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beat_block_hammer/episode_0000002/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    119,
+    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_0000002/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    119,
+    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_0000002/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000002",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000002.hdf5",
+  "num_frames": 119,
+  "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": [
+      119,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      119,
+      14
+    ],
+    "action_shape": [
+      119,
+      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 medium-sized metal hammer with the right arm and hit the block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Grab the silver hammer and use it to hit",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the hammer for nails to beat the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the silver hammer, then strike the block.",
+    "Take the hammer for nails and smash the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Take the nail-driving hammer and strike the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the silver hammer using the right arm and hit the block"
+  ]
+}

beat_block_hammer/episode_0000016/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    122,
+    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_0000016/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000016",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000016.hdf5",
+  "num_frames": 122,
+  "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": [
+      122,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      122,
+      14
+    ],
+    "action_shape": [
+      122,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Grab the hammer for nails to beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Lift the hammer for nails and hit the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Take the silver curved hammer head and beat the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Lift the hammer for nails, then beat the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Pick the silver curved hammer head from the table and strike",
+    "Beat the block after grabbing the silver hammer",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Lift the hammer for nails and hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the grippy handle hammer and beat the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Pick up the hammer with two-tone handle and strike the block"
+  ]
+}

beat_block_hammer/episode_0000045/TCP_head/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": "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_0000045/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "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"
+}

beat_block_hammer/episode_0000045/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000045",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000045.hdf5",
+  "num_frames": 123,
+  "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": [
+      123,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      123,
+      14
+    ],
+    "action_shape": [
+      123,
+      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": [
+    "Take the plastic handle metal hammer and smash the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grab the hammer for nails, then hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Pick up the silver hammer and use it on the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the silver hammer to beat the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Take the hammer with two-tone handle and strike the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the nail-driving hammer and hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Lift the silver hammer and hit the block.",
+    "Hold the hammer for nails then hit the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick the hammer for nails and strike the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the silver hammer and strike the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Hold the grippy handle hammer and pound the block."
+  ]
+}

click_bell/episode_0000027/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    83,
+    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_0000027/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    83,
+    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_0000027/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000027",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000027.hdf5",
+  "num_frames": 83,
+  "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": [
+      83,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      83,
+      14
+    ],
+    "action_shape": [
+      83,
+      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": [
+    "Click the top center of the small blue and brown bell on table.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Locate the bell with brown base and click its top center.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Press the center top of the small blue and brown bell.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Use the right arm to touch the round bell's top center.",
+    "Press the blue bell's top center on the table.",
+    "Click the smooth blue bell's top center using the right arm.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Ask the right arm to interact with the blue bell's top.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Press down the top of the small blue and brown bell using the right arm.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Command the right arm to press the bell with circular body's top.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Click the bell with circular body at its top center on table.",
+    "Press down the flat-topped bell's top center gently.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Use the right arm to press the blue bell's top section.",
+    "Locate the bell with brown base and click its top center.",
+    "Tap the blue bell's top center with the right arm.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Press the specified top area of the smooth blue bell.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Click using the right arm on the round bell's center.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Click the compact bell with round base's <top center> using the right arm",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Tap the top center of the compact bell with round base.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Click the designated center of the bell with brown base.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Click the small blue and brown bell at its top center on table.",
+    "Press down the bell with circular body's top center gently.",
+    "Click the top center of the blue bell on table.",
+    "Push the center of the bell with brown base using the right arm.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Press the center top of the smooth blue bell.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Direct the right arm to touch the round bell's top.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Click the blue bell's <top center> using the right arm",
+    "Command the right arm to press the smooth blue bell's top.",
+    "Tap the top center of the small blue and brown bell.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Press the blue dome-shaped bell's top center with the right arm firmly.",
+    "Click the designated center of the bell with brown base.",
+    "Push the bell with circular body's <top center> on the table",
+    "Click the flat-topped bell at its top center on table.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Click the top center of the bell with brown base on table.",
+    "Push the center of the flat-topped bell using the right arm.",
+    "Use the right arm to press the bell with brown base's top section.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Tap the blue bell's top center with the right arm.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Press the specified top area of the small blue and brown bell."
