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beat_block_hammer/episode_0000006/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    123,
+    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_0000006/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    123,
+    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_0000006/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000006",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000006.hdf5",
+  "num_frames": 123,
+  "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": [
+      123,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      123,
+      14
+    ],
+    "action_shape": [
+      123,
+      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 hammer with claw-shaped end using the right arm, hammer the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Take the nail-driving hammer and hammer the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the silver hammer and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Hold the silver hammer and pound the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Grab the silver hammer and use it to hit",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block."
+  ]
+}

beat_block_hammer/episode_0000009/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    122,
+    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_0000009/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    122,
+    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_0000009/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000009",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000009.hdf5",
+  "num_frames": 122,
+  "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": [
+      122,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      122,
+      14
+    ],
+    "action_shape": [
+      122,
+      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 two-tone handle and strike the block",
+    "Take the hammer for nails and beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Hold the silver hammer and pound the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Hold the silver hammer then hit the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Take the silver hammer and hammer the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Lift the silver hammer and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Pick the hammer for nails and smash the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike"
+  ]
+}

beat_block_hammer/episode_0000047/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    120,
+    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_0000007/TCP_head/metadata.json

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+{
+  "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_0000007/TCP_third/metadata.json

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+{
+  "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_0000007/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000007",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000007.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": [
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Press the specified top area of the white bell.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Tap the top center of the white and black colored bell.",
+    "Press the center top of the small desk bell for tapping.",
+    "Activate the white bell by pressing its top center.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Click the white dome bell's <top center> using the right arm",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Press down the top of the white bell using the right arm.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Click the designated center of the white dome bell.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Ask the right arm to interact with the white bell with black bottom's top.",
+    "Push the center of the white dome bell using the right arm.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Tap the top center of the white dome bell.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Click the bell with black flat base's top center using the right arm.",
+    "Have the right arm click at the white bell with black bottom's top center.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Tap the white bell's top center with the right arm.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Press the center of the bell shaped like half-circle dome using the right arm.",
+    "Click the designated center of the white dome bell.",
+    "Use the right arm to press the small desk bell for tapping's top section.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Push the center of the plastic and metal bell using the right arm.",
+    "Press down the white and black colored bell's top center gently.",
+    "Locate the white and black colored bell and click its top center.",
+    "Command the right arm to press the white dome bell's top.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Click using the right arm on the compact tabletop bell's center.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Press the specified top area of the bell with black flat base.",
+    "Press the bell with black flat base's top center on the table.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Push the white dome bell's <top center> on the table",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Use the right arm to touch the bell shaped like half-circle dome's top center.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Click the white bell at its top center on table.",
+    "Click the bell shaped like half-circle dome's <top center> using the right arm",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Press the top center of the white bell on table.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Command the right arm to press the white dome bell's top.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Direct the right arm to touch the white bell's top.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press the white bell's top center on the table.",
+    "Direct the right arm to click the top of the white dome bell."
+  ]
+}

click_bell/episode_0000012/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    77,
+    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_0000012/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000012",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000012.hdf5",
+  "num_frames": 77,
+  "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": [
+      77,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      77,
+      14
+    ],
+    "action_shape": [
+      77,
+      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 down the plastic and metal bell's top center gently.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Click the designated center of the bell with black flat base.",
+    "Push the center of the bell shaped like half-circle dome using the right arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Locate the white dome bell and click its top center.",
+    "Press the center top of the white bell with black bottom.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Click the top center of the white and black colored bell on table.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Click using the right arm on the simple hand bell with black stand's center.",
+    "Click the bell with black flat base's top center using the right arm.",
+    "Use the right arm to press the white bell's top section.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Direct the right arm to touch the white bell's top.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Command the right arm to press the white bell with black bottom's top.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Direct the right arm to click the top of the bell shaped like half-circle dome.",
+    "Click the designated center of the white bell with black bottom.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Press the white dome bell's top center on the table.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Locate the white and black colored bell and click its top center.",
+    "Press the center top of the bell with black flat base.",
+    "Click the bell shaped like half-circle dome's <top center> using the right arm",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Press the specified top area of the white bell.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Click the white dome bell's top center using the right arm.",
+    "Use the right arm to press the bell with metallic top and plastic base's top section.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Use the right arm to touch the plastic and metal bell's top center.",
+    "Command the right arm to press the bell shaped like half-circle dome's top.",
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Tap the white bell's top center with the right arm.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Activate the white bell by pressing its top center.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Click the designated center of the white dome bell.",
+    "Push the center of the simple hand bell with black stand using the right arm.",
+    "Press the bell with black flat base's top center on the table.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Press down the top of the bell shaped like half-circle dome using the right arm.",
+    "Locate the white dome bell and click its top center.",
+    "Press the center top of the compact tabletop bell.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Click the top center of the white dome bell on table.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Click the white bell's top center using the right arm.",
+    "Use the right arm to press the white bell's top section.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Command the right arm to press the rounded bell with flat black part's top.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Tap the top center of the white bell.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Tap the white bell's top center with the right arm.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Click the white and black colored bell at its top center on table.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Push the center of the white bell using the right arm."
