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blocks_ranking_rgb/episode_0000040/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    478,
+    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"
+}

blocks_ranking_rgb/episode_0000040/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "blocks_ranking_rgb",
+  "episode": "episode_0000040",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/blocks_ranking_rgb/aloha_agilex/data/episode_0000040.hdf5",
+  "num_frames": 478,
+  "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": [
+      478,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      478,
+      14
+    ],
+    "action_shape": [
+      478,
+      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 red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, green block, and blue block sequentially and place them in a row from left to right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, green block, and blue block sequentially and place them in a row from left to right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right."
+  ]
+}

click_alarmclock/episode_0000040/TCP_third/left_state.npy

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+oid sha256:1ff36db7a62e00280debe1e25866fa047204b52771bef8c64408d1aaef21732a
+size 2620

click_alarmclock/episode_0000040/TCP_third/right_state.npy

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+version https://git-lfs.github.com/spec/v1
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+size 2620