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click_bell/episode_0000004/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    80,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

click_bell/episode_0000004/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    80,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

click_bell/episode_0000004/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000004",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000004.hdf5",
+  "num_frames": 80,
+  "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": [
+      80,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      80,
+      14
+    ],
+    "action_shape": [
+      80,
+      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": [
+    "Press the flat-topped bell's top center on the table.",
+    "Click the designated center of the round bell.",
+    "Press down the compact bell with round base's top center gently.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Press the center top of the bell with circular body.",
+    "Click using the left arm on the round bell's center.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Tap the top center of the flat-topped bell.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Locate the bell with brown base and click its top center.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Press down the top of the blue bell using the left arm.",
+    "Use the left arm to press the small blue and brown bell's top section.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Direct the left arm to click the top of the round bell.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Press the specified top area of the round bell.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Click the designated center of the bell with brown base.",
+    "Press down the smooth blue bell's top center gently.",
+    "Activate the blue bell by pressing its top center.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Press the center top of the blue bell.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Locate the smooth blue bell and click its top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Click the top center of the round bell on table.",
+    "Have the left arm click at the blue bell's top center.",
+    "Press the top center of the round bell on table.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Press the center of the round bell using the left arm.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press the specified top area of the bell with circular body.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Click the designated center of the bell with protruding knob.",
+    "Press down the compact bell with round base's top center gently.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Ask the left arm to interact with the bell with protruding knob's top.",
+    "Tap the top center of the compact bell with round base.",
+    "Press the bell with brown base's top center with the left arm firmly.",
+    "Locate the bell with brown base and click its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Press the top center of the bell with brown base on table.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Push the center of the blue bell using the left arm.",
+    "Click the bell with circular body's top center using the left arm.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Press the center of the smooth blue bell using the left arm.",
+    "Push the bell with circular body's <top center> on the table",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Press the flat-topped bell's top center on the table.",
+    "Click the designated center of the flat-topped bell.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Activate the blue bell by pressing its top center.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Tap the brown-bottomed bell's top center with the left arm."
+  ]
+}

click_bell/episode_0000008/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    80,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

click_bell/episode_0000008/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    80,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

click_bell/episode_0000008/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000008",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000008.hdf5",
+  "num_frames": 80,
+  "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": [
+      80,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      80,
+      14
+    ],
+    "action_shape": [
+      80,
+      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": [
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Locate the round bell and click its top center.",
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Command the right arm to press the bell with brown base's top.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Press the center top of the bell with protruding knob.",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Click the top center of the flat-topped bell on table.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Ask the right arm to interact with the metal bell with plastic parts's top.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Tap the top center of the smooth blue bell.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Click the designated center of the small blue and brown bell.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Use the right arm to touch the blue dome-shaped bell's top center.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Press the specified top area of the bell with circular body.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Locate the smooth blue bell and click its top center.",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Click the blue bell at its top center on table.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Command the right arm to press the blue dome-shaped bell's top.",
+    "Press the flat-topped bell's top center on the table.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Press the center top of the flat-topped bell.",
+    "Click the blue bell's top center using the right arm.",
+    "Click the top center of the flat-topped bell on table.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Press down the bell with brown base's top center gently.",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Push the center of the bell with brown base using the right arm.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Tap the round bell's top center with the right arm.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Push the bell with circular body's <top center> on the table",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Pinpoint the blue bell and click its top center.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Direct the right arm to touch the blue bell's top.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Click the smooth blue bell at its top center on table.",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Press the flat-topped bell's top center on the table.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Activate the round bell by pressing its top center.",
+    "Press the center top of the compact bell with round base.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Press down the bell with circular body's top center gently.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Push the center of the round bell using the right arm.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Tap the top center of the flat-topped bell.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Push the bell with circular body's <top center> on the table",
+    "Click the designated center of the bell with protruding knob.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Press the center of the round bell using the right arm.",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Locate the bell with brown base and click its top center.",
+    "Direct the right arm to click the top of the round bell.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Click the round bell at its top center on table.",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Command the right arm to press the metal bell with plastic parts's top."
+  ]
+}

