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beat_block_hammer/episode_0000024/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    125,
+    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_0000024/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    125,
+    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_0000024/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000024",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000024.hdf5",
+  "num_frames": 125,
+  "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": [
+      125,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      125,
+      14
+    ],
+    "action_shape": [
+      125,
+      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 medium-sized metal hammer with the right arm and beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Lift the silver hammer and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the silver hammer and use it to hit",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Grab the grippy handle hammer and use it to hit"
+  ]
+}

beat_block_hammer/episode_0000041/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_0000041/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000041",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000041.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": [
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Hold the grippy handle hammer then hit the block",
+    "Take the silver hammer and beat the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the silver hammer to beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the silver hammer and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the hammer for nails, then strike the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the grippy handle hammer, then hit the block"
+  ]
+}

beat_block_hammer/episode_0000042/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    121,
+    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_0000042/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    121,
+    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_0000042/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000042",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000042.hdf5",
+  "num_frames": 121,
+  "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": [
+      121,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      121,
+      14
+    ],
+    "action_shape": [
+      121,
+      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 grippy handle hammer from the table and strike",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Lift the hammer for nails, then beat the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Hold the silver hammer then hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Lift the hammer for nails, then beat the block.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Use the silver hammer to hammer the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the silver hammer to beat the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Catch the hammer for nails and use it on the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Take the black and yellow hammer grip and strike the block"
+  ]
+}

click_bell/episode_0000000/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    81,
+    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_0000000/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    81,
+    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_0000000/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000000",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000000.hdf5",
+  "num_frames": 81,
+  "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": [
+      81,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      81,
+      14
+    ],
+    "action_shape": [
+      81,
+      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 top center of the bell with metallic top and plastic base on table.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Press the center top of the small desk bell for tapping.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Press the specified top area of the white and black colored bell.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Click the designated center of the compact tabletop bell.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Direct the left arm to touch the white bell's top.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press the bell with black flat base's top center on the table.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Tap the top center of the plastic and metal bell.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Press down the white and black colored bell's top center gently.",
+    "Click the top center of the white bell on table.",
+    "Direct the left arm to click the top of the white bell.",
+    "Locate the white dome bell and click its top center.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Press the specified top area of the white bell.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Ask the left arm to interact with the compact tabletop bell's top.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the white dome bell's top center on the table.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Use the left arm to press the bell shaped like half-circle dome's top section.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Press the center top of the bell with black flat base.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Click the designated center of the white bell with black bottom.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Click the white bell's <top center> using the left arm",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Press down the bell with black flat base's top center gently.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Press the top center of the white dome bell on table.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Press the center top of the white bell.",
+    "Click the bell shaped like half-circle dome's top center using the left arm.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Press down the top of the compact tabletop bell using the left arm."
+  ]
+}

click_bell/episode_0000015/TCP_head/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": "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_0000015/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_0000015/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000015",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000015.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": [
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Make the left arm interact with the bell with circular body's top center.",
+    "Guide the left arm to click the round bell's top center.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Press the specified top area of the bell with protruding knob.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click the smooth blue bell at its top center on table.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Have the left arm click at the smooth blue bell's top center.",
+    "Press the top center of the compact bell with round base on table.",
+    "Click the top center of the round bell on table.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Push the round bell's <top center> on the table",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Click the metal bell with plastic parts's top center using the left arm.",
+    "Press the center top of the bell with circular body.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Tap the top center of the bell with brown base.",
+    "Press down the compact bell with round base's top center gently.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Click the designated center of the flat-topped bell.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Press down the top of the round bell using the left arm.",
+    "Press the flat-topped bell's top center on the table.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Make the left arm interact with the flat-topped bell's top center.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Tap the blue bell's top center with the left arm.",
+    "Click the blue bell's <top center> using the left arm",
+    "Press the specified top area of the compact bell with round base.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Have the left arm click at the blue bell's top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Click the top center of the compact bell with round base on table.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Locate the bell with circular body and click its top center.",
+    "Push the bell with circular body's <top center> on the table",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Click the designated center of the round bell.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Click using the left arm on the blue bell's center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Click the blue bell's <top center> using the left arm",
+    "Press the specified top area of the blue bell.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "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 top center of the small blue and brown bell on table.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Press the center top of the smooth blue bell.",
+    "Tap the round bell's top center with the left arm.",
+    "Tap the top center of the bell with protruding knob.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Push the center of the small blue and brown bell using the left arm.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Press the round bell's top center on the table.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Guide the left arm to click the flat-topped bell's top center."
+  ]
+}

