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dump_bin_bigbin/episode_0000019/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    177,
+    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"
+}

dump_bin_bigbin/episode_0000019/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "dump_bin_bigbin",
+  "episode": "episode_0000019",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000019.hdf5",
+  "num_frames": 177,
+  "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": [
+      177,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      177,
+      14
+    ],
+    "action_shape": [
+      177,
+      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 the minimalist gray tabletrashbin, pour its contents out.",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Lift the cylindrical tabletrashbin and pour balls into the bin.",
+    "Take the light gray smooth tabletrashbin and pour the balls.",
+    "Lift up the small tabletop trashbin, then pour balls.",
+    "Raise the round gray tabletrashbin to dump its contents out.",
+    "Pick the light gray smooth tabletrashbin up, pour all balls inside bin",
+    "Hold the light gray smooth tabletrashbin and pour all balls into bin",
+    "Hold the open-top tabletrashbin, dump balls in big bin",
+    "Grab the minimalist gray tabletrashbin with arm and pour contents",
+    "Use the arm to empty the plastic tabletrashbin into the bin.",
+    "Use the light gray tabletrashbin to pour the balls out.",
+    "Grab and tilt the simple tabletop trashbin to empty the balls.",
+    "Use arm to pick the light gray smooth tabletrashbin, pour in bin",
+    "Pick up the simple tabletop trashbin using the arm, pour balls.",
+    "Take hold of the light gray waste container and dump the balls.",
+    "Grab the light gray waste container and pour it out.",
+    "Use the arm to lift the light gray cylindrical trashbin and empty it.",
+    "Lift the minimalist gray tabletrashbin, then pour the balls.",
+    "Hold the plastic tabletrashbin and dump its balls.",
+    "Grab the light gray cylindrical trashbin, pour its contents away.",
+    "Hold the small tabletop trashbin, then pour contents.",
+    "Grab the simple tabletop trashbin and transfer balls.",
+    "Secure the cylindrical tabletrashbin and pour the balls.",
+    "Take hold of the simple tabletop trashbin, pour contents.",
+    "Direct the arm to grab the minimalist gray tabletrashbin and tilt.",
+    "Take the plastic tabletrashbin and empty balls into the bin.",
+    "Take the round gray tabletrashbin and empty its contents.",
+    "Pick up the minimalist gray tabletrashbin and pour carefully.",
+    "Lift the light gray waste container, pour into the big bin.",
+    "Grab the small tabletop trashbin and empty it into the bin.",
+    "Take the cylindrical tabletrashbin using arm, pour contents inside",
+    "Use arm to grab the open-top tabletrashbin, dump contents",
+    "Use the arm to move the light gray cylindrical trashbin and pour.",
+    "Pick up the light gray waste container and pour into bin.",
+    "Lift the light gray smooth tabletrashbin, pour contents into big bin",
+    "Lift the small tabletop trashbin and pour contents down.",
+    "Lift the light gray cylindrical trashbin and pour its contents into bin.",
+    "Grab the light gray tabletrashbin and transfer balls to the bin.",
+    "Hold the open gray tabletrashbin and pour the balls.",
+    "Use the arm to grab the minimalist gray tabletrashbin and pour.",
+    "Pour balls from the light gray smooth tabletrashbin into the bin.",
+    "Pick up the round gray tabletrashbin, empty into the big bin",
+    "Grasp the light gray waste container and empty it out.",
+    "Control the arm to raise the simple tabletop trashbin and pour.",
+    "Lift the light gray tabletrashbin using the arm to pour balls.",
+    "Lift the light gray tabletrashbin, pour the balls into big bin",
+    "Take the light gray cylindrical trashbin and pour contents.",
+    "Take the minimalist gray tabletrashbin and pour the balls out.",
+    "Move the arm, take the light gray tabletrashbin, and pour.",
+    "Pick the small tabletop trashbin, pour its contents out.",
+    "Grab the small tabletop trashbin, then pour balls into the bin.",
+    "Lift the light gray waste container and pour balls into the bin.",
+    "Take the light gray smooth tabletrashbin and pour the balls.",
+    "Lift up the light gray tabletrashbin, then pour balls.",
+    "Raise the simple tabletop trashbin to dump its contents out.",
+    "Pick the open-top tabletrashbin up, pour all balls inside bin",
+    "Hold the minimalist gray tabletrashbin and pour all balls into bin",
+    "Hold the open-top tabletrashbin, dump balls in big bin",
+    "Grab the cylindrical tabletrashbin with arm and pour contents",
+    "Use the arm to empty the plastic tabletrashbin into the bin.",
+    "Use the plastic tabletrashbin to pour the balls out.",
+    "Grab and tilt the small tabletop trashbin to empty the balls.",
+    "Use arm to pick the minimalist gray tabletrashbin, pour in bin",
+    "Pick up the light gray smooth tabletrashbin using the arm, pour balls.",
+    "Take hold of the plastic tabletrashbin and dump the balls.",
+    "Grab the open gray tabletrashbin and pour it out.",
+    "Use the arm to lift the light gray tabletrashbin and empty it.",
+    "Lift the plastic tabletrashbin, then pour the balls.",
+    "Hold the small tabletop trashbin and dump its balls.",
+    "Grab the light gray tabletrashbin, pour its contents away.",
+    "Hold the minimalist gray tabletrashbin, then pour contents.",
+    "Grab the plastic tabletrashbin and transfer balls.",
+    "Secure the cylindrical tabletrashbin and pour the balls.",
+    "Take hold of the plastic tabletrashbin, pour contents.",
+    "Direct the arm to grab the light gray tabletrashbin and tilt.",
+    "Take the simple tabletop trashbin and empty balls into the bin.",
+    "Take the light gray cylindrical trashbin and empty its contents.",
+    "Pick up the light gray waste container and pour carefully.",
+    "Lift the open gray tabletrashbin, pour into the big bin.",
+    "Grab the light gray waste container and empty it into the bin.",
+    "Take the minimalist gray tabletrashbin using arm, pour contents inside",
+    "Use arm to grab the open-top tabletrashbin, dump contents",
+    "Use the arm to move the simple tabletop trashbin and pour.",
+    "Pick up the light gray waste container and pour into bin.",
+    "Lift the light gray cylindrical trashbin, pour contents into big bin",
+    "Lift the light gray tabletrashbin and pour contents down.",
+    "Lift the open-top tabletrashbin and pour its contents into bin.",
+    "Grab the light gray waste container and transfer balls to the bin.",
+    "Hold the open gray tabletrashbin and pour the balls.",
+    "Use the arm to grab the cylindrical tabletrashbin and pour.",
+    "Pour balls from the light gray tabletrashbin into the bin.",
+    "Pick up the open-top tabletrashbin, empty into the big bin",
+    "Grasp the open gray tabletrashbin and empty it out.",
+    "Control the arm to raise the open gray tabletrashbin and pour.",
+    "Lift the minimalist gray tabletrashbin using the arm to pour balls.",
+    "Lift the minimalist gray tabletrashbin, pour the balls into big bin",
+    "Take the light gray tabletrashbin and pour contents.",
+    "Take the light gray tabletrashbin and pour the balls out.",
+    "Move the arm, take the open-top tabletrashbin, and pour."
+  ]
+}