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beat_block_hammer/episode_0000011/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    119,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}

beat_block_hammer/episode_0000011/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    119,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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_0000011/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000011",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000011.hdf5",
+  "num_frames": 119,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      119,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      119,
+      14
+    ],
+    "action_shape": [
+      119,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Catch the hammer for nails and use it on the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the silver hammer and hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Take the silver hammer and smash the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the silver hammer with the left arm and strike block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Pick the silver curved hammer head and smash the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block."
+  ]
+}

beat_block_hammer/episode_0000023/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"
+}

move_can_pot/episode_0000027/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    162,
+    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_0000027/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    162,
+    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_0000027/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000027",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000027.hdf5",
+  "num_frames": 162,
+  "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": [
+      162,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      162,
+      14
+    ],
+    "action_shape": [
+      162,
+      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 left arm to lift the red and orange sauce can, then move it next to the cooking pot with snug-fitting lid",
+    "With the left arm, grab the sauce can with rounded top cap and move to the medium-sized pot with plastic grips",
+    "Pick the red can with orange label and position it next to the silver kitchenpot with black grips",
+    "Pick up the metal body sauce can with the left arm and set by the metallic pot with matte finish",
+    "Grab the metal body sauce can, shift it, and place it close to the cooking pot with snug-fitting lid",
+    "Lift the smooth sauce can, place it by the silver kitchenpot",
+    "Grab the red and orange sauce can, move it to the silver pot with matching lid's side",
+    "Lift the red can with orange label using the left arm and position it by the rounded pot with curved handles",
+    "Use the left arm to move the red and orange sauce can beside the silver kitchenpot",
+    "Use the left arm to grab the sauce can with printed design and move it next to the medium-sized pot with plastic grips",
+    "Set the compact sauce can with plastic lid near the cooking pot with snug-fitting lid after picking it up",
+    "Lift the smooth sauce can and set it beside the metallic pot with plastic handles",
+    "Place the cylindrical sauce can beside the medium silver pot for cooking after picking it up",
+    "Set the smooth sauce can right next to the silver kitchenpot with black grips",
+    "Lift the metal body sauce can, then place it next to the metallic pot with matte finish",
+    "Use the left arm to take the cylindrical sauce can to the silver pot with black grips",
+    "Pick the red can with orange label up and carefully position it beside the rounded silver pot with handles",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the silver pot with matching lid",
+    "Pick up the small cylindrical sauce can and put it beside the silver pot with black grips",
+    "Use the left arm to pick the sturdy sauce can with glossy finish, position it near the cooking pot with snug-fitting lid",
+    "Bring the cylindrical sauce can over and set it near the metallic pot with matte finish",
+    "Lift the sauce can with rounded top cap and place it next to the rounded pot with curved handles",
+    "Grab the sturdy sauce can with glossy finish, move it, and place by the cooking pot with snug-fitting lid",
+    "Use the left arm to grab the small metal sauce container and transfer it near the rounded pot with curved handles",
+    "Grab the sauce can with red lid with the left arm and position it beside the metallic pot with plastic handles",
+    "Lift the sauce can with printed design using the left arm and drop it beside the rounded silver pot with handles",
+    "Use the left arm to lift the red can with orange label and place it next to the kitchenpot with smooth metallic lid",
+    "Place the sauce can with rounded top cap next to the silver pot with black grips",
+    "Grab the red and orange sauce can and move it close to the metallic pot with matte finish",
+    "Grab the cylindrical sauce can with the left arm and set it near the silver kitchenpot with black grips",
+    "Move the small cylindrical sauce can to be next to the medium silver pot for cooking",
+    "Move the metal body sauce can from its spot to near the rounded pot with curved handles",
+    "Pick the sauce can with printed design up and move it next to the cooking pot with snug-fitting lid",
