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adjust_bottle/episode_0000048/TCP_head/metadata.json

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+{
+  "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"
+}

adjust_bottle/episode_0000048/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "adjust_bottle",
+  "episode": "episode_0000048",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/adjust_bottle/aloha_agilex/data/episode_0000048.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": [
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Use the right arm to lift the bottle with ridges on bottom head-up",
+    "Lift the long thin bottle from the table and secure upright",
+    "Pick the long thin bottle up with the right arm ensuring it stays head-up.",
+    "Grab the bottle with ridges on bottom and lift it upright",
+    "Lift the narrow-necked bottle upright carefully using the right arm",
+    "Hold the long thin bottle upright from the table",
+    "Carefully grab the dark drink bottle with logo head-up",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Using the right arm, pick the plastic drink bottle upright",
+    "Find the smooth bottle with red lid on the table and raise it using the right arm.",
+    "Use the right arm to pick the plastic drink bottle up and keep it head-up.",
+    "Pick up the long thin bottle from the table carefully.",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Pick the long thin bottle and keep it upright",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Secure the medium dark brown bottle upright with the right arm",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Use the right arm to pick up the smooth bottle with red lid from the table.",
+    "Locate the brown bottle with red label and lift it upright with the right arm.",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Lift the hand-sized soda bottle from the table.",
+    "Lift the medium dark brown bottle from the table with the right arm",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Use the right arm to grab and lift the bottle with white neck and red top head-up.",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Identify the bottle with white neck and red top and grab it with the right arm",
+    "Grab the medium dark brown bottle head-up using the right arm from the table.",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Pick up the bottle with white neck and red top from the table using the right arm.",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Grab the bottle with white neck and red top from the table with the right arm",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Lift the long thin bottle up from the table",
+    "Lift the narrow-necked bottle using the right arm and hold upright",
+    "Utilize the right arm to lift the medium dark brown bottle while keeping it head-up.",
+    "Raise the red-capped bottle from the table using the correct arm, the right arm.",
+    "Hold the long thin bottle upright after lifting with the right arm",
+    "Use the right arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Grab the plastic drink bottle and lift it with the right arm",
+    "Lift the red-capped bottle head-up from the table",
+    "Lift the dark drink bottle with logo head-up from the table",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Pick the Coca-Cola bottle up with the right arm ensuring it stays head-up.",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Lift the Coca-Cola bottle upright carefully using the right arm",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Carefully grab the narrow-necked bottle head-up",
+    "Use the right arm to hold the smooth bottle with red lid from the table",
+    "Position the brown bottle with red label head-up and lift it",
+    "Using the right arm, pick the brown bottle with red label upright",
+    "Find the narrow-necked bottle on the table and raise it using the right arm.",
+    "Use the right arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the red-capped bottle head-up from the table.",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Grab the narrow-necked bottle with the right arm in a head-up way",
+    "Secure the dark drink bottle with logo upright with the right arm",
+    "Pick up the plastic drink bottle upright from the table",
+    "Use the right arm to pick up the red-capped bottle from the table.",
+    "Locate the medium dark brown bottle and lift it upright with the right arm.",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Lift the Coca-Cola bottle from the table.",
+    "Lift the hand-sized soda bottle from the table with the right arm",
+    "Lift the bottle with ridges on bottom off the table and hold it upright.",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Use the right arm to grab and lift the smooth bottle with red lid head-up.",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Identify the bottle with white neck and red top and grab it with the right arm",
+    "Grab the dark drink bottle with logo head-up using the right arm from the table.",
+    "Raise the red-capped bottle in a head-up position",
+    "Pick up the long thin bottle from the table using the right arm.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Lift the brown bottle with red label ensuring it remains upright.",
+    "Lift the bottle with ridges on bottom up from the table",
+    "Lift the smooth bottle with red lid using the right arm and hold upright",
+    "Utilize the right arm to lift the plastic drink bottle while keeping it head-up.",
+    "Raise the plastic drink bottle from the table using the correct arm, the right arm.",
+    "Hold the plastic drink bottle upright after lifting with the right arm",
+    "Use the right arm to pick up the narrow-necked bottle in the correct orientation",
+    "Grab the narrow-necked bottle and lift it with the right arm",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Lift the brown bottle with red label head-up from the table",
+    "Pick the Coca-Cola bottle head-up and hold it steady."
+  ]
+}