+  ]
+}

click_bell/episode_0000032/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_0000032/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_0000032/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000032",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000032.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": [
+    "Use the right arm to press the white bell's top section.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Press down the white bell's top center gently.",
+    "Press the top center of the white and black colored bell on table.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Push the white bell's <top center> on the table",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Guide the right arm to click the white bell with black bottom's top center.",
+    "Use the right arm to touch the bell shaped like half-circle dome's top center.",
+    "Click the bell shaped like half-circle dome's <top center> using the right arm",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Direct the right arm to touch the bell shaped like half-circle dome's top.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Press the top center of the white and black colored bell on table.",
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Command the right arm to press the white bell's top.",
+    "Click using the right arm on the white bell's center.",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Click the rounded bell with flat black part's <top center> using the right arm",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Locate the white bell and click its top center.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Tap the top center of the white dome bell.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Use the right arm to press the bell with metallic top and plastic base's top section.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Ask the right arm to interact with the simple hand bell with black stand's top.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Press the center top of the compact tabletop bell.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Guide the right arm to click the rounded bell with flat black part's top center.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Make the right arm interact with the bell with black flat base's top center.",
+    "Press the white bell's top center on the table.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Locate the bell with black flat base and click its top center.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Click the designated center of the white dome bell.",
+    "Press the center of the white dome bell using the right arm.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Use the right arm to press the rounded bell with flat black part's top section.",
+    "Click the white bell with black bottom's top center using the right arm.",
+    "Press the bell with black flat base's top center with the right arm firmly.",
+    "Press the specified top area of the bell with black flat base.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the top center of the bell with black flat base on table."
+  ]
+}

click_bell/episode_0000038/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"
+}

move_can_pot/episode_0000000/TCP_head/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": "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_0000000/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_0000000/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000000",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000000.hdf5",
+  "num_frames": 161,
+  "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": [
+      161,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      161,
+      14
+    ],
+    "action_shape": [
+      161,
+      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 yellow label sauce can with the right arm, bring it, and set next to the silver pot with matching lid",
+    "Use the right arm to grab the printed label sauce can, move it beside the silver kitchenpot",
+    "Take the yellow and brown sauce can to the medium-sized pot with plastic grips using the right arm",
+    "Use the right arm to grab the medium sauce can and move it next to the rounded pot with curved handles",
+    "Pick up the metal sauce can and put it beside the medium silver pot for cooking",
+    "Lift the yellow and brown sauce can and move it near the cooking pot with snug-fitting lid",
+    "Place the printed label sauce can beside the silver pot with matching lid after picking it up",
+    "Grab the smooth cylindrical sauce can, move it to the metallic pot with matte finish's side",
+    "Grab the yellow and brown sauce can, shift it, and place it close to the kitchenpot with smooth metallic lid",
+    "Move the cylindrical sauce can to be next to the silver kitchenpot",
+    "Lift the sauce can for condiments and place it next to the rounded silver pot with handles",
+    "Move the yellow label sauce can from its spot to near the silver kitchenpot with black grips",
+    "Use the right arm to lift the yellow and brown sauce can, then move it next to the silver kitchenpot with black grips",
