Push the blue bell's <top center> on the table",
+    "Press the specified top area of the smooth blue bell.",
+    "Click the top center of the round bell on table.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Tap the round bell's top center with the left arm.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Press the center top of the flat-topped bell.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Guide the left arm to click the round bell's top center.",
+    "Press the bell with brown base's top center on the table.",
+    "Click the designated center of the bell with brown base.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Push the center of the smooth blue bell using the left arm.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Locate the smooth blue bell and click its top center.",
+    "Direct the left arm to click the top of the small blue and brown bell.",
+    "Tap the top center of the smooth blue bell.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press the specified top area of the compact bell with round base.",
+    "Click the top center of the bell with circular body on table.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Press the center top of the round bell.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Command the left arm to press the round bell's top.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Click the smooth blue bell at its top center on table.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Click the designated center of the blue bell.",
+    "Have the left arm click at the blue bell's top center.",
+    "Press down the blue bell's top center gently."
+  ]
+}

click_bell/episode_0000020/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    80,
+    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_bell/episode_0000020/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    80,
+    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"
+}

move_can_pot/episode_0000015/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    159,
+    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"
+}

move_can_pot/episode_0000018/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    170,
+    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"
+}

move_can_pot/episode_0000018/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000018",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000018.hdf5",
+  "num_frames": 170,
+  "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": [
+      170,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      170,
+      14
+    ],
+    "action_shape": [
+      170,
+      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 the brown top sauce can with the right arm and relocate it near the black kitchenpot with round lid",
+    "Grab the printed label sauce can, move it, and place by the black cooking pot with silver handles",
+    "Grab the yellow label sauce can with the right arm and move it close to the black kitchenpot with silver handle bars",
+    "Use the right arm to lift the brown top sauce can and place it next to the kitchenpot for boiling food",
+    "Lift the sauce can for condiments using the right arm and position it by the black kitchenpot with plastic lid handle",
+    "Use the right arm to grab the metal sauce can and transfer it near the black kitchenpot with silver handle bars",
+    "Place the medium sauce can beside the kitchenpot for boiling food after picking it up",
+    "Use the right arm to lift the sauce can with ingredient information, then move it next to the black kitchenpot with silver and black handles",
+    "Pick up the brown sauce can using the right arm, transfer it beside the kitchenpot for boiling food",
+    "Pick up the sauce can with brown lid and put it beside the black kitchenpot with flat lid",
+    "With the right arm, grab the yellow label sauce can and move to the kitchenpot for boiling food",
+    "Use the right arm to pick the brown sauce can up and set it beside the black metal kitchenpot",
+    "Move the cylindrical sauce can beside the black kitchenpot after lifting it",
+    "Use the right arm to move the brown sauce can beside the black kitchenpot with flat lid",
+    "Place the smooth cylindrical sauce can next to the medium kitchenpot with smooth surface",
+    "Lift the metal sauce can and place it next to the black kitchenpot with silver handle bars",
+    "Grab the cylindrical sauce can, move it to the black kitchenpot with plastic lid handle's side",
+    "Set the yellow label sauce can right next to the cooking kitchenpot with sturdy handles",
+    "Lift the metal sauce can using the right arm and drop it beside the black kitchenpot with round lid",
+    "Take the sauce can with ingredient information using the right arm, set it next to the black kitchenpot with silver handle bars",
+    "Grab the printed label sauce can, shift it, and place it close to the black kitchenpot with plastic lid handle",
+    "Pick the brown top sauce can up and move it next to the medium kitchenpot with smooth surface",
+    "Move the yellow and brown sauce can to the black kitchenpot with plastic lid handle with the right arm",
+    "Grab the medium sauce can with the right arm and position it beside the kitchenpot for boiling food",
+    "Lift the sauce can with brown lid and move it near the kitchenpot with metallic round lid",
+    "Take the yellow and brown sauce can to the black cooking pot with silver handles using the right arm",
+    "Grab the yellow label sauce can with the right arm and set it near the cooking kitchenpot with sturdy handles",
+    "Move the printed label sauce can to be next to the kitchenpot with metallic round lid",
+    "Lift the metal sauce can and set it beside the black cooking pot with silver handles",
+    "Lift the brown sauce can and set it next to the kitchenpot with metallic round lid",
+    "Lift the yellow label sauce can, then place it next to the black metal kitchenpot",
+    "Move the brown top sauce can from its spot to near the black kitchenpot with flat lid",
+    "Pick the medium sauce can up and carefully position it beside the black cooking pot with silver handles",
+    "Take the brown top sauce can with the right arm, place it near the black kitchenpot with silver and black handles",
+    "Pick the brown top sauce can up with the right arm then place near the black kitchenpot",
+    "Use the right arm to pick the brown top sauce can, position it near the black kitchenpot with silver handle bars",
+    "Use the right arm to grab the brown top sauce can, move it beside the kitchenpot with metallic round lid",
+    "Pick up the printed label sauce can with the right arm and set by the kitchenpot with metallic round lid",