dump_bin_bigbin/episode_0000000/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    192,
+    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"
+}

dump_bin_bigbin/episode_0000033/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    381,
+    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"
+}

dump_bin_bigbin/episode_0000033/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "dump_bin_bigbin",
+  "episode": "episode_0000033",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000033.hdf5",
+  "num_frames": 381,
+  "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": [
+      381,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      381,
+      14
+    ],
+    "action_shape": [
+      381,
+      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 open-top tabletrashbin, pour its contents away.",
+    "Lift the light gray tabletrashbin, pour contents into big bin",
+    "Direct the arm to grab the small rectangular tabletrashbin and tilt.",
+    "Move the arm, take the gray plastic trashbin, and pour.",
+    "Take hold of the bucket-shaped gray trashbin, pour contents.",
+    "Use arm to pick the light gray bucket-shaped waste bin, pour in bin",
+    "Grab and tilt the tabletrashbin for holding waste to empty the balls.",
+    "Control the arm to raise the small rectangular bin for waste and pour.",
+    "Lift the open-top tabletrashbin using the arm to pour balls.",
+    "Pick up the small light gray waste bin and pour into bin.",
+    "Pick the tabletrashbin for holding waste up, pour all balls inside bin",
+    "Lift the rectangular tabletop waste container and pour contents down.",
+    "Grasp the open-top tabletrashbin and empty it out.",
+    "Grab the bucket-shaped gray trashbin, then pour balls into the bin.",
+    "Raise the open-top tabletrashbin to dump its contents out.",
+    "Take hold of the light gray tabletrashbin and dump the balls.",
+    "Hold the small light gray waste bin and dump its balls.",
+    "Use the arm to move the small rectangular tabletrashbin and pour.",
+    "Grab the light gray bucket-shaped waste bin and transfer balls to the bin.",
+    "Pick the small rectangular bin for waste, pour its contents out.",
+    "Hold the gray plastic trashbin and pour the balls.",
+    "Pick up the small light gray waste bin using the arm, pour balls.",
+    "Take the tabletrashbin for holding waste and pour the balls.",
+    "Lift up the light gray trashbin with open top, then pour balls.",
+    "Hold the gray plastic trashbin, then pour contents.",
+    "Use arm to grab the light gray tabletrashbin, dump contents",
+    "Take the rectangular tabletop waste container using arm, pour contents inside",
+    "Grab the rectangular tabletop waste container and pour it out.",
+    "Take the light gray bucket-shaped waste bin and pour the balls out.",
+    "Secure the light gray tabletrashbin and pour the balls.",
+    "Take the light gray bucket-shaped waste bin and empty its contents.",
+    "Grab the small rectangular bin for waste with arm and pour contents",
+    "Lift the open-top tabletrashbin and pour its contents into bin.",
+    "Hold the light gray bucket-shaped waste bin, dump balls in big bin",
+    "Use the arm to empty the light gray bucket-shaped waste bin into the bin.",
+    "Pick up the small rectangular tabletrashbin, empty into the big bin",
+    "Take the light gray tabletrashbin and pour contents.",
+    "Lift the small rectangular bin for waste, pour the balls into big bin",
+    "Lift the light gray tabletrashbin and pour balls into the bin.",
+    "Take the tabletrashbin for holding waste and empty balls into the bin.",
+    "Lift the open-top tabletrashbin, then pour the balls.",
+    "Grab the light gray tabletrashbin and transfer balls.",
+    "Pick up the tabletrashbin for holding waste and pour carefully.",
+    "Lift the small rectangular tabletrashbin, pour into the big bin.",
+    "Use the arm to lift the gray plastic trashbin and empty it.",