move_can_pot/episode_0000011/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    151,
+    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_0000011/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    151,
+    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_0000011/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000011",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000011.hdf5",
+  "num_frames": 151,
+  "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": [
+      151,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      151,
+      14
+    ],
+    "action_shape": [
+      151,
+      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 matte gray pot with durable lid",
+    "Pick up the sturdy sauce can with glossy finish with the left arm and set by the pots for boiling and cooking",
+    "Lift the small metal sauce container and place it next to the matte gray pot with durable lid",
+    "Use the left arm to grab the red can with orange label and move it beside the gray pot with blue circular lid",
+    "Take the smooth sauce can with the left arm, place it near the cooking pot with two handles",
+    "Use the left arm to lift the sauce can with printed design and place it next to the gray pot with blue circular lid",
+    "Use the left arm to grab the sauce can with printed design, move it beside the gray cylindrical pot",
+    "Using the left arm, lift the compact sauce can with plastic lid and place it by the metal pot with dark handles",
+    "Use the left arm to pick the sauce can with red lid up and set it beside the gray cylindrical pot",
+    "Grab the metal body sauce can, move it to the gray pot with blue circular lid's side",
+    "Move the sauce can with red lid beside the cooking pot with two handles after lifting it",
+    "Pick the sauce can with printed design up and move it next to the matte gray pot with durable lid",
+    "Use the left arm to grab the small cylindrical sauce can and move it next to the cooking pot with two handles",
+    "Grab the cylindrical sauce can with the left arm and set it near the metal pot with dark handles",
+    "Use the left arm to grab the small metal sauce container and transfer it near the blue kitchenpot lid with black knob",
+    "Grab the small metal sauce container with the left arm and position it beside the metal pot with dark handles",
+    "Move the red can with orange label to the pots for boiling and cooking with the left arm",
+    "Pick up the compact sauce can with plastic lid and put it beside the metal pot with dark handles",
+    "Lift the compact sauce can with plastic lid and move it near the kitchenpot with plastic knob on lid",
+    "Pick the red can with orange label with the left arm and relocate it near the kitchenpot with plastic knob on lid",
+    "Lift the cylindrical sauce can, then place it next to the blue kitchenpot lid with black knob",
+    "Move the sauce can with printed design from its spot to near the cooking pot with two handles",
+    "Use the left arm to lift the red can with orange label, then move it next to the cooking pot with two handles",
+    "Pick the small metal sauce container and position it next to the metal pot with dark handles",
+    "Pick up the metal body sauce can using the left arm, transfer it beside the pots for boiling and cooking",
+    "Lift the smooth sauce can and set it next to the blue kitchenpot lid with black knob",
+    "Set the compact sauce can with plastic lid near the cooking pot with two handles after picking it up",
+    "Grab the sauce can with rounded top cap, shift it, and place it close to the kitchenpot with plastic knob on lid",
+    "Take the metal body sauce can to the matte gray pot with durable lid using the left arm",
+    "Use the left arm to pick the sauce can with printed design, position it near the gray kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the matte gray pot with durable lid",
+    "Lift the metal body sauce can using the left arm and drop it beside the metal kitchenpot with brown handles",
+    "Bring the metal body sauce can over and set it near the gray pot with blue circular lid",
+    "Move the red can with orange label to be next to the cooking pot with two handles",
+    "Pick the smooth sauce can up with the left arm then place near the gray kitchenpot",
+    "Use the left arm to take the compact sauce can with plastic lid to the kitchenpot with plastic knob on lid",
+    "Take the small cylindrical sauce can with the left arm, bring it, and set next to the gray pot with blue circular lid",
+    "Lift the red and orange sauce can using the left arm and position it by the gray kitchenpot",
+    "Set the cylindrical sauce can right next to the cooking pot with two handles",
+    "Place the compact sauce can with plastic lid next to the round blue-lid kitchenpot for stovetop",
+    "Grab the red can with orange label, move it, and place by the gray cylindrical pot",
+    "Use the left arm to lift the red can with orange label and place it near the kitchenpot with plastic knob on lid",
+    "With the left arm, grab the sauce can with printed design and move to the gray kitchenpot",
+    "Grab the red can with orange label with the left arm and move it close to the gray pot with blue circular lid",
+    "Place the small cylindrical sauce can beside the gray cylindrical pot after picking it up",
+    "Lift the small cylindrical sauce can and set it beside the gray pot with blue circular lid",
+    "Grab the sturdy sauce can with glossy finish and move it close to the blue kitchenpot lid with black knob",
+    "Lift the red can with orange label and set it next to the blue-lid kitchenpot",
+    "Lift the red can with orange label, place it by the blue kitchenpot lid with black knob",
