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beat_block_hammer/episode_0000022/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    121,
+    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_0000022/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    121,
+    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_0000022/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000022",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000022.hdf5",
+  "num_frames": 121,
+  "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": [
+      121,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      121,
+      14
+    ],
+    "action_shape": [
+      121,
+      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 medium-sized metal hammer and smash the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the hammer for nails, then hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Pick up the hammer for nails and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Grab the nail-driving hammer to beat the block.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Pick up the silver curved hammer head and strike the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Grab the grippy handle hammer and use it to hit"
+  ]
+}

beat_block_hammer/episode_0000023/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_0000023/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "beat_block_hammer",
+  "episode": "episode_0000023",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/beat_block_hammer/aloha_agilex/data/episode_0000023.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": [
+    "Take the grippy handle hammer and strike the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Take the black and yellow hammer grip and beat the block",
+    "Lift the hammer for nails and hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Take the silver hammer and hammer the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the silver hammer and strike the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Take the hammer for nails and hammer the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Beat the block after grabbing the silver hammer",
+    "Pick the silver curved hammer head from the table and strike",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Catch the handheld medium claw hammer and use it on the block."
+  ]
+}

beat_block_hammer/episode_0000034/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    116,
+    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_0000005/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    75,
+    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_0000005/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    75,
+    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_0000005/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000005",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000005.hdf5",
+  "num_frames": 75,
+  "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": [
+      75,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      75,
+      14
+    ],
+    "action_shape": [
+      75,
+      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": [
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Press the white bell's top center on the table.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Push the white bell's <top center> on the table",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Direct the left arm to touch the white bell's top.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Pinpoint the white bell and click its top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Press the center top of the compact tabletop bell.",
+    "Tap the white bell's top center with the left arm.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Click the designated center of the white dome bell.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Press the top center of the white and black colored bell on table.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Click using the left arm on the white bell's center.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Click the bell shaped like half-circle dome's top center using the left arm.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Activate the white dome bell by pressing its top center.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Tap the top center of the compact tabletop bell.",
+    "Command the left arm to press the white bell's top.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Press the top center of the bell with black flat base on table.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Click the bell with black flat base at its top center on table.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Click the top center of the white dome bell on table.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Locate the white bell and click its top center.",
+    "Tap the simple hand bell with black stand's top center with the left arm."
+  ]
+}

click_bell/episode_0000048/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_0000048/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "click_bell",
+  "episode": "episode_0000048",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/click_bell/aloha_agilex/data/episode_0000048.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": [
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Click the designated center of the small blue and brown bell.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Push the blue bell's <top center> on the table",
+    "Use the left arm to touch the compact bell with round base's top center.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Press the center of the round bell using the left arm.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Tap the round bell's top center with the left arm.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Press the specified top area of the compact bell with round base.",
+    "Press the center top of the bell with protruding knob.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Locate the bell with brown base and click its top center.",
+    "Tap the top center of the round bell.",
+    "Click the smooth blue bell at its top center on table.",
+    "Click the top center of the round bell on table.",
+    "Activate the blue bell by pressing its top center.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Click using the left arm on the metal bell with plastic parts's center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Press the specified top area of the blue bell.",
+    "Press the center top of the blue bell.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Tap the top center of the compact bell with round base.",
+    "Click the blue bell at its top center on table.",
+    "Click the top center of the bell with brown base on table.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Press the top center of the flat-topped bell on table.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Click the designated center of the small blue and brown bell.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Direct the left arm to click the top of the small blue and brown bell.",
+    "Press down the top of the blue bell using the left arm.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Press down the bell with brown base's top center gently.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Use the left arm to touch the blue bell's top center.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center top of the smooth blue bell.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Click the round bell at its top center on table.",
+    "Click the top center of the bell with brown base on table.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Direct the left arm to touch the round bell's top.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Press the top center of the blue bell on table.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Click the designated center of the round bell.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Direct the left arm to click the top of the small blue and brown bell."
+  ]
+}

move_can_pot/episode_0000041/TCP_head/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    152,
+    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_0000041/TCP_third/metadata.json

@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    152,
+    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_0000041/metadata.json