+    "Lift the sauce can with red lid and set it next to the rounded silver pot with handles",
+    "Pick the red can with orange label up with the left arm then place near the kitchenpot with smooth metallic lid",
+    "Lift the sauce can with printed design and set it next to the kitchenpot with smooth metallic lid",
+    "Use the left arm to lift the red can with orange label and place it near the rounded pot with curved handles",
+    "Use the left arm to grab the metal body sauce can, move it beside the rounded pot with curved handles",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cooking pot with snug-fitting lid",
+    "Pick the sturdy sauce can with glossy finish with the left arm and relocate it near the silver kitchenpot",
+    "Lift the red and orange sauce can and move it near the silver pot with black grips",
+    "Use the left arm to pick the sauce can with rounded top cap up and set it beside the cooking pot with snug-fitting lid",
+    "Move the sturdy sauce can with glossy finish beside the rounded silver pot with handles after lifting it",
+    "Take the sturdy sauce can with glossy finish with the left arm, place it near the rounded pot with curved handles",
+    "Use the left arm to grab the sturdy sauce can with glossy finish and move it beside the rounded pot with curved handles",
+    "Take the compact sauce can with plastic lid with the left arm, bring it, and set next to the silver kitchenpot with black grips",
+    "Move the small cylindrical sauce can to the silver pot with black grips with the left arm",
+    "Using the left arm, lift the smooth sauce can and place it by the medium-sized pot with plastic grips",
+    "Take the metal body sauce can using the left arm, set it next to the medium-sized pot with plastic grips",
+    "Take the sauce can with red lid to the silver kitchenpot with black grips using the left arm",
+    "Use the left arm to lift the red and orange sauce can, then move it next to the rounded silver pot with handles",
+    "With the left arm, grab the cylindrical sauce can and move to the cooking pot with snug-fitting lid",
+    "Pick the sturdy sauce can with glossy finish and position it next to the rounded silver pot with handles",
+    "Pick up the sauce can with red lid with the left arm and set by the metallic pot with matte finish",
+    "Grab the sturdy sauce can with glossy finish, shift it, and place it close to the silver kitchenpot with black grips",
+    "Lift the cylindrical sauce can, place it by the silver pot with matching lid",
+    "Grab the metal body sauce can, move it to the rounded pot with curved handles's side",
+    "Lift the small metal sauce container using the left arm and position it by the kitchenpot with smooth metallic lid",
+    "Use the left arm to move the sturdy sauce can with glossy finish beside the medium silver pot for cooking",
+    "Use the left arm to grab the red can with orange label and move it next to the rounded silver pot with handles",
+    "Set the red and orange sauce can near the rounded silver pot with handles after picking it up",
+    "Lift the red and orange sauce can and set it beside the kitchenpot with smooth metallic lid",
+    "Place the metal body sauce can beside the rounded silver pot with handles after picking it up",
+    "Set the sauce can with rounded top cap right next to the metallic pot with plastic handles",
+    "Lift the sauce can with printed design, then place it next to the medium-sized pot with plastic grips",
+    "Use the left arm to take the small metal sauce container to the rounded pot with curved handles",
+    "Pick the smooth sauce can up and carefully position it beside the metallic pot with matte finish",
+    "Pick up the small metal sauce container using the left arm, transfer it beside the metallic pot with matte finish",
+    "Pick up the cylindrical sauce can and put it beside the cooking pot with snug-fitting lid",
+    "Use the left arm to pick the small metal sauce container, position it near the rounded pot with curved handles",
+    "Bring the cylindrical sauce can over and set it near the silver pot with matching lid",
+    "Lift the small cylindrical sauce can and place it next to the metallic pot with plastic handles",
+    "Grab the metal body sauce can, move it, and place by the metallic pot with plastic handles",
+    "Use the left arm to grab the red can with orange label and transfer it near the kitchenpot with smooth metallic lid",
+    "Grab the small metal sauce container with the left arm and position it beside the silver pot with matching lid",
+    "Lift the red and orange sauce can using the left arm and drop it beside the kitchenpot with smooth metallic lid",
+    "Use the left arm to lift the small metal sauce container and place it next to the metallic pot with matte finish",
+    "Place the sauce can with rounded top cap next to the rounded silver pot with handles",
+    "Grab the small cylindrical sauce can and move it close to the kitchenpot with smooth metallic lid",
+    "Grab the sauce can with red lid with the left arm and set it near the silver kitchenpot",
+    "Move the sauce can with red lid to be next to the metallic pot with matte finish",
+    "Move the sauce can with printed design from its spot to near the rounded silver pot with handles",
+    "Pick the small cylindrical sauce can up and move it next to the silver kitchenpot",
+    "Lift the smooth sauce can and set it next to the medium-sized pot with plastic grips",
