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dump_bin_bigbin/episode_0000025/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    164,
+    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"
+}

dump_bin_bigbin/episode_0000028/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    359,
+    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_0000028/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "dump_bin_bigbin",
+  "episode": "episode_0000028",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000028.hdf5",
+  "num_frames": 359,
+  "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": [
+      359,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      359,
+      14
+    ],
+    "action_shape": [
+      359,
+      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": [
+    "Hold the small white trashbin and dump its balls.",
+    "Lift up the compact tabletop trashbin, then pour balls.",
+    "Take the compact tabletop trashbin and empty balls into the bin.",
+    "Grab the small white trashbin and transfer balls.",
+    "Grab and tilt the small white trashbin to empty the balls.",
+    "Use arm to grab the cylindrical tabletrashbin with flared rim, dump contents",
+    "Lift the tabletrashbin, pour contents into big bin",
+    "Lift the white cylindrical waste bin using the arm to pour balls.",
+    "Lift the tabletrashbin and pour balls into the bin.",
+    "Take hold of the white bin with flared top edge and dump the balls.",
+    "Lift the smooth plastic tabletrashbin, pour into the big bin.",
+    "Take the compact tabletop trashbin using arm, pour contents inside",
+    "Grab the small white trashbin, then pour balls into the bin.",
+    "Grab the simple white plastic trashbin with arm and pour contents",
+    "Hold the cylindrical small white trashbin, then pour contents.",
+    "Lift the mini white trashbin for desk, then pour the balls.",
+    "Lift the white bin with flared top edge and pour its contents into bin.",
+    "Pick up the simple white plastic trashbin and pour into bin.",
+    "Use the arm to lift the tabletrashbin and empty it.",
+    "Grasp the compact tabletop trashbin and empty it out.",
+    "Take the white cylindrical waste bin and pour contents.",
+    "Pick up the mini white trashbin for desk, empty into the big bin",
+    "Use the arm to move the tabletrashbin and pour.",
+    "Hold the white round tabletrashbin and pour the balls.",
+    "Take the white cylindrical waste bin and empty its contents.",
+    "Take the white bin with flared top edge and pour the balls.",
+    "Pick up the white round tabletrashbin using the arm, pour balls.",
+    "Use the arm to grab the white cylindrical waste bin and pour.",
+    "Grab the desk-sized white tabletrashbin and empty it into the bin.",
+    "Pick up the white cylindrical waste bin and pour carefully.",
+    "Lift the white bin with flared top edge, pour the balls into big bin",
+    "Use the white bin with flared top edge to pour the balls out.",
+    "Pick the white bin with flared top edge, pour its contents out.",
+    "Lift the mini white trashbin for desk and pour contents down.",
+    "Grab the cylindrical tabletrashbin with flared rim, pour its contents away.",
+    "Grab the small white trashbin and pour it out.",
+    "Hold the smooth plastic tabletrashbin and pour all balls into bin",
+    "Secure the smooth plastic tabletrashbin and pour the balls.",
+    "Take hold of the small white trashbin, pour contents.",
+    "Pour balls from the white cylindrical waste bin into the bin.",
+    "Use arm to pick the mini white trashbin for desk, pour in bin",
+    "Use the arm to empty the simple white plastic trashbin into the bin.",
+    "Pick the simple white plastic trashbin up, pour all balls inside bin",
+    "Take the mini white trashbin for desk and pour the balls out.",
+    "Raise the mini white trashbin for desk to dump its contents out.",
+    "Direct the arm to grab the smooth plastic tabletrashbin and tilt.",
+    "Move the arm, take the white cylindrical waste bin, and pour.",
+    "Hold the compact tabletop trashbin, dump balls in big bin",
+    "Control the arm to raise the mini white trashbin for desk and pour.",
+    "Grab the desk-sized white tabletrashbin and transfer balls to the bin.",
+    "Hold the white round tabletrashbin and dump its balls.",
+    "Lift up the white cylindrical waste bin, then pour balls.",
+    "Take the smooth plastic tabletrashbin and empty balls into the bin.",
+    "Grab the tabletrashbin and transfer balls.",
+    "Grab and tilt the cylindrical small white trashbin to empty the balls.",
+    "Use arm to grab the small white trashbin, dump contents",
+    "Lift the white round tabletrashbin, pour contents into big bin",
+    "Lift the white round tabletrashbin using the arm to pour balls.",
+    "Lift the simple white plastic trashbin and pour balls into the bin.",
+    "Take hold of the cylindrical tabletrashbin with flared rim and dump the balls.",
+    "Lift the smooth plastic tabletrashbin, pour into the big bin.",
+    "Take the white round tabletrashbin using arm, pour contents inside",
+    "Grab the cylindrical tabletrashbin with flared rim, then pour balls into the bin.",
+    "Grab the mini white trashbin for desk with arm and pour contents",
+    "Hold the white cylindrical waste bin, then pour contents.",
+    "Lift the tabletrashbin, then pour the balls.",
+    "Lift the desk-sized white tabletrashbin and pour its contents into bin.",
+    "Pick up the tabletrashbin and pour into bin.",
+    "Use the arm to lift the tabletrashbin and empty it.",
+    "Grasp the cylindrical small white trashbin and empty it out.",
+    "Take the small white trashbin and pour contents.",
+    "Pick up the tabletrashbin, empty into the big bin",
+    "Use the arm to move the cylindrical small white trashbin and pour.",
+    "Hold the cylindrical small white trashbin and pour the balls.",
+    "Take the desk-sized white tabletrashbin and empty its contents.",
+    "Take the cylindrical small white trashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin using the arm, pour balls.",
+    "Use the arm to grab the tabletrashbin and pour.",
+    "Grab the cylindrical small white trashbin and empty it into the bin.",
+    "Pick up the simple white plastic trashbin and pour carefully.",
+    "Lift the mini white trashbin for desk, pour the balls into big bin",
+    "Use the cylindrical small white trashbin to pour the balls out.",
+    "Pick the mini white trashbin for desk, pour its contents out.",
+    "Lift the mini white trashbin for desk and pour contents down.",
+    "Grab the cylindrical tabletrashbin with flared rim, pour its contents away.",
+    "Grab the desk-sized white tabletrashbin and pour it out.",
+    "Hold the simple white plastic trashbin and pour all balls into bin",
+    "Secure the desk-sized white tabletrashbin and pour the balls.",
+    "Take hold of the compact tabletop trashbin, pour contents.",
+    "Pour balls from the white cylindrical waste bin into the bin.",
+    "Use arm to pick the small white trashbin, pour in bin",
+    "Use the arm to empty the white bin with flared top edge into the bin.",
+    "Pick the white round tabletrashbin up, pour all balls inside bin",
+    "Take the small white trashbin and pour the balls out.",
+    "Raise the cylindrical small white trashbin to dump its contents out.",
+    "Direct the arm to grab the white round tabletrashbin and tilt.",
+    "Move the arm, take the white round tabletrashbin, and pour.",
+    "Hold the tabletrashbin, dump balls in big bin",
+    "Control the arm to raise the cylindrical tabletrashbin with flared rim and pour.",
+    "Grab the white bin with flared top edge and transfer balls to the bin."
+  ]
+}