+  ]
+}

click_bell/episode_0000029/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "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"
+}

move_can_pot/episode_0000004/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    157,
+    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_0000004/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    157,
+    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_0000004/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000004",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000004.hdf5",
+  "num_frames": 157,
+  "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": [
+      157,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      157,
+      14
+    ],
+    "action_shape": [
+      157,
+      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 left arm to move the smooth sauce can beside the cooking pot with two handles",
+    "Use the left arm to take the sauce can with flat top to the kitchenpot with plastic knob on lid",
+    "Set the medium-sized red sauce can right next to the blue-lid kitchenpot",
+    "Lift the medium-sized red sauce can, then place it next to the kitchenpot with plastic knob on lid",
+    "Set the sauce can with white details near the blue-lid kitchenpot after picking it up",
+    "Move the smooth sauce can to the gray cylindrical pot with the left arm",
+    "Pick the sauce can with flat top and position it next to the round blue-lid kitchenpot for stovetop",
+    "Lift the cylindrical sauce can and set it next to the metal kitchenpot with brown handles",
+    "Use the left arm to grab the red sauce can for holding condiments, move it beside the blue-lid kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot with brown handles",
+    "Using the left arm, lift the medium-sized red sauce can and place it by the gray pot with blue circular lid",
+    "Place the red sauce can for holding condiments beside the gray pot with blue circular lid after picking it up",
+    "Use the left arm to grab the smooth sauce can and move it next to the metal pot with dark handles",
+    "Bring the sauce can with flat top over and set it near the blue-lid kitchenpot",
+    "Pick the red can with gold patterns with the left arm and relocate it near the cooking pot with two handles",
+    "Take the sauce can with flat top to the gray pot with blue circular lid using the left arm",
+    "Take the red cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Move the red plastic sauce can from its spot to near the metal pot with dark handles",
+    "Grab the red sauce can, move it to the kitchenpot with plastic knob on lid's side",
+    "Use the left arm to lift the red cylindrical sauce can and place it next to the gray cylindrical pot",
+    "Lift the medium-sized red sauce can, place it by the gray cylindrical pot",
+    "Lift the red cylindrical sauce can using the left arm and position it by the kitchenpot with plastic knob on lid",
+    "Use the left arm to lift the red sauce can, then move it next to the matte gray pot with durable lid",
+    "With the left arm, grab the red plastic sauce can and move to the pots for boiling and cooking",
+    "Grab the medium-sized red sauce can, shift it, and place it close to the kitchenpot with plastic knob on lid",
+    "Pick up the sauce can with flat top using the left arm, transfer it beside the blue kitchenpot lid with black knob",
+    "Grab the cylindrical sauce can with the left arm and move it close to the round blue-lid kitchenpot for stovetop",
+    "Pick up the red plastic sauce can and put it beside the gray kitchenpot",
+    "Move the red and gold sauce can beside the matte gray pot with durable lid after lifting it",
+    "Use the left arm to lift the red cylindrical sauce can and place it near the kitchenpot with plastic knob on lid",
+    "Use the left arm to grab the sauce can with white details and transfer it near the cooking pot with two handles",
+    "Pick up the red sauce can for holding condiments with the left arm and set by the pots for boiling and cooking",
+    "Grab the red and gold sauce can and move it close to the round blue-lid kitchenpot for stovetop",
+    "Move the red cylindrical sauce can to be next to the metal pot with dark handles",
+    "Pick the medium-sized red sauce can up and move it next to the blue-lid kitchenpot",
+    "Lift the red can with gold patterns and move it near the metal pot with dark handles",
+    "Place the sauce can with flat top next to the metal kitchenpot with brown handles",
+    "Grab the smooth sauce can with the left arm and position it beside the cooking pot with two handles",
+    "Grab the red plastic sauce can with the left arm and set it near the kitchenpot with plastic knob on lid",
+    "Pick the red can with gold patterns up with the left arm then place near the metal pot with dark handles",
+    "Use the left arm to pick the red plastic sauce can up and set it beside the gray cylindrical pot",
+    "Lift the red and gold sauce can and set it beside the cooking pot with two handles",
+    "Grab the red cylindrical sauce can, move it, and place by the round blue-lid kitchenpot for stovetop",
+    "Pick the red cylindrical sauce can up and carefully position it beside the pots for boiling and cooking",