click_bell/episode_0000033/TCP_head/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": "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_0000033/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"
+}

click_bell/episode_0000033/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000033",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000033.hdf5",
+  "num_frames": 79,
+  "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": [
+      79,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      79,
+      14
+    ],
+    "action_shape": [
+      79,
+      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": [
+    "Push the center of the white dome bell using the left arm.",
+    "Activate the white bell by pressing its top center.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Make the left arm interact with the bell with metallic top and plastic base's top center.",
+    "Click the top center of the bell with black flat base on table.",
+    "Click the designated center of the white dome bell.",
+    "Press the center of the white bell using the left arm.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Locate the white and black colored bell and click its top center.",
+    "Have the left arm click at the white bell's top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Press the specified top area of the white and black colored bell.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Press the center top of the white bell.",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Command the left arm to press the white bell's top.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Press the plastic and metal bell's top center with the left arm firmly.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Press down the white bell's top center gently.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Click the top center of the white dome bell on table.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Activate the white bell by pressing its top center.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Press the white dome bell's top center on the table.",
+    "Press down the white bell's top center gently.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Press the center of the white bell using the left arm.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Locate the white bell and click its top center.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Tap the white bell's top center with the left arm.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Click the bell with black flat base at its top center on table.",
+    "Press the specified top area of the white and black colored bell.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Press the top center of the white and black colored bell on table.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Click the bell with black flat base's <top center> using the left arm"
+  ]
+}

