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blocks_ranking_size/episode_0000003/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    495,
+    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_0000036/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    154,
+    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_0000036/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    154,
+    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_0000036/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000036",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000036.hdf5",
+  "num_frames": 154,
+  "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": [
+      154,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      154,
+      14
+    ],
+    "action_shape": [
+      154,
+      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 up the sauce can with ingredient information with the left arm and set by the rounded pot with metal lid",
+    "Lift the medium sauce can and set it beside the gray kitchenpot",
+    "Grab the yellow label sauce can with the left arm and position it beside the round pot with dark gray knob",
+    "Pick the brown sauce can with the left arm and relocate it near the metal cooking pot",
+    "Using the left arm, lift the yellow label sauce can and place it by the kitchenpot with smooth texture",
+    "Take the brown top sauce can using the left arm, set it next to the rounded pot with metal lid",
+    "With the left arm, grab the sauce can for condiments and move to the pot with lid and sturdy handles",
+    "Use the left arm to lift the metal sauce can, then move it next to the rounded pot with metal lid",
+    "Move the sauce can for condiments to the dark gray pot with side handles with the left arm",
+    "Pick the smooth cylindrical sauce can up with the left arm then place near the gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray pot for boiling food",
+    "Pick up the brown sauce can using the left arm, transfer it beside the medium gray pot with handles",
+    "Grab the metal sauce can, move it, and place by the gray pot for boiling food",
+    "Take the sauce can for condiments with the left arm, place it near the round pot with dark gray knob",
+    "Set the medium sauce can right next to the pot with round lid",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the medium-sized smooth gray cooking pot",
+    "Use the left arm to lift the sauce can with brown lid and place it near the round pot with dark gray knob",
+    "Take the sauce can with brown lid to the kitchenpot used for cooking meals using the left arm",
+    "Pick the printed label sauce can and position it next to the metal cooking pot",
+    "Lift the sauce can with brown lid and set it next to the medium gray pot with handles",
+    "Grab the printed label sauce can and move it close to the kitchenpot used for cooking meals",
+    "Use the left arm to grab the medium sauce can, move it beside the medium gray pot with handles",
+    "Lift the smooth cylindrical sauce can using the left arm and drop it beside the kitchenpot with smooth texture",
+    "Grab the sauce can with brown lid, move it to the pot with round lid's side",
+    "Place the brown sauce can beside the kitchenpot used for cooking meals after picking it up",
+    "Use the left arm to pick the sauce can for condiments up and set it beside the round pot with dark gray knob",
+    "Grab the metal sauce can with the left arm and set it near the kitchenpot with smooth texture",
+    "Bring the brown top sauce can over and set it near the gray pot for boiling food",
+    "Place the brown sauce can next to the kitchenpot used for cooking meals",
+    "Use the left arm to grab the sauce can for condiments and transfer it near the gray pot for boiling food",
+    "Lift the printed label sauce can and place it next to the dark gray pot with side handles",
+    "Lift the sauce can with brown lid using the left arm and position it by the round pot with dark gray knob",
+    "Pick the cylindrical sauce can up and move it next to the rounded pot with metal lid",
+    "Lift the medium sauce can, place it by the gray pot for boiling food",
+    "Move the medium sauce can beside the medium-sized smooth gray cooking pot after lifting it",
+    "Grab the metal sauce can, shift it, and place it close to the pot with round lid",
+    "Use the left arm to lift the brown top sauce can and place it next to the rounded pot with metal lid",
+    "Use the left arm to move the printed label sauce can beside the medium-sized smooth gray cooking pot",
+    "Move the sauce can for condiments to be next to the rounded pot with metal lid",
+    "Set the printed label sauce can near the metal cooking pot after picking it up",
+    "Move the yellow and brown sauce can from its spot to near the medium gray pot with handles",
+    "Grab the sauce can with brown lid with the left arm and move it close to the rounded pot with metal lid",
+    "Lift the yellow and brown sauce can and move it near the gray kitchenpot",
+    "Use the left arm to pick the sauce can for condiments, position it near the round pot with dark gray knob",
+    "Pick up the medium sauce can and put it beside the kitchenpot used for cooking meals",
+    "Use the left arm to take the brown sauce can to the round pot with dark gray knob",