+    "Pick the red can with orange label up with the left arm then place near the silver pot with black grips",
+    "Lift the metal body sauce can and set it next to the cooking pot with snug-fitting lid",
+    "Use the left arm to lift the cylindrical sauce can and place it near the metallic pot with matte finish",
+    "Use the left arm to grab the sturdy sauce can with glossy finish, move it beside the rounded pot with curved handles",
+    "Grab the red can with orange label with the left arm and move it close to the metallic pot with plastic handles",
+    "Pick the sturdy sauce can with glossy finish with the left arm and relocate it near the silver pot with matching lid",
+    "Lift the red and orange sauce can and move it near the metallic pot with matte finish",
+    "Use the left arm to pick the small metal sauce container up and set it beside the cooking pot with snug-fitting lid",
+    "Move the red and orange sauce can beside the silver kitchenpot after lifting it",
+    "Take the sauce can with rounded top cap with the left arm, place it near the silver kitchenpot with black grips",
+    "Use the left arm to grab the small cylindrical sauce can and move it beside the silver kitchenpot with black grips",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium silver pot for cooking",
+    "Move the compact sauce can with plastic lid to the metallic pot with matte finish with the left arm",
+    "Using the left arm, lift the sauce can with red lid and place it by the medium-sized pot with plastic grips",
+    "Take the smooth sauce can using the left arm, set it next to the medium silver pot for cooking",
+    "Take the small metal sauce container to the kitchenpot with smooth metallic lid using the left arm"
+  ]
+}

move_can_pot/episode_0000029/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    151,
+    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_0000029/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    151,
+    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_0000029/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000029",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000029.hdf5",
+  "num_frames": 151,
+  "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": [
+      151,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      151,
+      14
+    ],
+    "action_shape": [
+      151,
+      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": [
+    "Lift the brown top sauce can and set it next to the metal kitchenpot",
+    "Pick the yellow and brown sauce can up and move it next to the cylindrical kitchenpot",
+    "Using the left arm, lift the yellow and brown sauce can and place it by the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can, position it near the gray kitchenpot",
+    "Use the left arm to grab the brown sauce can and move it next to the kitchenpot with smooth exterior",
+    "Set the brown sauce can right next to the medium kitchenpot made of metal",
+    "Pick up the sauce can with ingredient information using the left arm, transfer it beside the metal kitchenpot",
+    "Use the left arm to take the sauce can with brown lid to the round kitchenpot with handles",
+    "Use the left arm to grab the metal sauce can and transfer it near the dark gray stove kitchenpot",
+    "Pick the yellow and brown sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Grab the yellow and brown sauce can, move it to the round kitchenpot with handles's side",
+    "Grab the sauce can for condiments with the left arm and position it beside the medium kitchenpot made of metal",
+    "Lift the brown top sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Use the left arm to move the sauce can for condiments beside the dark gray stove kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can and move it close to the medium-sized kitchenpot",
+    "Move the brown sauce can to be next to the round kitchenpot with handles",
+    "Use the left arm to lift the printed label sauce can, then move it next to the metal kitchenpot",
+    "Take the brown sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Lift the printed label sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick up the brown top sauce can and put it beside the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can, place it by the cooking kitchenpot with side grips",
+    "Pick up the sauce can for condiments with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Pick the brown sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Take the sauce can with brown lid to the kitchenpot with smooth exterior using the left arm",
+    "Lift the brown sauce can and set it beside the cylindrical kitchenpot",
+    "Lift the metal sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the brown sauce can up and set it beside the metal kitchenpot",
+    "Take the sauce can with brown lid with the left arm, bring it, and set next to the gray kitchenpot",
+    "Take the brown sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Place the sauce can with ingredient information beside the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the dark gray stove kitchenpot",
+    "Lift the smooth cylindrical sauce can and move it near the smooth gray kitchenpot",
+    "Move the sauce can with brown lid from its spot to near the smooth gray kitchenpot",
+    "Move the smooth cylindrical sauce can beside the metal kitchenpot after lifting it",
+    "Grab the brown sauce can, move it, and place by the gray kitchenpot",
