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move_can_pot/episode_0000049/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    150,
+    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_0000049/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000049",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000049.hdf5",
+  "num_frames": 150,
+  "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": [
+      150,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      150,
+      14
+    ],
+    "action_shape": [
+      150,
+      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": [
+    "Place the sauce can with ingredient information next to the dark gray stove kitchenpot",
+    "Grab the sauce can with brown lid with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the gray kitchenpot",
+    "Lift the brown top sauce can and place it next to the smooth gray kitchenpot",
+    "Lift the yellow label sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with brown lid up with the left arm then place near the cooking kitchenpot with side grips",
+    "Move the brown sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Grab the yellow and brown sauce can, move it to the medium kitchenpot made of metal's side",
+    "Move the sauce can with ingredient information from its spot to near the metal kitchenpot",
+    "Pick up the medium sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the metal sauce can and move to the cylindrical kitchenpot",
+    "Move the sauce can with ingredient information to the smooth gray kitchenpot with the left arm",
+    "Take the sauce can with brown lid to the dark gray stove kitchenpot using the left arm",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it beside the metal kitchenpot",
+    "Bring the sauce can with brown lid over and set it near the gray kitchenpot",
+    "Use the left arm to lift the yellow and brown sauce can and place it near the cylindrical kitchenpot",
+    "Pick the brown sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can and transfer it near the round kitchenpot with handles",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it next to the gray kitchenpot",
+    "Take the yellow label sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the smooth cylindrical sauce can, then move it next to the smooth gray kitchenpot",
+    "Set the smooth cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Place the sauce can with ingredient information beside the gray kitchenpot after picking it up",
+    "Take the sauce can with ingredient information with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the smooth cylindrical sauce can and set it beside the metal kitchenpot",
+    "Lift the yellow and brown sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Set the smooth cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Grab the brown sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can for condiments beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the smooth cylindrical sauce can up and set it beside the gray kitchenpot",
+    "Pick up the brown top sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Take the medium sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick the sauce can with brown lid up and move it next to the cylindrical kitchenpot",
+    "Pick the metal sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Lift the sauce can with ingredient information, place it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the printed label sauce can, position it near the smooth gray kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with ingredient information using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the brown sauce can, move it beside the cooking kitchenpot with side grips",
+    "Pick the sauce can with brown lid and position it next to the gray kitchenpot",
+    "Use the left arm to take the medium sauce can to the smooth gray kitchenpot",
+    "Move the printed label sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with ingredient information and move it near the round kitchenpot with handles",
+    "Pick up the printed label sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can and place it next to the metal kitchenpot",
+    "Lift the brown sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the yellow label sauce can and set it next to the kitchenpot with smooth exterior",
+    "Grab the printed label sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Grab the sauce can with ingredient information and move it close to the gray kitchenpot",
+    "Grab the brown top sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Place the cylindrical sauce can next to the dark gray stove kitchenpot",
+    "Grab the smooth cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Grab the sauce can with ingredient information with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the yellow label sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the printed label sauce can, then place it next to the medium-sized kitchenpot",
+    "Pick the yellow label sauce can up with the left arm then place near the metal kitchenpot",
+    "Move the yellow and brown sauce can beside the metal kitchenpot after lifting it",
+    "Grab the metal sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Move the smooth cylindrical sauce can from its spot to near the round kitchenpot with handles",
+    "Pick up the medium sauce can and put it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the brown sauce can and move to the dark gray stove kitchenpot",
+    "Move the printed label sauce can to the medium kitchenpot made of metal with the left arm",
+    "Take the yellow label sauce can to the medium kitchenpot made of metal using the left arm",
+    "Use the left arm to grab the sauce can with brown lid and move it beside the cooking kitchenpot with side grips",
+    "Bring the metal sauce can over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can for condiments and place it near the dark gray stove kitchenpot",
+    "Pick the brown sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow label sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the printed label sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Take the sauce can with ingredient information using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with brown lid, then move it next to the round kitchenpot with handles",
+    "Set the yellow and brown sauce can right next to the dark gray stove kitchenpot",
+    "Place the yellow label sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Take the smooth cylindrical sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Lift the printed label sauce can and set it beside the medium-sized kitchenpot",
+    "Lift the brown sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Set the metal sauce can near the dark gray stove kitchenpot after picking it up",
+    "Grab the medium sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to move the sauce can for condiments beside the gray kitchenpot",
+    "Use the left arm to pick the yellow and brown sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Pick up the smooth cylindrical sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Take the brown sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Pick the sauce can with ingredient information with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Lift the brown sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to pick the printed label sauce can, position it near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the brown top sauce can and place it by the kitchenpot with smooth exterior",
+    "Lift the yellow and brown sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the printed label sauce can, move it beside the round kitchenpot with handles",
+    "Pick the sauce can with brown lid and position it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the metal sauce can to the metal kitchenpot",
+    "Move the printed label sauce can to be next to the round kitchenpot with handles",
+    "Lift the sauce can with ingredient information and move it near the gray cylindrical metal kitchenpot",
+    "Pick up the yellow and brown sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to lift the yellow and brown sauce can and place it next to the round kitchenpot with handles",
+    "Lift the sauce can with brown lid and set it next to the kitchenpot for boiling and cooking",
+    "Lift the printed label sauce can and set it next to the round kitchenpot with handles",
+    "Grab the sauce can with brown lid, shift it, and place it close to the round kitchenpot with handles",
+    "Grab the brown top sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can, move it, and place by the medium-sized kitchenpot"
+  ]
+}