+    "Lift the red and gold sauce can using the left arm and drop it beside the cooking pot with two handles",
+    "Lift the cylindrical sauce can and place it next to the gray kitchenpot",
+    "Lift the smooth sauce can and set it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to pick the sauce can with flat top, position it near the gray kitchenpot",
+    "Take the sauce can with flat bottom using the left arm, set it next to the kitchenpot with plastic knob on lid",
+    "Use the left arm to grab the red and gold sauce can and move it beside the pots for boiling and cooking",
+    "Use the left arm to move the red plastic sauce can beside the blue kitchenpot lid with black knob",
+    "Use the left arm to take the sauce can with flat top to the blue kitchenpot lid with black knob",
+    "Set the red sauce can for holding condiments right next to the metal kitchenpot with brown handles",
+    "Lift the sauce can with flat bottom, then place it next to the cooking pot with two handles",
+    "Set the smooth sauce can near the kitchenpot with plastic knob on lid after picking it up",
+    "Move the smooth sauce can to the cooking pot with two handles with the left arm",
+    "Pick the sauce can with flat bottom and position it next to the gray pot with blue circular lid",
+    "Lift the cylindrical sauce can and set it next to the kitchenpot with plastic knob on lid",
+    "Use the left arm to grab the sauce can with flat bottom, move it beside the metal pot with dark handles",
+    "Take the red plastic sauce can with the left arm, place it near the blue kitchenpot lid with black knob",
+    "Using the left arm, lift the red sauce can for holding condiments and place it by the metal pot with dark handles",
+    "Place the red cylindrical sauce can beside the cooking pot with two handles after picking it up",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the round blue-lid kitchenpot for stovetop",
+    "Bring the sauce can with white details over and set it near the kitchenpot with plastic knob on lid",
+    "Pick the red plastic sauce can with the left arm and relocate it near the blue-lid kitchenpot",
+    "Take the red plastic sauce can to the metal pot with dark handles using the left arm",
+    "Take the medium-sized red sauce can with the left arm, bring it, and set next to the blue kitchenpot lid with black knob",
+    "Move the smooth sauce can from its spot to near the gray pot with blue circular lid",
+    "Grab the red cylindrical sauce can, move it to the pots for boiling and cooking's side",
+    "Use the left arm to lift the red sauce can for holding condiments and place it next to the cooking pot with two handles",
+    "Lift the sauce can with white details, place it by the gray cylindrical pot",
+    "Lift the red cylindrical sauce can using the left arm and position it by the matte gray pot with durable lid",
+    "Use the left arm to lift the red cylindrical sauce can, then move it next to the matte gray pot with durable lid",
+    "With the left arm, grab the sauce can with white details and move to the gray kitchenpot",
+    "Grab the red sauce can for holding condiments, shift it, and place it close to the blue kitchenpot lid with black knob",
+    "Pick up the red sauce can for holding condiments using the left arm, transfer it beside the matte gray pot with durable lid",
+    "Grab the medium-sized red sauce can with the left arm and move it close to the round blue-lid kitchenpot for stovetop",
+    "Pick up the cylindrical sauce can and put it beside the pots for boiling and cooking",
+    "Move the smooth sauce can beside the cooking pot with two handles after lifting it",
+    "Use the left arm to lift the red sauce can and place it near the gray kitchenpot",
+    "Use the left arm to grab the sauce can with white details and transfer it near the gray pot with blue circular lid",
+    "Pick up the sauce can with flat top with the left arm and set by the gray kitchenpot",
+    "Grab the sauce can with white details and move it close to the gray cylindrical pot",
+    "Move the sauce can with white details to be next to the metal kitchenpot with brown handles",
+    "Pick the sauce can with white details up and move it next to the pots for boiling and cooking",
+    "Lift the red can with gold patterns and move it near the gray cylindrical pot",
+    "Place the red sauce can for holding condiments next to the matte gray pot with durable lid",
+    "Grab the red plastic sauce can with the left arm and position it beside the blue kitchenpot lid with black knob",
+    "Grab the sauce can with flat top with the left arm and set it near the gray pot with blue circular lid",
+    "Pick the smooth sauce can up with the left arm then place near the blue kitchenpot lid with black knob",
+    "Use the left arm to pick the red and gold sauce can up and set it beside the cooking pot with two handles",
+    "Lift the red plastic sauce can and set it beside the gray kitchenpot",
+    "Grab the sauce can with flat bottom, move it, and place by the metal kitchenpot with brown handles",
+    "Pick the cylindrical sauce can up and carefully position it beside the blue kitchenpot lid with black knob",
+    "Lift the sauce can with flat top using the left arm and drop it beside the gray cylindrical pot",
+    "Lift the red cylindrical sauce can and place it next to the metal pot with dark handles",