+    "Use the arm to grab the gray plastic trashbin and pour.",
+    "Pour balls from the small rectangular bin for waste into the bin.",
+    "Use the light gray tabletrashbin to pour the balls out.",
+    "Grab the open-top tabletrashbin and empty it into the bin.",
+    "Hold the small light gray waste bin and pour all balls into bin",
+    "Grab the light gray bucket-shaped waste bin, pour its contents away.",
+    "Lift the light gray trashbin with open top, pour contents into big bin",
+    "Direct the arm to grab the gray plastic trashbin and tilt.",
+    "Move the arm, take the small rectangular bin for waste, and pour.",
+    "Take hold of the tabletrashbin for holding waste, pour contents.",
+    "Use arm to pick the small rectangular bin for waste, pour in bin",
+    "Grab and tilt the light gray trashbin with open top to empty the balls.",
+    "Control the arm to raise the light gray trashbin with open top and pour.",
+    "Lift the bucket-shaped gray trashbin using the arm to pour balls.",
+    "Pick up the light gray trashbin with open top and pour into bin.",
+    "Pick the open-top tabletrashbin up, pour all balls inside bin",
+    "Lift the light gray trashbin with open top and pour contents down.",
+    "Grasp the open-top tabletrashbin and empty it out.",
+    "Grab the light gray trashbin with open top, then pour balls into the bin.",
+    "Raise the small rectangular bin for waste to dump its contents out.",
+    "Take hold of the tabletrashbin for holding waste and dump the balls.",
+    "Hold the open-top tabletrashbin and dump its balls.",
+    "Use the arm to move the light gray tabletrashbin and pour.",
+    "Grab the light gray bucket-shaped waste bin and transfer balls to the bin.",
+    "Pick the light gray bucket-shaped waste bin, pour its contents out.",
+    "Hold the small rectangular tabletrashbin and pour the balls.",
+    "Pick up the light gray trashbin with open top using the arm, pour balls.",
+    "Take the small rectangular tabletrashbin and pour the balls.",
+    "Lift up the light gray trashbin with open top, then pour balls.",
+    "Hold the bucket-shaped gray trashbin, then pour contents.",
+    "Use arm to grab the bucket-shaped gray trashbin, dump contents",
+    "Take the open-top tabletrashbin using arm, pour contents inside",
+    "Grab the small rectangular tabletrashbin and pour it out.",
+    "Take the light gray tabletrashbin and pour the balls out.",
+    "Secure the small rectangular bin for waste and pour the balls.",
+    "Take the gray plastic trashbin and empty its contents.",
+    "Grab the small rectangular bin for waste with arm and pour contents",
+    "Lift the bucket-shaped gray trashbin and pour its contents into bin.",
+    "Hold the bucket-shaped gray trashbin, dump balls in big bin",
+    "Use the arm to empty the small light gray waste bin into the bin.",
+    "Pick up the rectangular tabletop waste container, empty into the big bin",
+    "Take the small rectangular bin for waste and pour contents.",
+    "Lift the light gray tabletrashbin, pour the balls into big bin",
+    "Lift the rectangular tabletop waste container and pour balls into the bin.",
+    "Take the bucket-shaped gray trashbin and empty balls into the bin.",
+    "Lift the light gray tabletrashbin, then pour the balls.",
+    "Grab the tabletrashbin with smooth grooves and transfer balls.",
+    "Pick up the tabletrashbin with smooth grooves and pour carefully.",
+    "Lift the tabletrashbin with smooth grooves, pour into the big bin.",
+    "Use the arm to lift the small rectangular bin for waste and empty it.",
+    "Use the arm to grab the rectangular tabletop waste container and pour.",
+    "Pour balls from the light gray tabletrashbin into the bin.",
+    "Use the rectangular tabletop waste container to pour the balls out.",
+    "Grab the tabletrashbin for holding waste and empty it into the bin.",
+    "Hold the open-top tabletrashbin and pour all balls into bin"
+  ]
+}