+    "Bring the sauce can with brown lid over and set it near the silver kitchenpot",
+    "Pick up the smooth cylindrical sauce can using the right arm, transfer it beside the rounded silver pot with handles",
+    "Grab the sauce can with ingredient information with the right arm and move it close to the silver pot with black grips",
+    "Use the right arm to pick the brown sauce can, position it near the silver pot with matching lid",
+    "With the right arm, grab the smooth cylindrical sauce can and move to the cooking pot with snug-fitting lid",
+    "Use the right arm to lift the cylindrical sauce can and place it next to the medium silver pot for cooking",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the metallic pot with plastic handles",
+    "Take the cylindrical sauce can with the right arm, place it near the silver kitchenpot with black grips",
+    "Lift the brown sauce can, then place it next to the medium silver pot for cooking",
+    "Use the right arm to lift the printed label sauce can and place it near the silver kitchenpot with black grips",
+    "Pick the yellow and brown sauce can with the right arm and relocate it near the medium silver pot for cooking",
+    "Move the cylindrical sauce can beside the rounded silver pot with handles after lifting it",
+    "Lift the cylindrical sauce can and set it beside the silver pot with matching lid",
+    "Lift the sauce can with ingredient information, place it by the metallic pot with plastic handles",
+    "Use the right arm to pick the yellow and brown sauce can up and set it beside the silver pot with matching lid",
+    "Pick up the brown sauce can with the right arm and set by the kitchenpot with smooth metallic lid",
+    "Take the brown top sauce can using the right arm, set it next to the medium-sized pot with plastic grips",
+    "Lift the cylindrical sauce can using the right arm and position it by the silver kitchenpot",
+    "Grab the yellow label sauce can with the right arm and set it near the rounded silver pot with handles",
+    "Set the cylindrical sauce can right next to the metallic pot with matte finish",
+    "Pick the sauce can with brown lid and position it next to the medium silver pot for cooking",
+    "Use the right arm to take the medium sauce can to the silver pot with black grips",
+    "Lift the brown top sauce can and set it next to the silver pot with matching lid",
+    "Grab the yellow label sauce can, move it, and place by the medium-sized pot with plastic grips",
+    "Move the yellow label sauce can to the metallic pot with matte finish with the right arm",
+    "Grab the sauce can for condiments and move it close to the metallic pot with plastic handles",
+    "Lift the sauce can with brown lid and set it next to the silver kitchenpot",
+    "Lift the medium sauce can using the right arm and drop it beside the metallic pot with plastic handles",
+    "Place the printed label sauce can next to the medium silver pot for cooking",
+    "Pick the yellow and brown sauce can up and carefully position it beside the silver pot with matching lid",
+    "Pick the smooth cylindrical sauce can up and move it next to the silver kitchenpot",
+    "Use the right arm to grab the yellow and brown sauce can and move it beside the cooking pot with snug-fitting lid",
+    "Grab the yellow label sauce can with the right arm and position it beside the rounded pot with curved handles",
+    "Using the right arm, lift the medium sauce can and place it by the silver pot with matching lid",
+    "Set the brown top sauce can near the silver kitchenpot with black grips after picking it up",
+    "Pick the sauce can with ingredient information up with the right arm then place near the rounded silver pot with handles",
+    "Use the right arm to move the medium sauce can beside the silver pot with black grips",
+    "Take the yellow label sauce can with the right arm, bring it, and set next to the silver pot with matching lid",
+    "Use the right arm to grab the printed label sauce can, move it beside the metallic pot with matte finish",
+    "Take the cylindrical sauce can to the cooking pot with snug-fitting lid using the right arm",
+    "Use the right arm to grab the smooth cylindrical sauce can and move it next to the silver pot with matching lid",
+    "Pick up the metal sauce can and put it beside the rounded pot with curved handles",
+    "Lift the sauce can for condiments and move it near the silver kitchenpot with black grips",
+    "Place the cylindrical sauce can beside the medium-sized pot with plastic grips after picking it up",
+    "Grab the brown sauce can, move it to the rounded silver pot with handles's side",
+    "Grab the smooth cylindrical sauce can, shift it, and place it close to the silver pot with matching lid",
+    "Move the sauce can for condiments to be next to the metallic pot with matte finish",
+    "Lift the medium sauce can and place it next to the metallic pot with matte finish",
+    "Move the sauce can for condiments from its spot to near the medium silver pot for cooking",
+    "Use the right arm to lift the brown sauce can, then move it next to the cooking pot with snug-fitting lid",