+    "Lift the red sauce can for holding condiments and set it next to the matte gray pot with durable lid",
+    "Use the left arm to pick the red can with gold patterns, position it near the kitchenpot with plastic knob on lid",
+    "Take the red cylindrical sauce can using the left arm, set it next to the cooking pot with two handles",
+    "Use the left arm to grab the sauce can with flat bottom and move it beside the cooking pot with two handles"
+  ]
+}

move_can_pot/episode_0000008/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    149,
+    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_0000008/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    149,
+    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_0000008/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000008",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000008.hdf5",
+  "num_frames": 149,
+  "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": [
+      149,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      149,
+      14
+    ],
+    "action_shape": [
+      149,
+      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 printed label sauce can, move it, and place by the gray kitchenpot",
+    "Pick up the brown top sauce can using the right arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can for condiments with the right arm and set it near the gray kitchenpot",
+    "Grab the yellow and brown sauce can and move it close to the cylindrical kitchenpot",
+    "Use the right arm to lift the medium sauce can and place it near the medium-sized kitchenpot",
+    "Set the brown top sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Lift the sauce can with ingredient information using the right arm and position it by the medium-sized kitchenpot",
+    "Lift the sauce can for condiments and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the printed label sauce can with the right arm and relocate it near the dark gray stove kitchenpot",
+    "Move the sauce can with brown lid from its spot to near the dark gray stove kitchenpot",
+    "Bring the medium sauce can over and set it near the metal kitchenpot",
+    "With the right arm, grab the yellow and brown sauce can and move to the dark gray stove kitchenpot",
+    "Pick the brown top sauce can up with the right arm then place near the round kitchenpot with handles",
+    "Lift the yellow and brown sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the right arm to grab the yellow and brown sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Take the yellow label sauce can using the right arm, set it next to the round kitchenpot with handles",
+    "Use the right arm to lift the metal sauce can and place it next to the gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the round kitchenpot with handles",
+    "Grab the smooth cylindrical sauce can with the right arm and move it close to the metal kitchenpot",
+    "Use the right arm to move the sauce can for condiments beside the dark gray stove kitchenpot",
+    "Place the sauce can with ingredient information next to the round kitchenpot with handles",
+    "Take the sauce can with brown lid with the right arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the right arm to grab the sauce can with brown lid and move it next to the metal kitchenpot",
+    "Use the right arm to pick the cylindrical sauce can, position it near the medium-sized kitchenpot",
+    "Pick the yellow label sauce can up and move it next to the medium kitchenpot made of metal",
+    "Place the sauce can with ingredient information beside the dark gray stove kitchenpot after picking it up",
+    "Lift the printed label sauce can, then place it next to the smooth gray kitchenpot",
+    "Using the right arm, lift the printed label sauce can and place it by the medium kitchenpot made of metal",
+    "Use the right arm to lift the cylindrical sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Pick up the brown sauce can and put it beside the round kitchenpot with handles",
+    "Lift the yellow and brown sauce can, place it by the medium-sized kitchenpot",
+    "Take the sauce can with brown lid with the right arm, place it near the kitchenpot for boiling and cooking",
+    "Lift the printed label sauce can and move it near the medium-sized kitchenpot",
+    "Lift the sauce can with brown lid using the right arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with brown lid with the right arm and position it beside the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Move the sauce can for condiments to the dark gray stove kitchenpot with the right arm",
+    "Set the smooth cylindrical sauce can right next to the metal kitchenpot",
+    "Pick up the smooth cylindrical sauce can with the right arm and set by the medium-sized kitchenpot",
+    "Use the right arm to grab the printed label sauce can, move it beside the smooth gray kitchenpot",
+    "Use the right arm to grab the smooth cylindrical sauce can and move it beside the kitchenpot with smooth exterior",
+    "Move the sauce can with ingredient information beside the medium-sized kitchenpot after lifting it",
+    "Lift the yellow label sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the sauce can with brown lid and set it next to the round kitchenpot with handles",