+    "Grab the sauce can with ingredient information, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the medium sauce can and position it next to the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the metal kitchenpot",
+    "With the left arm, grab the brown sauce can and move to the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Set the sauce can for condiments near the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the yellow and brown sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the printed label sauce can and set it next to the kitchenpot with smooth exterior",
+    "Move the metal sauce can to the round kitchenpot with handles with the left arm",
+    "Place the metal sauce can next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the metal sauce can and place it near the metal kitchenpot",
+    "Pick the brown top sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Use the left arm to grab the medium sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with brown lid and set it next to the gray kitchenpot",
+    "Pick the medium sauce can up and move it next to the round kitchenpot with handles",
+    "Using the left arm, lift the yellow and brown sauce can and place it by the medium kitchenpot made of metal",
+    "Use the left arm to pick the smooth cylindrical sauce can, position it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the brown top sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Set the sauce can for condiments right next to the gray cylindrical metal kitchenpot",
+    "Pick up the printed label sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can with ingredient information to the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Pick the sauce can with ingredient information up with the left arm then place near the dark gray stove kitchenpot",
+    "Grab the metal sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Grab the yellow and brown sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the medium sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can with ingredient information beside the cylindrical kitchenpot",
+    "Bring the brown sauce can over and set it near the metal kitchenpot",
+    "Grab the yellow and brown sauce can and move it close to the gray kitchenpot",
+    "Move the medium sauce can to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with brown lid, then move it next to the cylindrical kitchenpot",
+    "Take the brown sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can, then place it next to the gray kitchenpot",
+    "Pick up the brown sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with brown lid, place it by the cylindrical kitchenpot",
+    "Pick up the medium sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Pick the brown top sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Take the metal sauce can to the round kitchenpot with handles using the left arm",
+    "Lift the sauce can with ingredient information and set it beside the metal kitchenpot",
+    "Lift the printed label sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Use the left arm to pick the brown top sauce can up and set it beside the medium kitchenpot made of metal",
+    "Take the medium sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Take the sauce can with brown lid with the left arm, place it near the medium kitchenpot made of metal",
+    "Place the brown top sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it beside the metal kitchenpot",
+    "Lift the printed label sauce can and move it near the metal kitchenpot",
+    "Move the sauce can with ingredient information from its spot to near the metal kitchenpot",
+    "Move the metal sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the sauce can with ingredient information, move it, and place by the gray kitchenpot",
+    "Grab the brown top sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with brown lid and place it next to the smooth gray kitchenpot",
+    "Pick the brown sauce can and position it next to the metal kitchenpot",
+    "Grab the medium sauce can with the left arm and move it close to the gray kitchenpot",
+    "With the left arm, grab the smooth cylindrical sauce can and move to the smooth gray kitchenpot",
+    "Grab the brown top sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Set the brown sauce can near the medium-sized kitchenpot after picking it up",
+    "Lift the printed label sauce can and place it next to the smooth gray kitchenpot",
+    "Lift the brown top sauce can and set it next to the metal kitchenpot",
+    "Move the cylindrical sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Place the sauce can with brown lid next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with brown lid and place it near the kitchenpot for boiling and cooking",
+    "Pick the smooth cylindrical sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to grab the metal sauce can, move it beside the round kitchenpot with handles"
+  ]
+}

move_can_pot/episode_0000039/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    156,
+    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_0000039/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000039",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000039.hdf5",
+  "num_frames": 156,
+  "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": [
+      156,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      156,
+      14
+    ],
+    "action_shape": [
+      156,