+    "Take the sauce can with rounded top cap using the left arm, set it next to the pots for boiling and cooking",
+    "Use the left arm to move the red can with orange label beside the gray cylindrical pot",
+    "Pick up the small metal sauce container with the left arm and set by the kitchenpot with plastic knob on lid",
+    "Lift the sturdy sauce can with glossy finish and place it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to grab the compact sauce can with plastic lid and move it beside the gray cylindrical pot",
+    "Take the compact sauce can with plastic lid with the left arm, place it near the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to lift the small cylindrical sauce can and place it next to the metal kitchenpot with brown handles",
+    "Use the left arm to grab the red and orange sauce can, move it beside the gray pot with blue circular lid",
+    "Using the left arm, lift the sauce can with rounded top cap and place it by the gray pot with blue circular lid",
+    "Use the left arm to pick the red and orange sauce can up and set it beside the pots for boiling and cooking",
+    "Grab the compact sauce can with plastic lid, move it to the gray pot with blue circular lid's side",
+    "Move the sauce can with rounded top cap beside the gray pot with blue circular lid after lifting it",
+    "Pick the metal body sauce can up and move it next to the matte gray pot with durable lid",
+    "Use the left arm to grab the small metal sauce container and move it next to the gray kitchenpot",
+    "Grab the sauce can with red lid with the left arm and set it near the metal pot with dark handles",
+    "Use the left arm to grab the metal body sauce can and transfer it near the kitchenpot with plastic knob on lid",
+    "Grab the sauce can with rounded top cap with the left arm and position it beside the gray kitchenpot",
+    "Move the metal body sauce can to the matte gray pot with durable lid with the left arm",
+    "Pick up the small cylindrical sauce can and put it beside the kitchenpot with plastic knob on lid",
+    "Lift the red and orange sauce can and move it near the cooking pot with two handles",
+    "Pick the compact sauce can with plastic lid with the left arm and relocate it near the gray cylindrical pot",
+    "Lift the metal body sauce can, then place it next to the gray cylindrical pot",
+    "Move the small cylindrical sauce can from its spot to near the blue-lid kitchenpot",
+    "Use the left arm to lift the red can with orange label, then move it next to the gray pot with blue circular lid",
+    "Pick the metal body sauce can and position it next to the matte gray pot with durable lid",
+    "Pick up the red can with orange label using the left arm, transfer it beside the blue kitchenpot lid with black knob",
+    "Lift the sauce can with red lid and set it next to the kitchenpot with plastic knob on lid",
+    "Set the sauce can with red lid near the metal pot with dark handles after picking it up",
+    "Grab the small metal sauce container, shift it, and place it close to the matte gray pot with durable lid",
+    "Take the sauce can with printed design to the metal kitchenpot with brown handles using the left arm",
+    "Use the left arm to pick the smooth sauce can, position it near the blue-lid kitchenpot",
+    "Pick the metal body sauce can up and carefully position it beside the matte gray pot with durable lid",
+    "Lift the small cylindrical sauce can using the left arm and drop it beside the matte gray pot with durable lid",
+    "Bring the compact sauce can with plastic lid over and set it near the blue kitchenpot lid with black knob",
+    "Move the smooth sauce can to be next to the metal kitchenpot with brown handles",
+    "Pick the smooth sauce can up with the left arm then place near the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to take the sauce can with rounded top cap to the gray cylindrical pot",
+    "Take the small cylindrical sauce can with the left arm, bring it, and set next to the pots for boiling and cooking",
+    "Lift the red and orange sauce can using the left arm and position it by the blue kitchenpot lid with black knob",
+    "Set the sturdy sauce can with glossy finish right next to the pots for boiling and cooking",
+    "Place the red and orange sauce can next to the metal kitchenpot with brown handles",
+    "Grab the small metal sauce container, move it, and place by the cooking pot with two handles",
+    "Use the left arm to lift the metal body sauce can and place it near the kitchenpot with plastic knob on lid",
+    "With the left arm, grab the sauce can with red lid and move to the blue-lid kitchenpot",
+    "Grab the sauce can with rounded top cap with the left arm and move it close to the gray kitchenpot",
+    "Place the sauce can with printed design beside the blue kitchenpot lid with black knob after picking it up",
+    "Lift the small cylindrical sauce can and set it beside the blue-lid kitchenpot",
+    "Grab the compact sauce can with plastic lid and move it close to the blue-lid kitchenpot",
+    "Lift the compact sauce can with plastic lid and set it next to the gray pot with blue circular lid",
+    "Lift the sauce can with printed design, place it by the blue kitchenpot lid with black knob",
+    "Take the red can with orange label using the left arm, set it next to the cooking pot with two handles"
+  ]
+}

move_pillbottle_pad/episode_0000032/TCP_third/left_state.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7da9d5d90a4f510b19b8e7e18dbe710c9f85677e0cf289149293da454a6fd7ff
+size 4580

move_pillbottle_pad/episode_0000032/TCP_third/right_state.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b21fd6b7fe444c16d197707ee7b939d4ad4b8a3a16b45b62b066cf00be12931e
+size 4580