+    "Grab the cylindrical sauce can, move it to the medium kitchenpot made of metal's side",
+    "Move the sauce can with ingredient information to be next to the medium-sized kitchenpot",
+    "Use the right arm to take the metal sauce can to the kitchenpot for boiling and cooking",
+    "Take the yellow and brown sauce can to the smooth gray kitchenpot using the right arm",
+    "Use the right arm to pick the brown top sauce can up and set it beside the medium kitchenpot made of metal",
+    "Grab the smooth cylindrical sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Pick up the medium sauce can using the right arm, transfer it beside the medium kitchenpot made of metal",
+    "Grab the brown sauce can with the right arm and set it near the smooth gray kitchenpot",
+    "Grab the brown sauce can and move it close to the cylindrical kitchenpot",
+    "Use the right arm to lift the sauce can for condiments and place it near the kitchenpot with smooth exterior",
+    "Set the sauce can with ingredient information near the dark gray stove kitchenpot after picking it up",
+    "Lift the metal sauce can using the right arm and position it by the kitchenpot with smooth exterior",
+    "Lift the brown sauce can and set it beside the medium kitchenpot made of metal",
+    "Pick the yellow label sauce can with the right arm and relocate it near the cooking kitchenpot with side grips",
+    "Move the sauce can for condiments from its spot to near the metal kitchenpot",
+    "Bring the yellow label sauce can over and set it near the dark gray stove kitchenpot",
+    "With the right arm, grab the printed label sauce can and move to the cylindrical kitchenpot",
+    "Pick the sauce can for condiments up with the right arm then place near the kitchenpot for boiling and cooking",
+    "Lift the yellow label sauce can and set it next to the cylindrical kitchenpot",
+    "Use the right arm to grab the sauce can with ingredient information and transfer it near the metal kitchenpot",
+    "Take the printed label sauce can using the right arm, set it next to the round kitchenpot with handles",
+    "Use the right arm to lift the smooth cylindrical sauce can and place it next to the gray kitchenpot",
+    "Pick the medium sauce can and position it next to the medium kitchenpot made of metal",
+    "Grab the sauce can with ingredient information with the right arm and move it close to the dark gray stove kitchenpot",
+    "Use the right arm to move the sauce can for condiments beside the kitchenpot for boiling and cooking",
+    "Place the metal sauce can next to the medium-sized kitchenpot",
+    "Take the sauce can for condiments with the right arm, bring it, and set next to the gray kitchenpot",
+    "Use the right arm to grab the metal sauce can and move it next to the medium-sized kitchenpot",
+    "Use the right arm to pick the sauce can with ingredient information, position it near the metal kitchenpot",
+    "Pick the brown top sauce can up and move it next to the gray kitchenpot",
+    "Place the brown top sauce can beside the cylindrical kitchenpot after picking it up",
+    "Lift the smooth cylindrical sauce can, then place it next to the medium kitchenpot made of metal",
+    "Using the right arm, lift the cylindrical sauce can and place it by the metal kitchenpot",
+    "Use the right arm to lift the brown sauce can, then move it next to the gray kitchenpot",
+    "Pick up the printed label sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can with ingredient information, place it by the kitchenpot for boiling and cooking",
+    "Take the sauce can for condiments with the right arm, place it near the medium kitchenpot made of metal",
+    "Lift the brown top sauce can and move it near the gray kitchenpot",
+    "Lift the brown top sauce can using the right arm and drop it beside the medium-sized kitchenpot",
+    "Grab the sauce can for condiments with the right arm and position it beside the gray kitchenpot",
+    "Pick the printed label sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Move the cylindrical sauce can to the medium-sized kitchenpot with the right arm",
+    "Set the yellow and brown sauce can right next to the kitchenpot with smooth exterior",
+    "Pick up the smooth cylindrical sauce can with the right arm and set by the smooth gray kitchenpot",
+    "Use the right arm to grab the sauce can for condiments, move it beside the gray kitchenpot",
+    "Use the right arm to grab the printed label sauce can and move it beside the medium kitchenpot made of metal",
+    "Move the smooth cylindrical sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the metal sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the brown top sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Lift the sauce can with brown lid and set it next to the dark gray stove kitchenpot",
+    "Grab the yellow and brown sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Move the printed label sauce can to be next to the medium kitchenpot made of metal",
+    "Use the right arm to take the brown sauce can to the kitchenpot for boiling and cooking",
+    "Take the yellow label sauce can to the cylindrical kitchenpot using the right arm",
+    "Use the right arm to pick the brown top sauce can up and set it beside the smooth gray kitchenpot"
+  ]
+}