move_can_pot/episode_0000005/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    161,
+    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_0000048/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    152,
+    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_0000048/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000048",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000048.hdf5",
+  "num_frames": 152,
+  "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": [
+      152,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      152,
+      14
+    ],
+    "action_shape": [
+      152,
+      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": [
+    "Move the small cylindrical sauce can to the metallic pot with plastic handles with the left arm",
+    "Pick the smooth sauce can up and carefully position it beside the rounded pot with curved handles",
+    "Take the small cylindrical sauce can to the medium silver pot for cooking using the left arm",
+    "Move the red and orange sauce can beside the rounded silver pot with handles after lifting it",
+    "Take the compact sauce can with plastic lid with the left arm, bring it, and set next to the metallic pot with plastic handles",
+    "Use the left arm to pick the metal body sauce can up and set it beside the silver kitchenpot with black grips",
+    "Lift the metal body sauce can and set it beside the rounded pot with curved handles",
+    "Lift the sauce can with rounded top cap and set it next to the kitchenpot with smooth metallic lid",
+    "Lift the sauce can with rounded top cap and move it near the silver kitchenpot with black grips",
+    "Grab the sauce can with printed design and move it close to the silver pot with black grips",
+    "Set the sauce can with printed design right next to the kitchenpot with smooth metallic lid",
+    "Lift the metal body sauce can and set it next to the metallic pot with plastic handles",
+    "Grab the sturdy sauce can with glossy finish, move it to the silver pot with black grips's side",
+    "Use the left arm to grab the smooth sauce can and move it beside the metallic pot with matte finish",
+    "Pick up the cylindrical sauce can and put it beside the rounded pot with curved handles",
+    "Grab the sturdy sauce can with glossy finish, move it, and place by the silver kitchenpot",
+    "Set the sturdy sauce can with glossy finish near the silver pot with matching lid after picking it up",
+    "Place the red can with orange label beside the metallic pot with plastic handles after picking it up",
+    "Pick up the small metal sauce container using the left arm, transfer it beside the kitchenpot with smooth metallic lid",
+    "Use the left arm to lift the sauce can with rounded top cap, then move it next to the silver kitchenpot with black grips",
+    "Use the left arm to grab the red can with orange label, move it beside the rounded silver pot with handles",
+    "Use the left arm to grab the sauce can with red lid and transfer it near the silver pot with matching lid",
+    "Bring the red and orange sauce can over and set it near the kitchenpot with smooth metallic lid",
+    "Take the red and orange sauce can using the left arm, set it next to the rounded pot with curved handles",
+    "Use the left arm to pick the small metal sauce container, position it near the silver kitchenpot",
+    "With the left arm, grab the smooth sauce can and move to the rounded pot with curved handles",
+    "Lift the smooth sauce can using the left arm and position it by the silver pot with matching lid",
+    "Using the left arm, lift the smooth sauce can and place it by the silver kitchenpot",
+    "Use the left arm to move the sauce can with red lid beside the medium-sized pot with plastic grips",
+    "Take the metal body sauce can with the left arm, place it near the cooking pot with snug-fitting lid",
+    "Use the left arm to lift the red can with orange label and place it near the metallic pot with plastic handles",
+    "Pick the red can with orange label up and move it next to the silver kitchenpot",
+    "Pick the sauce can with red lid with the left arm and relocate it near the rounded silver pot with handles",
+    "Place the red can with orange label next to the rounded pot with curved handles",
+    "Move the sauce can with printed design from its spot to near the rounded pot with curved handles",
+    "Use the left arm to grab the small cylindrical sauce can and move it next to the metallic pot with plastic handles",
+    "Grab the small metal sauce container with the left arm and set it near the medium-sized pot with plastic grips",
+    "Use the left arm to lift the sauce can with rounded top cap and place it next to the medium silver pot for cooking",
+    "Lift the metal body sauce can and place it next to the rounded silver pot with handles",
+    "Pick up the sauce can with rounded top cap with the left arm and set by the rounded silver pot with handles",
+    "Grab the small cylindrical sauce can with the left arm and position it beside the metallic pot with matte finish",
+    "Grab the sauce can with rounded top cap with the left arm and move it close to the cooking pot with snug-fitting lid",
+    "Pick the smooth sauce can and position it next to the medium-sized pot with plastic grips",
+    "Pick the sauce can with printed design up with the left arm then place near the silver kitchenpot",
+    "Use the left arm to take the metal body sauce can to the silver pot with matching lid",
+    "Move the sauce can with printed design to be next to the silver pot with black grips",
+    "Lift the small cylindrical sauce can, place it by the silver pot with matching lid",