+    "Bring the sauce can with ingredient information over and set it near the silver pot with matching lid",
+    "Pick up the metal sauce can using the right arm, transfer it beside the kitchenpot with smooth metallic lid",
+    "Grab the brown top sauce can with the right arm and move it close to the metallic pot with matte finish",
+    "Use the right arm to pick the brown sauce can, position it near the silver pot with matching lid",
+    "With the right arm, grab the brown sauce can and move to the metallic pot with plastic handles",
+    "Use the right arm to lift the cylindrical sauce can and place it next to the kitchenpot with smooth metallic lid",
+    "Use the right arm to grab the smooth cylindrical sauce can and transfer it near the kitchenpot with smooth metallic lid",
+    "Take the metal sauce can with the right arm, place it near the kitchenpot with smooth metallic lid",
+    "Lift the medium sauce can, then place it next to the metallic pot with matte finish",
+    "Use the right arm to lift the metal sauce can and place it near the rounded pot with curved handles",
+    "Pick the brown top sauce can with the right arm and relocate it near the cooking pot with snug-fitting lid",
+    "Move the sauce can with ingredient information beside the cooking pot with snug-fitting lid after lifting it",
+    "Lift the brown sauce can and set it beside the silver kitchenpot",
+    "Lift the medium sauce can, place it by the rounded pot with curved handles",
+    "Use the right arm to pick the sauce can for condiments up and set it beside the metallic pot with matte finish",
+    "Pick up the cylindrical sauce can with the right arm and set by the silver kitchenpot",
+    "Take the sauce can for condiments using the right arm, set it next to the metallic pot with matte finish",
+    "Lift the brown top sauce can using the right arm and position it by the rounded pot with curved handles",
+    "Grab the medium sauce can with the right arm and set it near the rounded pot with curved handles",
+    "Set the brown sauce can right next to the metallic pot with matte finish",
+    "Pick the metal sauce can and position it next to the medium silver pot for cooking",
+    "Use the right arm to take the medium sauce can to the silver kitchenpot",
+    "Lift the metal sauce can and set it next to the medium-sized pot with plastic grips",
+    "Grab the cylindrical sauce can, move it, and place by the rounded silver pot with handles",
+    "Move the yellow label sauce can to the rounded silver pot with handles with the right arm",
+    "Grab the yellow label sauce can and move it close to the medium-sized pot with plastic grips",
+    "Lift the yellow label sauce can and set it next to the silver kitchenpot",
+    "Lift the smooth cylindrical sauce can using the right arm and drop it beside the rounded pot with curved handles",
+    "Place the printed label sauce can next to the silver kitchenpot",
+    "Pick the yellow and brown sauce can up and carefully position it beside the metallic pot with matte finish",
+    "Pick the sauce can with ingredient information up and move it next to the cooking pot with snug-fitting lid",
+    "Use the right arm to grab the yellow and brown sauce can and move it beside the silver kitchenpot",
+    "Grab the smooth cylindrical sauce can with the right arm and position it beside the metallic pot with matte finish",
+    "Using the right arm, lift the smooth cylindrical sauce can and place it by the kitchenpot with smooth metallic lid",
+    "Set the sauce can for condiments near the silver pot with black grips after picking it up",
+    "Pick the metal sauce can up with the right arm then place near the rounded silver pot with handles",
+    "Use the right arm to move the brown top sauce can beside the kitchenpot with smooth metallic lid"
+  ]
+}

move_can_pot/episode_0000046/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    167,
+    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_0000046/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    167,
+    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_0000046/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000046",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000046.hdf5",
+  "num_frames": 167,
+  "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": [
+      167,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      167,
+      14
+    ],
+    "action_shape": [
+      167,
+      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 sauce can with rounded top cap to be next to the black kitchenpot with silver and black handles",
+    "With the left arm, grab the sturdy sauce can with glossy finish and move to the cooking kitchenpot with sturdy handles",
+    "Use the left arm to lift the small metal sauce container and place it next to the kitchenpot for boiling food",
+    "Use the left arm to pick the sauce can with red lid, position it near the black kitchenpot",
+    "Lift the red and orange sauce can using the left arm and drop it beside the medium kitchenpot with smooth surface",
+    "Use the left arm to take the sauce can with red lid to the black metal kitchenpot",