+    "Use the right arm to grab the cylindrical sauce can and move it next to the black kitchenpot with plastic lid handle",
+    "Bring the metal sauce can over and set it near the black kitchenpot with round lid",
+    "Lift the cylindrical sauce can and set it next to the kitchenpot with metallic round lid",
+    "Grab the brown top sauce can and move it close to the kitchenpot for boiling food",
+    "Using the right arm, lift the yellow label sauce can and place it by the black kitchenpot with silver and black handles",
+    "Set the brown top sauce can near the black kitchenpot with silver handle bars after picking it up",
+    "Use the right arm to take the cylindrical sauce can to the black kitchenpot with plastic lid handle",
+    "Pick the yellow and brown sauce can and position it next to the black kitchenpot with silver and black handles",
+    "Take the medium sauce can with the right arm, bring it, and set next to the black kitchenpot with round lid",
+    "Lift the yellow and brown sauce can, place it by the black kitchenpot with silver handle bars",
+    "Use the right arm to lift the sauce can with ingredient information and place it near the black kitchenpot with silver handle bars",
+    "Use the right arm to grab the cylindrical sauce can and move it beside the black kitchenpot",
+    "Pick the metal sauce can with the right arm and relocate it near the black kitchenpot",
+    "Grab the yellow and brown sauce can, move it, and place by the medium kitchenpot with smooth surface",
+    "Grab the metal sauce can with the right arm and move it close to the kitchenpot for boiling food",
+    "Use the right arm to lift the sauce can with brown lid and place it next to the black kitchenpot with round lid",
+    "Lift the sauce can with ingredient information using the right arm and position it by the black kitchenpot with plastic lid handle",
+    "Use the right arm to grab the medium sauce can and transfer it near the black kitchenpot with flat lid",
+    "Place the metal sauce can beside the black kitchenpot with round lid after picking it up",
+    "Use the right arm to lift the yellow and brown sauce can, then move it next to the black kitchenpot with plastic lid handle",
+    "Pick up the brown sauce can using the right arm, transfer it beside the black kitchenpot with silver and black handles",
+    "Pick up the yellow and brown sauce can and put it beside the black metal kitchenpot",
+    "With the right arm, grab the yellow and brown sauce can and move to the black kitchenpot with flat lid",
+    "Use the right arm to pick the medium sauce can up and set it beside the black kitchenpot",
+    "Move the cylindrical sauce can beside the cooking kitchenpot with sturdy handles after lifting it",
+    "Use the right arm to move the brown sauce can beside the black kitchenpot with flat lid",
+    "Place the sauce can with ingredient information next to the black kitchenpot with plastic lid handle",
+    "Lift the cylindrical sauce can and place it next to the black kitchenpot with silver handle bars",
+    "Grab the medium sauce can, move it to the black kitchenpot with round lid's side",
+    "Set the smooth cylindrical sauce can right next to the black metal kitchenpot",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the medium kitchenpot with smooth surface",
+    "Take the metal sauce can using the right arm, set it next to the kitchenpot for boiling food",
+    "Grab the printed label sauce can, shift it, and place it close to the black kitchenpot with round lid",
+    "Pick the brown top sauce can up and move it next to the black kitchenpot with silver and black handles",
+    "Move the yellow and brown sauce can to the black kitchenpot with flat lid with the right arm",
+    "Grab the brown sauce can with the right arm and position it beside the black kitchenpot with silver handle bars",
+    "Lift the yellow and brown sauce can and move it near the black kitchenpot with flat lid",
+    "Take the brown sauce can to the cooking kitchenpot with sturdy handles using the right arm",
+    "Grab the yellow and brown sauce can with the right arm and set it near the black cooking pot with silver handles",
+    "Move the medium sauce can to be next to the cooking kitchenpot with sturdy handles",
+    "Lift the sauce can with brown lid and set it beside the black kitchenpot with silver handle bars",
+    "Lift the brown top sauce can and set it next to the black cooking pot with silver handles",
+    "Lift the cylindrical sauce can, then place it next to the kitchenpot with metallic round lid",
+    "Move the yellow and brown sauce can from its spot to near the black kitchenpot with silver handle bars",
+    "Pick the sauce can for condiments up and carefully position it beside the cooking kitchenpot with sturdy handles",
+    "Take the printed label sauce can with the right arm, place it near the black kitchenpot with flat lid",
+    "Pick the sauce can with ingredient information up with the right arm then place near the black kitchenpot with silver and black handles",
+    "Use the right arm to pick the smooth cylindrical sauce can, position it near the black kitchenpot",
+    "Use the right arm to grab the sauce can for condiments, move it beside the black kitchenpot with round lid",
+    "Pick up the brown sauce can with the right arm and set by the black cooking pot with silver handles",
+    "Use the right arm to grab the medium sauce can and move it next to the black kitchenpot with round lid",
+    "Bring the cylindrical sauce can over and set it near the cooking kitchenpot with sturdy handles",
+    "Lift the brown sauce can and set it next to the kitchenpot with metallic round lid",
+    "Grab the yellow and brown sauce can and move it close to the black cooking pot with silver handles",
+    "Using the right arm, lift the smooth cylindrical sauce can and place it by the cooking kitchenpot with sturdy handles",
+    "Set the cylindrical sauce can near the cooking kitchenpot with sturdy handles after picking it up",
+    "Use the right arm to take the brown sauce can to the cooking kitchenpot with sturdy handles",
+    "Pick the brown top sauce can and position it next to the black kitchenpot with silver and black handles",
+    "Take the brown sauce can with the right arm, bring it, and set next to the kitchenpot for boiling food",
+    "Lift the printed label sauce can, place it by the black kitchenpot",
+    "Use the right arm to lift the yellow label sauce can and place it near the black kitchenpot with round lid",
+    "Use the right arm to grab the sauce can with brown lid and move it beside the black kitchenpot with flat lid"
+  ]
+}