+    "Grab the sauce can with printed design, shift it, and place it close to the silver kitchenpot",
+    "Lift the compact sauce can with plastic lid, then place it next to the silver kitchenpot",
+    "Lift the sturdy sauce can with glossy finish using the left arm and drop it beside the rounded silver pot with handles",
+    "Move the sauce can with red lid to the medium-sized pot with plastic grips with the left arm",
+    "Pick the red and orange sauce can up and carefully position it beside the metallic pot with matte finish",
+    "Take the compact sauce can with plastic lid to the metallic pot with matte finish using the left arm",
+    "Move the smooth sauce can beside the cooking pot with snug-fitting lid after lifting it",
+    "Take the sauce can with red lid with the left arm, bring it, and set next to the rounded silver pot with handles",
+    "Use the left arm to pick the compact sauce can with plastic lid up and set it beside the rounded pot with curved handles",
+    "Lift the sauce can with rounded top cap and set it beside the silver pot with black grips",
+    "Lift the sauce can with printed design and set it next to the kitchenpot with smooth metallic lid",
+    "Lift the red can with orange label and move it near the rounded silver pot with handles",
+    "Grab the small cylindrical sauce can and move it close to the silver pot with black grips",
+    "Set the cylindrical sauce can right next to the rounded pot with curved handles",
+    "Lift the compact sauce can with plastic lid and set it next to the metallic pot with matte finish",
+    "Grab the sauce can with red lid, move it to the silver kitchenpot with black grips's side",
+    "Use the left arm to grab the compact sauce can with plastic lid and move it beside the silver kitchenpot with black grips",
+    "Pick up the sauce can with rounded top cap and put it beside the cooking pot with snug-fitting lid",
+    "Grab the red can with orange label, move it, and place by the silver kitchenpot with black grips",
+    "Set the metal body sauce can near the metallic pot with plastic handles after picking it up",
+    "Place the red and orange sauce can beside the medium-sized pot with plastic grips after picking it up",
+    "Pick up the sauce can with printed design using the left arm, transfer it beside the silver kitchenpot",
+    "Use the left arm to lift the small metal sauce container, then move it next to the silver kitchenpot",
+    "Use the left arm to grab the metal body sauce can, move it beside the rounded silver pot with handles",
+    "Use the left arm to grab the sauce can with printed design and transfer it near the silver kitchenpot with black grips",
+    "Bring the sauce can with red lid over and set it near the silver pot with matching lid",
+    "Take the red and orange sauce can using the left arm, set it next to the silver kitchenpot with black grips",
+    "Use the left arm to pick the sauce can with red lid, position it near the silver pot with matching lid",
+    "With the left arm, grab the cylindrical sauce can and move to the medium-sized pot with plastic grips",
+    "Lift the metal body sauce can using the left arm and position it by the silver kitchenpot with black grips",
+    "Using the left arm, lift the compact sauce can with plastic lid and place it by the silver pot with black grips",
+    "Use the left arm to move the sauce can with printed design beside the medium-sized pot with plastic grips",
+    "Take the compact sauce can with plastic lid with the left arm, place it near the silver pot with matching lid",
+    "Use the left arm to lift the sturdy sauce can with glossy finish and place it near the kitchenpot with smooth metallic lid",
+    "Pick the sauce can with rounded top cap up and move it next to the rounded silver pot with handles",
+    "Pick the sauce can with rounded top cap with the left arm and relocate it near the kitchenpot with smooth metallic lid",
+    "Place the small metal sauce container next to the silver kitchenpot with black grips",
+    "Move the metal body sauce can from its spot to near the silver kitchenpot",
+    "Use the left arm to grab the sauce can with red lid and move it next to the kitchenpot with smooth metallic lid",
+    "Grab the red and orange sauce can with the left arm and set it near the silver kitchenpot",
+    "Use the left arm to lift the red can with orange label and place it next to the rounded pot with curved handles",
+    "Lift the red can with orange label and place it next to the silver kitchenpot",
+    "Pick up the small metal sauce container with the left arm and set by the silver pot with matching lid",
+    "Grab the red can with orange label with the left arm and position it beside the metallic pot with plastic handles",
+    "Grab the red and orange sauce can with the left arm and move it close to the metallic pot with matte finish",
+    "Pick the sauce can with rounded top cap and position it next to the silver pot with matching lid",
+    "Pick the small metal sauce container up with the left arm then place near the silver kitchenpot",
+    "Use the left arm to take the red can with orange label to the silver pot with black grips",
+    "Move the compact sauce can with plastic lid to be next to the rounded silver pot with handles",
+    "Lift the sauce can with red lid, place it by the rounded pot with curved handles",
+    "Grab the small metal sauce container, shift it, and place it close to the metallic pot with plastic handles",
+    "Lift the small metal sauce container, then place it next to the cooking pot with snug-fitting lid",
+    "Lift the red can with orange label using the left arm and drop it beside the silver kitchenpot with black grips"
+  ]
+}