+    "Grab the metal body sauce can with the left arm and set it near the black kitchenpot with silver handle bars",
+    "Pick the small metal sauce container up and move it next to the medium kitchenpot with smooth surface",
+    "Pick up the sauce can with red lid using the left arm, transfer it beside the black cooking pot with silver handles",
+    "Grab the sauce can with rounded top cap, shift it, and place it close to the medium kitchenpot with smooth surface",
+    "Lift the small metal sauce container and place it next to the black cooking pot with silver handles",
+    "Use the left arm to grab the red can with orange label and move it beside the kitchenpot for boiling food",
+    "Use the left arm to lift the small metal sauce container, then move it next to the black kitchenpot with flat lid",
+    "Use the left arm to move the red can with orange label beside the black kitchenpot with silver handle bars",
+    "Pick the sauce can with printed design up with the left arm then place near the black cooking pot with silver handles",
+    "Pick up the sturdy sauce can with glossy finish with the left arm and set by the medium kitchenpot with smooth surface",
+    "Bring the sturdy sauce can with glossy finish over and set it near the black kitchenpot with round lid",
+    "Move the small metal sauce container beside the black kitchenpot with round lid after lifting it",
+    "Use the left arm to grab the sauce can with rounded top cap and move it next to the cooking kitchenpot with sturdy handles",
+    "Use the left arm to grab the sauce can with printed design and transfer it near the black kitchenpot with silver handle bars",
+    "Place the metal body sauce can beside the black kitchenpot with round lid after picking it up",
+    "Take the red can with orange label to the kitchenpot for boiling food using the left arm",
+    "Lift the sauce can with printed design and set it next to the black kitchenpot with flat lid",
+    "Place the smooth sauce can next to the black kitchenpot with round lid",
+    "Lift the compact sauce can with plastic lid and set it next to the medium kitchenpot with smooth surface",
+    "Grab the compact sauce can with plastic lid and move it close to the black cooking pot with silver handles",
+    "Lift the cylindrical sauce can and move it near the black kitchenpot with round lid",
+    "Grab the sauce can with printed design with the left arm and position it beside the black kitchenpot with round lid",
+    "Grab the sauce can with rounded top cap with the left arm and move it close to the black metal kitchenpot",
+    "Use the left arm to grab the red can with orange label, move it beside the kitchenpot for boiling food",
+    "Pick the sauce can with rounded top cap and position it next to the medium kitchenpot with smooth surface",
+    "Move the sturdy sauce can with glossy finish to the kitchenpot with metallic round lid with the left arm",
+    "Lift the cylindrical sauce can, place it by the kitchenpot with metallic round lid",
+    "Set the red and orange sauce can right next to the black kitchenpot with silver and black handles",
+    "Use the left arm to pick the red can with orange label up and set it beside the kitchenpot with metallic round lid",
+    "Lift the compact sauce can with plastic lid, then place it next to the medium kitchenpot with smooth surface",
+    "Grab the sturdy sauce can with glossy finish, move it to the black cooking pot with silver handles's side",
+    "Use the left arm to lift the smooth sauce can and place it near the black cooking pot with silver handles",
+    "Lift the small metal sauce container and set it beside the black kitchenpot with flat lid",
+    "Grab the sauce can with rounded top cap, move it, and place by the black kitchenpot with silver and black handles",
+    "Take the small cylindrical sauce can with the left arm, bring it, and set next to the black kitchenpot with flat lid",
+    "Set the metal body sauce can near the cooking kitchenpot with sturdy handles after picking it up",
+    "Take the small metal sauce container with the left arm, place it near the medium kitchenpot with smooth surface",
+    "Using the left arm, lift the sauce can with printed design and place it by the black kitchenpot with silver handle bars",
+    "Take the compact sauce can with plastic lid using the left arm, set it next to the kitchenpot with metallic round lid",
+    "Pick the small metal sauce container with the left arm and relocate it near the black kitchenpot",
+    "Lift the small metal sauce container using the left arm and position it by the black kitchenpot with flat lid",
+    "Pick the red can with orange label up and carefully position it beside the kitchenpot for boiling food",
+    "Move the compact sauce can with plastic lid from its spot to near the black kitchenpot",
+    "Pick up the metal body sauce can and put it beside the black metal kitchenpot",
+    "Move the cylindrical sauce can to be next to the black metal kitchenpot",
+    "With the left arm, grab the small cylindrical sauce can and move to the black metal kitchenpot",
+    "Use the left arm to lift the sauce can with red lid and place it next to the black metal kitchenpot",