@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000041",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000041.hdf5",
+  "num_frames": 152,
+  "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": [
+      152,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      152,
+      14
+    ],
+    "action_shape": [
+      152,
+      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": [
+    "Using the right arm, lift the red and gold sauce can and place it by the round teal cooking pot with matte texture",
+    "Use the right arm to lift the smooth sauce can, then move it next to the round kitchenpot with two side grips",
+    "Lift the sauce can with flat bottom and set it beside the medium teal blue kitchenpot with handles",
+    "Grab the sauce can with flat top with the right arm and set it near the kitchenpot with two sturdy blue handles",
+    "Grab the red plastic sauce can and move it close to the medium-sized teal blue cooking pot",
+    "Use the right arm to grab the red and gold sauce can and move it beside the kitchenpot with two sturdy blue handles",
+    "Take the red cylindrical sauce can with the right arm, place it near the cooking pot with two blue handles",
+    "Grab the smooth sauce can, move it, and place by the cooking pot with two blue handles",
+    "Use the right arm to lift the red sauce can for holding condiments and place it near the round teal cooking pot with matte texture",
+    "Set the red sauce can for holding condiments near the medium-sized teal blue cooking pot after picking it up",
+    "Pick the smooth sauce can and position it next to the round kitchenpot with two side grips",
+    "Take the smooth sauce can using the right arm, set it next to the medium teal blue kitchenpot with handles",
+    "Use the right arm to move the red cylindrical sauce can beside the blue kitchenpot with smooth matte sides",
+    "Grab the red sauce can for holding condiments with the right arm and position it beside the kitchenpot with two sturdy blue handles",
+    "Pick up the sauce can with flat bottom and put it beside the kitchenpot with flat lid and knob",
+    "Take the red and gold sauce can with the right arm, bring it, and set next to the blue cylinder pot with smooth lid",
+    "Place the medium-sized red sauce can beside the kitchenpot with two sturdy blue handles after picking it up",
+    "Use the right arm to grab the red cylindrical sauce can and move it next to the medium teal-colored pot with flat lid",
+    "Pick up the red can with gold patterns using the right arm, transfer it beside the round teal cooking pot with matte texture",
+    "Use the right arm to pick the medium-sized red sauce can up and set it beside the round kitchenpot with two side grips",
+    "Set the medium-sized red sauce can right next to the cooking pot with two blue handles",
+    "Lift the sauce can with flat top using the right arm and drop it beside the medium teal-colored pot with flat lid",
+    "Pick the smooth sauce can with the right arm and relocate it near the kitchenpot with flat lid and knob",
+    "Bring the red cylindrical sauce can over and set it near the smooth teal kitchenpot for stovetop use",
+    "Lift the medium-sized red sauce can using the right arm and position it by the kitchenpot with two sturdy blue handles",
+    "Move the sauce can with white details to the blue cylinder pot with smooth lid with the right arm",
+    "Use the right arm to grab the red plastic sauce can and transfer it near the medium-sized teal blue cooking pot",
+    "Lift the sauce can with flat bottom, then place it next to the medium teal blue kitchenpot with handles",
+    "Move the red and gold sauce can beside the medium teal blue kitchenpot with handles after lifting it",
+    "Use the right arm to pick the sauce can with flat bottom, position it near the kitchenpot with two sturdy blue handles",
+    "Use the right arm to grab the smooth sauce can, move it beside the medium teal blue kitchenpot with handles",
+    "With the right arm, grab the red plastic sauce can and move to the kitchenpot with flat lid and knob",
+    "Move the red can with gold patterns from its spot to near the cooking pot with two blue handles",
+    "Grab the red sauce can, move it to the teal pot for boiling and cooking's side",
+    "Use the right arm to lift the red cylindrical sauce can and place it next to the round teal cooking pot with matte texture",
+    "Grab the sauce can with flat bottom with the right arm and move it close to the medium teal blue kitchenpot with handles",
+    "Lift the red cylindrical sauce can and move it near the kitchenpot with two sturdy blue handles",
+    "Lift the cylindrical sauce can and place it next to the medium-sized teal blue cooking pot",
+    "Place the sauce can with white details next to the blue cylinder pot with smooth lid",
+    "Lift the cylindrical sauce can and set it next to the kitchenpot with two sturdy blue handles",
+    "Move the red sauce can to be next to the blue cylinder pot with smooth lid",
+    "Pick the red cylindrical sauce can up with the right arm then place near the round kitchenpot with two side grips",
+    "Lift the red cylindrical sauce can, place it by the blue kitchenpot with smooth matte sides",
+    "Pick up the sauce can with white details with the right arm and set by the teal pot for boiling and cooking",
+    "Grab the red sauce can for holding condiments, shift it, and place it close to the medium teal-colored pot with flat lid",
+    "Pick the red sauce can for holding condiments up and move it next to the cooking pot with two blue handles",
+    "Use the right arm to take the red sauce can for holding condiments to the medium teal-colored pot with flat lid",
+    "Pick the red sauce can up and carefully position it beside the medium-sized teal blue cooking pot",