+    "Use the left arm to grab the printed label sauce can and move it next to the gray kitchenpot",
+    "Lift the yellow and brown sauce can, then place it next to the kitchenpot with smooth texture",
+    "Lift the brown sauce can and set it next to the gray pot for boiling food",
+    "Pick the sauce can with ingredient information up and carefully position it beside the gray kitchenpot",
+    "Pick up the yellow label sauce can with the left arm and set by the gray pot for boiling food",
+    "Lift the cylindrical sauce can and set it beside the metal cooking pot",
+    "Grab the sauce can for condiments with the left arm and position it beside the pot with lid and sturdy handles",
+    "Pick the brown top sauce can with the left arm and relocate it near the kitchenpot with smooth texture",
+    "Using the left arm, lift the smooth cylindrical sauce can and place it by the medium-sized smooth gray cooking pot",
+    "Take the smooth cylindrical sauce can using the left arm, set it next to the pot with round lid",
+    "With the left arm, grab the smooth cylindrical sauce can and move to the gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the dark gray pot with side handles",
+    "Move the metal sauce can to the kitchenpot with smooth texture with the left arm",
+    "Pick the brown top sauce can up with the left arm then place near the pot with round lid",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with smooth texture",
+    "Pick up the metal sauce can using the left arm, transfer it beside the rounded pot with metal lid",
+    "Grab the yellow and brown sauce can, move it, and place by the gray pot for boiling food",
+    "Take the cylindrical sauce can with the left arm, place it near the gray pot for boiling food",
+    "Set the cylindrical sauce can right next to the pot with lid and sturdy handles",
+    "Use the left arm to grab the yellow and brown sauce can and move it beside the dark gray pot with side handles",
+    "Use the left arm to lift the medium sauce can and place it near the kitchenpot used for cooking meals",
+    "Take the sauce can with ingredient information to the medium gray pot with handles using the left arm",
+    "Pick the medium sauce can and position it next to the gray kitchenpot",
+    "Lift the brown sauce can and set it next to the medium-sized smooth gray cooking pot",
+    "Grab the sauce can with ingredient information and move it close to the kitchenpot used for cooking meals",
+    "Use the left arm to grab the brown top sauce can, move it beside the dark gray pot with side handles",
+    "Lift the smooth cylindrical sauce can using the left arm and drop it beside the kitchenpot used for cooking meals",
+    "Grab the brown sauce can, move it to the medium gray pot with handles's side",
+    "Place the medium sauce can beside the rounded pot with metal lid after picking it up",
+    "Use the left arm to pick the brown sauce can up and set it beside the kitchenpot with smooth texture",
+    "Grab the metal sauce can with the left arm and set it near the kitchenpot used for cooking meals",
+    "Bring the medium sauce can over and set it near the rounded pot with metal lid",
+    "Place the sauce can with ingredient information next to the kitchenpot with smooth texture",
+    "Use the left arm to grab the printed label sauce can and transfer it near the dark gray pot with side handles",
+    "Lift the brown top sauce can and place it next to the kitchenpot with smooth texture",
+    "Lift the printed label sauce can using the left arm and position it by the gray kitchenpot",
+    "Pick the sauce can with brown lid up and move it next to the medium gray pot with handles",
+    "Lift the brown top sauce can, place it by the gray pot for boiling food",
+    "Move the brown sauce can beside the kitchenpot used for cooking meals after lifting it",
+    "Grab the brown top sauce can, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to lift the brown top sauce can and place it next to the medium gray pot with handles",
+    "Use the left arm to move the yellow and brown sauce can beside the gray pot for boiling food",
+    "Move the brown sauce can to be next to the gray kitchenpot",
+    "Set the cylindrical sauce can near the medium gray pot with handles after picking it up",
+    "Move the brown top sauce can from its spot to near the pot with lid and sturdy handles",
+    "Grab the sauce can with ingredient information with the left arm and move it close to the gray pot for boiling food",
+    "Lift the printed label sauce can and move it near the medium gray pot with handles",
+    "Use the left arm to pick the yellow and brown sauce can, position it near the metal cooking pot",
+    "Pick up the smooth cylindrical sauce can and put it beside the dark gray pot with side handles",
+    "Use the left arm to take the brown top sauce can to the kitchenpot with smooth texture",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it next to the pot with round lid",
+    "Lift the brown top sauce can, then place it next to the medium gray pot with handles",
+    "Lift the brown top sauce can and set it next to the dark gray pot with side handles",
+    "Pick the sauce can with brown lid up and carefully position it beside the kitchenpot with smooth texture"
+  ]
+}