+      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 red sauce can for holding condiments to the black kitchenpot with silver handle bars with the left arm",
+    "Lift the red plastic sauce can and set it next to the cooking kitchenpot with sturdy handles",
+    "Use the left arm to grab the red sauce can and transfer it near the black kitchenpot with flat lid",
+    "Lift the red sauce can for holding condiments and move it near the black kitchenpot with flat lid",
+    "Grab the red cylindrical sauce can and move it close to the black metal kitchenpot",
+    "Lift the red plastic sauce can using the left arm and drop it beside the black cooking pot with silver handles",
+    "Grab the cylindrical sauce can, move it, and place by the black metal kitchenpot",
+    "Pick up the red sauce can for holding condiments using the left arm, transfer it beside the black cooking pot with silver handles",
+    "Set the red sauce can for holding condiments near the black kitchenpot after picking it up",
+    "Pick up the sauce can with flat bottom and put it beside the medium kitchenpot with smooth surface",
+    "Place the red sauce can beside the kitchenpot with metallic round lid after picking it up",
+    "Lift the sauce can with flat top and set it next to the kitchenpot for boiling food",
+    "Move the sauce can with white details from its spot to near the kitchenpot with metallic round lid",
+    "Pick the red can with gold patterns up and carefully position it beside the black metal kitchenpot",
+    "Use the left arm to pick the red and gold sauce can, position it near the cooking kitchenpot with sturdy handles",
+    "Grab the red plastic sauce can with the left arm and move it close to the medium kitchenpot with smooth surface",
+    "Move the red sauce can to be next to the black kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the kitchenpot with metallic round lid",
+    "Take the sauce can with white details using the left arm, set it next to the black kitchenpot with round lid",
+    "Lift the red sauce can and set it beside the black kitchenpot",
+    "Grab the sauce can with flat top with the left arm and position it beside the black cooking pot with silver handles",
+    "Grab the red and gold sauce can, shift it, and place it close to the kitchenpot with metallic round lid",
+    "Lift the red cylindrical sauce can and place it next to the black kitchenpot",
+    "Use the left arm to grab the sauce can with flat bottom and move it beside the black cooking pot with silver handles",
+    "Use the left arm to lift the sauce can with white details and place it next to the cooking kitchenpot with sturdy handles",
+    "Use the left arm to grab the red cylindrical sauce can, move it beside the medium kitchenpot with smooth surface",
+    "Lift the cylindrical sauce can using the left arm and position it by the kitchenpot for boiling food",
+    "Move the red cylindrical sauce can beside the kitchenpot with metallic round lid after lifting it",
+    "Lift the red and gold sauce can, then place it next to the kitchenpot with metallic round lid",
+    "Use the left arm to move the red plastic sauce can beside the black kitchenpot with round lid",
+    "Use the left arm to lift the red and gold sauce can, then move it next to the black kitchenpot with plastic lid handle",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the black kitchenpot with round lid",
+    "Using the left arm, lift the red and gold sauce can and place it by the black cooking pot with silver handles",
+    "Pick the red plastic sauce can and position it next to the black kitchenpot with silver handle bars",
+    "Use the left arm to grab the sauce can with flat bottom and move it next to the black kitchenpot",
+    "Pick the red plastic sauce can up and move it next to the black kitchenpot with round lid",
+    "With the left arm, grab the cylindrical sauce can and move to the black metal kitchenpot",
+    "Set the red sauce can for holding condiments right next to the black metal kitchenpot",
+    "Bring the red plastic sauce can over and set it near the black kitchenpot with plastic lid handle",
+    "Grab the sauce can with white details, move it to the black kitchenpot with silver handle bars's side",
+    "Use the left arm to lift the red can with gold patterns and place it near the black kitchenpot with round lid",
+    "Grab the sauce can with white details with the left arm and set it near the kitchenpot for boiling food",
+    "Use the left arm to pick the red and gold sauce can up and set it beside the kitchenpot with metallic round lid",
+    "Lift the sauce can with white details, place it by the black metal kitchenpot",
+    "Use the left arm to take the red sauce can to the black metal kitchenpot",
+    "Pick up the sauce can with white details with the left arm and set by the black cooking pot with silver handles",
+    "Pick the red cylindrical sauce can up with the left arm then place near the kitchenpot with metallic round lid",
+    "Take the red plastic sauce can to the medium kitchenpot with smooth surface using the left arm",
+    "Place the red can with gold patterns next to the black cooking pot with silver handles",
+    "Take the red sauce can for holding condiments with the left arm, place it near the kitchenpot for boiling food",
+    "Move the sauce can with flat bottom to the black kitchenpot with plastic lid handle with the left arm",
+    "Lift the red sauce can and set it next to the black cooking pot with silver handles",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the black kitchenpot with silver handle bars",
