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move_stapler_pad/episode_0000000/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    176,
+    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_stapler_pad/episode_0000000/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_stapler_pad",
+  "episode": "episode_0000000",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_stapler_pad/aloha_agilex/data/episode_0000000.hdf5",
+  "num_frames": 176,
+  "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": [
+      176,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      176,
+      14
+    ],
+    "action_shape": [
+      176,
+      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": [
+    "the left arm places the black smooth-textured stapler on the Gray mat.",
+    "Slide the compact black stapler to the Gray colored mat.",
+    "Drop the black stapler with curved top carefully on the Gray mat",
+    "the left arm transfers the handheld black stapler to the Gray mat.",
+    "Move the handheld black stapler with the left arm to the Gray mat",
+    "Stick the stapler with silver inner plates on the Gray mat.",
+    "Grab the compact black stapler and drop it on Gray mat.",
+    "Use the left arm to grab the handheld black stapler and place it on Gray mat",
+    "Use the left arm to place the black stapler with smooth finish onto the Gray mat",
+    "Using the left arm, set the curved black stapler on the Gray colored mat",
+    "Set the compact black stapler on the Gray mat with the left arm.",
+    "Move the compact black stapler to the Gray mat with the left arm",
+    "Drop the black stapler with shiny interior onto the Gray mat.",
+    "Move the black stapler with shiny interior to the Gray mat.",
+    "Pick the small black stapler with metal core with the left arm and place it on Gray mat",
+    "Grab the handheld black stapler and stick it onto Gray mat",
+    "Pick up the black stapler for joining pages and place it on Gray mat",
+    "Pick the black stapler with rectangular base up and position it on Gray mat",
+    "Put the curved black stapler on the Gray mat",
+    "the left arm grabs the stapler with silver inner plates and sets it on Gray mat.",
+    "Shift the black smooth-textured stapler manually to the Gray mat",
+    "Grab the handheld black stapler with the left arm and drop it on Gray mat.",
+    "Use the left arm to shift the black stapler with shiny interior onto the Gray mat",
+    "Place the stapler with silver staple tray on the Gray mat using the left arm",
+    "Pick the black stapler for joining pages using the left arm and move it to Gray mat.",
+    "Pick up the black stapler with curved top with the left arm and set it on Gray",
+    "Relocate the curved black stapler to the Gray colored mat",
+    "Grab the black stapler with smooth finish, place it on the Gray mat",
+    "Position the black stapler for joining pages on the Gray mat.",
+    "Lift the black stapler with curved top and drop it onto Gray mat",
+    "Place the small black stapler with metal core onto the Gray colored mat",
+    "Stick the handheld black stapler onto the Gray colored mat.",
+    "Relocate the black stapler with shiny interior to the Gray mat.",
+    "Carry the black stapler with rectangular base and drop it onto the Gray mat",
+    "Set the black stapler with shiny interior down on the Gray mat",
+    "the left arm moves the black smooth-textured stapler to the Gray mat.",
+    "Shift the black stapler for joining pages to the Gray mat",
+    "With the left arm, move the black stapler for joining pages to the Gray mat",
+    "Set the black stapler with smooth finish onto the Gray colored mat.",
+    "Transfer the black stapler with smooth finish to the Gray colored mat.",
+    "Set the black stapler with rectangular base down on the Gray mat",
+    "With the left arm, position the curved black stapler on the Gray mat",
+    "Carry the black smooth-textured stapler to the Gray colored mat",
+    "Use the left arm and place the curved black stapler on Gray mat.",
+    "Grab the black smooth-textured stapler using the left arm and set it on Gray mat.",
+    "Place the black stapler with smooth finish onto the Gray colored mat.",
+    "Grab the black stapler with shiny interior using the left arm and shift it to Gray",
+    "Transfer the black stapler with curved top to the Gray mat",
+    "Lift the black stapler with curved top to the Gray mat using the left arm",
+    "the left arm places the black smooth-textured stapler on the Gray mat.",
+    "Slide the stapler with silver inner plates to the Gray colored mat.",
+    "Drop the black stapler for joining pages carefully on the Gray mat",
+    "the left arm transfers the black stapler for joining pages to the Gray mat.",
+    "Move the handheld black stapler with the left arm to the Gray mat",
+    "Stick the black stapler for joining pages on the Gray mat.",
+    "Grab the compact black stapler and drop it on Gray mat.",
+    "Use the left arm to grab the stapler with silver inner plates and place it on Gray mat",
+    "Use the left arm to place the black stapler with shiny interior onto the Gray mat",
+    "Using the left arm, set the curved black stapler on the Gray colored mat",
+    "Set the small black stapler with metal core on the Gray mat with the left arm.",
+    "Move the black stapler with rectangular base to the Gray mat with the left arm",
+    "Drop the black stapler with smooth finish onto the Gray mat.",
+    "Move the stapler with silver inner plates to the Gray mat.",
+    "Pick the black stapler with shiny interior with the left arm and place it on Gray mat",
+    "Grab the black stapler with smooth finish and stick it onto Gray mat",
+    "Pick up the curved black stapler and place it on Gray mat",
+    "Pick the handheld black stapler up and position it on Gray mat",
+    "Put the black smooth-textured stapler on the Gray mat",
+    "the left arm grabs the black stapler for joining pages and sets it on Gray mat.",
+    "Shift the black smooth-textured stapler manually to the Gray mat",
+    "Grab the black stapler for joining pages with the left arm and drop it on Gray mat.",
+    "Use the left arm to shift the black stapler with smooth finish onto the Gray mat",
+    "Place the small black stapler with metal core on the Gray mat using the left arm",
+    "Pick the black stapler for joining pages using the left arm and move it to Gray mat.",
+    "Pick up the curved black stapler with the left arm and set it on Gray",
+    "Relocate the curved black stapler to the Gray colored mat",
+    "Grab the stapler with silver staple tray, place it on the Gray mat",
+    "Position the black stapler with rectangular base on the Gray mat.",
+    "Lift the black stapler with rectangular base and drop it onto Gray mat",
+    "Place the handheld black stapler onto the Gray colored mat",
+    "Stick the black stapler with smooth finish onto the Gray colored mat.",
+    "Relocate the curved black stapler to the Gray mat.",
+    "Carry the stapler with silver inner plates and drop it onto the Gray mat",
+    "Set the small black stapler with metal core down on the Gray mat",
+    "the left arm moves the small black stapler with metal core to the Gray mat.",
+    "Shift the black stapler with shiny interior to the Gray mat",
+    "With the left arm, move the small black stapler with metal core to the Gray mat",
+    "Set the black stapler with shiny interior onto the Gray colored mat.",
+    "Transfer the small black stapler with metal core to the Gray colored mat.",
+    "Set the black stapler with shiny interior down on the Gray mat",
+    "With the left arm, position the handheld black stapler on the Gray mat",
+    "Carry the black smooth-textured stapler to the Gray colored mat",
+    "Use the left arm and place the handheld black stapler on Gray mat.",
+    "Grab the compact black stapler using the left arm and set it on Gray mat.",
+    "Place the black stapler with curved top onto the Gray colored mat.",
+    "Grab the compact black stapler using the left arm and shift it to Gray",
+    "Transfer the compact black stapler to the Gray mat",
+    "Lift the stapler with silver staple tray to the Gray mat using the left arm",
+    "the left arm places the curved black stapler on the Gray mat.",
+    "Slide the black stapler with curved top to the Gray colored mat."
+  ]
+}