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turn_switch/episode_0000022/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    110,
+    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"
+}

turn_switch/episode_0000022/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "turn_switch",
+  "episode": "episode_0000022",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/turn_switch/aloha_agilex/data/episode_0000022.hdf5",
+  "num_frames": 110,
+  "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": [
+      110,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      110,
+      14
+    ],
+    "action_shape": [
+      110,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Command the left arm to engage the light tan rectangular switch smooth finish",
+    "Click on the plastic switch with angled edges precisely",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Set the switch at the angled switch light tan color",
+    "Activate the angled switch light tan color with the left arm.",
+    "Engage the trapezoid-shaped switch smooth surface with a press.",
+    "Trigger the rectangular switch with slanted sides with precision",
+    "Deploy the left arm to operate the hand-sized switch tan smooth finish",
+    "Interact with the small light tan switch.",
+    "Engage the left arm to press the small light tan switch",
+    "Activate the smooth tan switch with textured sides with robotic precision",
+    "Engage the tan switch using the left arm",
+    "Click the switch with darker rectangle with robotic precision",
+    "Push the switch with darker rectangle via the left arm.",
+    "Operate the rectangular switch with slanted sides with the left arm",
+    "Interact with the hand-sized switch tan smooth finish directly",
+    "Press the rectangular switch with slanted sides to activate.",
+    "Use the left arm to interact with the hand-sized switch tan smooth finish",
+    "Trigger the hand-sized switch tan smooth finish without referencing the left arm",
+    "Locate and press the light tan rectangular switch smooth finish",
+    "Activate the switch with darker rectangle directly",
+    "Use the left arm to engage the trapezoid-shaped switch smooth surface",
+    "Set the left arm to press the hand-sized switch tan smooth finish",
+    "Engage the plastic switch with angled edges using the left arm.",
+    "Activate the hand-sized switch tan smooth finish via the left arm",
+    "Press the switch with darker rectangle using robotic control",
+    "Move to the switch trapezoid shape brown marking and click it.",
+    "Operate the left arm to engage the tan switch",
+    "Use the left arm for switching the small light tan switch",
+    "Tap the smooth tan switch with textured sides to engage it",
+    "Press the smooth tan switch with textured sides carefully with the left arm",
+    "Press the flat switch with the left arm",
+    "Press the angled switch light tan color using the left arm.",
+    "Activate the small light tan switch by pressing it",
+    "Direct the left arm to operate the small light tan switch",
+    "Locate and press the plastic switch with angled edges",
+    "Activate the trapezoid-shaped switch smooth surface using the left arm",
+    "Toggle the smooth tan switch with textured sides with the left arm.",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Trigger the small light tan switch using the left arm",
+    "Directly interact with the hand-sized switch tan smooth finish",
+    "Press the switch trapezoid shape brown marking directly",
+    "Click the plastic switch with angled edges using automated tools",
+    "Approach and tap the flat switch via the left arm",
+    "Press the smooth tan switch with textured sides via automation",
+    "Switch the hand-sized switch tan smooth finish to its active state",
+    "Click the tan switch directly.",
+    "Click the plastic switch with angled edges to activate it",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Deploy the left arm to press the switch trapezoid shape brown marking",
+    "Command the left arm to engage the smooth tan switch with textured sides",
+    "Click on the small light tan switch precisely",
+    "Engage the rectangular switch with slanted sides using the robotic arm",
+    "Set the switch at the tan switch",
+    "Activate the angled switch light tan color with the left arm.",
+    "Engage the switch trapezoid shape brown marking with a press.",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Deploy the left arm to operate the light tan rectangular switch smooth finish",
+    "Interact with the rectangular switch with slanted sides.",
+    "Engage the left arm to press the switch with darker rectangle",
+    "Activate the angled switch light tan color with robotic precision",
+    "Engage the hand-sized switch tan smooth finish using the left arm",
+    "Click the small light tan switch with robotic precision",
+    "Push the tan switch via the left arm.",
+    "Operate the hand-sized switch tan smooth finish with the left arm",
+    "Interact with the tan switch directly",
+    "Press the flat switch to activate.",
+    "Use the left arm to interact with the hand-sized switch tan smooth finish",
+    "Trigger the angled switch light tan color without referencing the left arm",
+    "Locate and press the trapezoid-shaped switch smooth surface",
+    "Activate the smooth tan switch with textured sides directly",
+    "Use the left arm to engage the switch with darker rectangle",
+    "Set the left arm to press the rectangular switch with slanted sides",
+    "Engage the tan switch using the left arm.",
+    "Activate the plastic switch with angled edges via the left arm",
+    "Press the switch with darker rectangle using robotic control",
+    "Move to the hand-sized switch tan smooth finish and click it.",
+    "Operate the left arm to engage the switch trapezoid shape brown marking",
+    "Use the left arm for switching the hand-sized switch tan smooth finish",
+    "Tap the light tan rectangular switch smooth finish to engage it",
+    "Press the tan switch carefully with the left arm",
+    "Press the tan switch with the left arm",
+    "Press the trapezoid-shaped switch smooth surface using the left arm.",
+    "Activate the smooth tan switch with textured sides by pressing it",
+    "Direct the left arm to operate the small light tan switch",
+    "Locate and press the plastic switch with angled edges",
+    "Activate the smooth tan switch with textured sides using the left arm",
+    "Toggle the rectangular switch with slanted sides with the left arm.",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Trigger the light tan rectangular switch smooth finish using the left arm",
+    "Directly interact with the tan switch",
+    "Press the plastic switch with angled edges directly",
+    "Click the trapezoid-shaped switch smooth surface using automated tools",
+    "Approach and tap the small light tan switch via the left arm",
+    "Press the hand-sized switch tan smooth finish via automation",
+    "Switch the switch trapezoid shape brown marking to its active state",
+    "Click the smooth tan switch with textured sides directly.",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Engage with the switch with darker rectangle manually",
+    "Deploy the left arm to press the flat switch"
+  ]
+}