+    "Take the sauce can with flat bottom to the medium teal blue kitchenpot with handles using the right arm",
+    "Lift the red and gold sauce can and set it next to the teal pot for boiling and cooking",
+    "Using the right arm, lift the red and gold sauce can and place it by the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to lift the smooth sauce can, then move it next to the medium teal blue kitchenpot with handles",
+    "Lift the sauce can with flat top and set it beside the round kitchenpot with two side grips",
+    "Grab the red plastic sauce can with the right arm and set it near the medium teal blue kitchenpot with handles",
+    "Grab the red can with gold patterns and move it close to the teal pot for boiling and cooking",
+    "Use the right arm to grab the sauce can with flat bottom and move it beside the smooth teal kitchenpot for stovetop use",
+    "Take the cylindrical sauce can with the right arm, place it near the teal pot for boiling and cooking",
+    "Grab the sauce can with flat top, move it, and place by the kitchenpot with flat lid and knob",
+    "Use the right arm to lift the sauce can with flat bottom and place it near the kitchenpot with two sturdy blue handles",
+    "Set the sauce can with flat top near the kitchenpot with two sturdy blue handles after picking it up",
+    "Pick the red plastic sauce can and position it next to the cooking pot with two blue handles",
+    "Take the red can with gold patterns using the right arm, set it next to the cooking pot with two blue handles",
+    "Use the right arm to move the red cylindrical sauce can beside the medium-sized teal blue cooking pot",
+    "Grab the cylindrical sauce can with the right arm and position it beside the blue kitchenpot with smooth matte sides",
+    "Pick up the sauce can with flat bottom and put it beside the round teal cooking pot with matte texture",
+    "Take the sauce can with flat bottom with the right arm, bring it, and set next to the kitchenpot with flat lid and knob",
+    "Place the sauce can with white details beside the round teal cooking pot with matte texture after picking it up",
+    "Use the right arm to grab the red sauce can for holding condiments and move it next to the medium teal blue kitchenpot with handles",
+    "Pick up the sauce can with flat top using the right arm, transfer it beside the blue kitchenpot with smooth matte sides",
+    "Use the right arm to pick the sauce can with flat top up and set it beside the cooking pot with two blue handles",
+    "Set the red cylindrical sauce can right next to the round kitchenpot with two side grips",
+    "Lift the red cylindrical sauce can using the right arm and drop it beside the medium teal blue kitchenpot with handles",
+    "Pick the sauce can with flat top with the right arm and relocate it near the blue cylinder pot with smooth lid",
+    "Bring the sauce can with flat top over and set it near the kitchenpot with flat lid and knob",
+    "Lift the sauce can with white details using the right arm and position it by the kitchenpot with flat lid and knob",
+    "Move the sauce can with flat bottom to the cooking pot with two blue handles with the right arm",
+    "Use the right arm to grab the red can with gold patterns and transfer it near the medium-sized teal blue cooking pot",
+    "Lift the sauce can with flat top, then place it next to the kitchenpot with two sturdy blue handles",
+    "Move the sauce can with flat bottom beside the round teal cooking pot with matte texture after lifting it",
+    "Use the right arm to pick the red plastic sauce can, position it near the kitchenpot with flat lid and knob",
+    "Use the right arm to grab the sauce can with flat top, move it beside the round teal cooking pot with matte texture",
+    "With the right arm, grab the cylindrical sauce can and move to the kitchenpot with flat lid and knob",
+    "Move the red sauce can for holding condiments from its spot to near the round kitchenpot with two side grips",
+    "Grab the red plastic sauce can, move it to the teal pot for boiling and cooking's side",
+    "Use the right arm to lift the red sauce can and place it next to the blue cylinder pot with smooth lid",
+    "Grab the medium-sized red sauce can with the right arm and move it close to the blue cylinder pot with smooth lid",
+    "Lift the red can with gold patterns and move it near the teal pot for boiling and cooking",
+    "Lift the sauce can with flat top and place it next to the blue cylinder pot with smooth lid",
+    "Place the red and gold sauce can next to the kitchenpot with flat lid and knob",
+    "Lift the sauce can with flat top and set it next to the medium teal blue kitchenpot with handles",
+    "Move the red can with gold patterns to be next to the kitchenpot with two sturdy blue handles",
+    "Pick the medium-sized red sauce can up with the right arm then place near the teal pot for boiling and cooking",
+    "Lift the sauce can with white details, place it by the round teal cooking pot with matte texture",
+    "Pick up the red can with gold patterns with the right arm and set by the cooking pot with two blue handles",
+    "Grab the red and gold sauce can, shift it, and place it close to the round teal cooking pot with matte texture",
+    "Pick the red and gold sauce can up and move it next to the kitchenpot with two sturdy blue handles",
+    "Use the right arm to take the red sauce can to the medium teal blue kitchenpot with handles",
+    "Pick the red cylindrical sauce can up and carefully position it beside the round teal cooking pot with matte texture",
+    "Take the red cylindrical sauce can to the medium teal-colored pot with flat lid using the right arm",
+    "Lift the cylindrical sauce can and set it next to the kitchenpot with flat lid and knob"
+  ]
+}