+    "Use the left arm to pick the sauce can with red lid, position it near the medium kitchenpot with smooth surface",
+    "Lift the red and orange sauce can using the left arm and drop it beside the cooking kitchenpot with sturdy handles",
+    "Use the left arm to take the sturdy sauce can with glossy finish to the kitchenpot with metallic round lid",
+    "Grab the small cylindrical sauce can with the left arm and set it near the kitchenpot for boiling food",
+    "Pick the cylindrical sauce can up and move it next to the black kitchenpot with round lid",
+    "Pick up the small cylindrical sauce can using the left arm, transfer it beside the medium kitchenpot with smooth surface",
+    "Grab the small cylindrical sauce can, shift it, and place it close to the black kitchenpot with round lid",
+    "Lift the sauce can with red lid and place it next to the black cooking pot with silver handles",
+    "Use the left arm to grab the red can with orange label and move it beside the black kitchenpot with plastic lid handle",
+    "Use the left arm to lift the sauce can with rounded top cap, then move it next to the kitchenpot for boiling food",
+    "Use the left arm to move the small metal sauce container beside the black kitchenpot with silver handle bars",
+    "Pick the cylindrical sauce can up with the left arm then place near the black metal kitchenpot",
+    "Pick up the metal body sauce can with the left arm and set by the black kitchenpot with plastic lid handle",
+    "Bring the compact sauce can with plastic lid over and set it near the black kitchenpot with plastic lid handle",
+    "Move the compact sauce can with plastic lid beside the cooking kitchenpot with sturdy handles after lifting it",
+    "Use the left arm to grab the sauce can with rounded top cap and move it next to the kitchenpot for boiling food",
+    "Use the left arm to grab the metal body sauce can and transfer it near the black cooking pot with silver handles",
+    "Place the compact sauce can with plastic lid beside the black metal kitchenpot after picking it up",
+    "Take the sauce can with rounded top cap to the cooking kitchenpot with sturdy handles using the left arm",
+    "Lift the smooth sauce can and set it next to the black kitchenpot with silver handle bars",
+    "Place the compact sauce can with plastic lid next to the black kitchenpot",
+    "Lift the smooth sauce can and set it next to the cooking kitchenpot with sturdy handles",
+    "Grab the small cylindrical sauce can and move it close to the black kitchenpot with silver handle bars",
+    "Lift the sturdy sauce can with glossy finish and move it near the black cooking pot with silver handles",
+    "Grab the red can with orange label with the left arm and position it beside the black kitchenpot with silver handle bars",
+    "Grab the red and orange sauce can with the left arm and move it close to the kitchenpot with metallic round lid",
+    "Use the left arm to grab the compact sauce can with plastic lid, move it beside the black metal kitchenpot",
+    "Pick the red can with orange label and position it next to the black kitchenpot with plastic lid handle",
+    "Move the red and orange sauce can to the black kitchenpot with flat lid with the left arm",
+    "Lift the metal body sauce can, place it by the black kitchenpot with flat lid",
+    "Set the red can with orange label right next to the black metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the black kitchenpot with silver and black handles",
+    "Lift the red and orange sauce can, then place it next to the black kitchenpot with flat lid",
+    "Grab the sauce can with red lid, move it to the kitchenpot for boiling food's side",
+    "Use the left arm to lift the small cylindrical sauce can and place it near the black cooking pot with silver handles",
+    "Lift the sauce can with red lid and set it beside the black kitchenpot",
+    "Grab the red can with orange label, move it, and place by the black cooking pot with silver handles",
+    "Take the sauce can with printed design with the left arm, bring it, and set next to the black kitchenpot with silver and black handles",
+    "Set the sturdy sauce can with glossy finish near the cooking kitchenpot with sturdy handles after picking it up",
+    "Take the sauce can with red lid with the left arm, place it near the kitchenpot with metallic round lid",
+    "Using the left arm, lift the sturdy sauce can with glossy finish and place it by the black kitchenpot with silver handle bars",
+    "Take the small metal sauce container using the left arm, set it next to the black kitchenpot with plastic lid handle",
+    "Pick the sauce can with printed design with the left arm and relocate it near the medium kitchenpot with smooth surface",
+    "Lift the red can with orange label using the left arm and position it by the black kitchenpot with plastic lid handle",
+    "Pick the sauce can with printed design up and carefully position it beside the black kitchenpot with flat lid",
+    "Move the compact sauce can with plastic lid from its spot to near the black kitchenpot with silver handle bars",
+    "Pick up the sauce can with printed design and put it beside the black kitchenpot"
+  ]
+}