+    "Lift the sauce can with flat top and move it near the black cooking pot with silver handles",
+    "Grab the sauce can with white details and move it close to the black metal kitchenpot",
+    "Lift the medium-sized red sauce can using the left arm and drop it beside the black kitchenpot",
+    "Grab the red plastic sauce can, move it, and place by the black kitchenpot with silver handle bars",
+    "Pick up the red and gold sauce can using the left arm, transfer it beside the kitchenpot with metallic round lid",
+    "Set the cylindrical sauce can near the black kitchenpot with flat lid after picking it up",
+    "Pick up the red sauce can and put it beside the black kitchenpot with silver handle bars",
+    "Place the red can with gold patterns beside the black kitchenpot after picking it up",
+    "Lift the red and gold sauce can and set it next to the black kitchenpot",
+    "Move the red cylindrical sauce can from its spot to near the kitchenpot with metallic round lid",
+    "Pick the sauce can with flat bottom up and carefully position it beside the black cooking pot with silver handles",
+    "Use the left arm to pick the smooth sauce can, position it near the black kitchenpot with plastic lid handle",
+    "Grab the red sauce can with the left arm and move it close to the black cooking pot with silver handles",
+    "Move the red plastic sauce can to be next to the cooking kitchenpot with sturdy handles",
+    "Pick the red sauce can for holding condiments with the left arm and relocate it near the black cooking pot with silver handles",
+    "Take the red sauce can for holding condiments using the left arm, set it next to the black metal kitchenpot",
+    "Lift the smooth sauce can and set it beside the cooking kitchenpot with sturdy handles",
+    "Grab the medium-sized red sauce can with the left arm and position it beside the black kitchenpot with silver and black handles",
+    "Grab the red plastic sauce can, shift it, and place it close to the black kitchenpot with plastic lid handle",
+    "Lift the red cylindrical sauce can and place it next to the black kitchenpot with round lid",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the black cooking pot with silver handles",
+    "Use the left arm to lift the sauce can with flat bottom and place it next to the black kitchenpot with plastic lid handle",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the black metal kitchenpot",
+    "Lift the sauce can with flat top using the left arm and position it by the black kitchenpot with plastic lid handle",
+    "Move the sauce can with white details beside the cooking kitchenpot with sturdy handles after lifting it",
+    "Lift the medium-sized red sauce can, then place it next to the kitchenpot with metallic round lid",
+    "Use the left arm to move the red plastic sauce can beside the black kitchenpot with silver and black handles",
+    "Use the left arm to lift the sauce can with flat top, then move it next to the black kitchenpot with silver handle bars",
+    "Take the smooth sauce can with the left arm, bring it, and set next to the black kitchenpot with silver and black handles",
+    "Using the left arm, lift the sauce can with flat bottom and place it by the black cooking pot with silver handles",
+    "Pick the sauce can with white details and position it next to the kitchenpot for boiling food",
+    "Use the left arm to grab the red can with gold patterns and move it next to the black kitchenpot with plastic lid handle",
+    "Pick the sauce can with flat bottom up and move it next to the black kitchenpot",
+    "With the left arm, grab the smooth sauce can and move to the black kitchenpot with silver handle bars",
+    "Set the red sauce can for holding condiments right next to the black kitchenpot with silver and black handles",
+    "Bring the red sauce can for holding condiments over and set it near the black kitchenpot with plastic lid handle",
+    "Grab the red cylindrical sauce can, move it to the black metal kitchenpot's side",
+    "Use the left arm to lift the cylindrical sauce can and place it near the black kitchenpot with round lid",
+    "Grab the red plastic sauce can with the left arm and set it near the black kitchenpot with silver handle bars",
+    "Use the left arm to pick the red cylindrical sauce can up and set it beside the black kitchenpot with silver and black handles",
+    "Lift the red cylindrical sauce can, place it by the black kitchenpot with round lid",
+    "Use the left arm to take the sauce can with white details to the black cooking pot with silver handles",
+    "Pick up the medium-sized red sauce can with the left arm and set by the kitchenpot with metallic round lid",
+    "Pick the sauce can with flat bottom up with the left arm then place near the black kitchenpot",
+    "Take the cylindrical sauce can to the medium kitchenpot with smooth surface using the left arm",
+    "Place the smooth sauce can next to the medium kitchenpot with smooth surface",
+    "Take the cylindrical sauce can with the left arm, place it near the black metal kitchenpot"
+  ]
+}

pick_diverse_bottles/episode_0000008/TCP_third/left_state.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6b69d299824b18dc7ff04de86d4b0cbfb677ae2c2244ac40248f24f7d6489735
+size 3684

pick_diverse_bottles/episode_0000008/TCP_third/right_state.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4f6692b53af65eed5cb5da24b5b2bedb89bc10c2eb5fdd0eaac5aeaf30213d
+size 3684