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click_bell/episode_0000011/TCP_head/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    78,
+    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_0000025/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    150,
+    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_0000028/TCP_head/metadata.json

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+{
+  "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_0000028/metadata.json

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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "move_can_pot",
+  "episode": "episode_0000028",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000028.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": [
+    "Take the smooth metal sauce can white with the left arm, place it near the black kitchenpot with flat lid",
+    "Grab the hand-held sauce container and move it close to the kitchenpot for boiling food",
+    "Take the cylindrical container for sauce with the left arm, bring it, and set next to the black kitchenpot with silver and black handles",
+    "Pick up the smooth metal sauce can white and put it beside the black kitchenpot with flat lid",
+    "Grab the cylindrical container for sauce with the left arm and move it close to the black kitchenpot with plastic lid handle",
+    "Pick the brown cap sauce storage can up and carefully position it beside the cooking kitchenpot with sturdy handles",
+    "Move the white sauce can with label from its spot to near the black kitchenpot with round lid",
+    "Use the left arm to take the hand-held sauce container to the black kitchenpot",
+    "Move the hand-held sauce container to the black kitchenpot with flat lid with the left arm",
+    "Grab the white cylindrical sauce holder, shift it, and place it close to the black kitchenpot with flat lid",
+    "Lift the brown top white sauce can using the left arm and position it by the kitchenpot with metallic round lid",
+    "Use the left arm to lift the smooth metal sauce can white and place it near the black cooking pot with silver handles",
+    "Pick up the hand-held sauce container using the left arm, transfer it beside the medium kitchenpot with smooth surface",
+    "Lift the metal can with plastic lid, place it by the black kitchenpot with plastic lid handle",
+    "Lift the brown-lid sauce can and move it near the black kitchenpot with round lid",
+    "Place the white sauce can brown top beside the black kitchenpot with plastic lid handle after picking it up",
+    "Use the left arm to grab the white cylindrical sauce holder and transfer it near the black kitchenpot with flat lid",
+    "Move the white sauce can with label to be next to the black kitchenpot",
+    "Grab the brown-lid sauce can, move it, and place by the black metal kitchenpot",
+    "Pick the white sauce can with label and position it next to the black kitchenpot with round lid",
+    "Use the left arm to grab the white sauce can with label and move it beside the black kitchenpot with silver and black handles",
+    "Take the cylindrical container for sauce using the left arm, set it next to the black kitchenpot with flat lid",
+    "Lift the hand-held sauce container and set it next to the cooking kitchenpot with sturdy handles",
+    "Bring the smooth metal sauce can white over and set it near the cooking kitchenpot with sturdy handles",
+    "Set the white sauce can brown top right next to the black metal kitchenpot",
+    "Take the white sauce can brown top to the black kitchenpot with silver handle bars using the left arm",
+    "Pick up the metal can with plastic lid with the left arm and set by the black kitchenpot with round lid",
+    "Use the left arm to lift the white sauce can with label and place it next to the black kitchenpot with plastic lid handle",
+    "Use the left arm to grab the white sauce can with label and move it next to the medium kitchenpot with smooth surface",
+    "Pick the cylindrical can brown round top up and move it next to the black cooking pot with silver handles",
+    "Lift the white label brown lidded can and set it next to the black kitchenpot with silver and black handles",
+    "Place the smooth metal sauce can white next to the kitchenpot with metallic round lid",
+    "Pick the cylindrical can brown round top up with the left arm then place near the black kitchenpot with round lid",
+    "Grab the white cylindrical sauce holder with the left arm and set it near the black kitchenpot with plastic lid handle",
+    "Lift the metal can with plastic lid, then place it next to the black kitchenpot",
+    "Move the cylindrical container for sauce beside the black kitchenpot with silver handle bars after lifting it",
+    "Lift the brown top white sauce can using the left arm and drop it beside the black kitchenpot",
+    "Using the left arm, lift the metal can with plastic lid and place it by the black kitchenpot with round lid",
+    "Grab the smooth metal sauce can white, move it to the kitchenpot with metallic round lid's side",
+    "Set the white label brown lidded can near the kitchenpot with metallic round lid after picking it up",
+    "With the left arm, grab the brown top white sauce can and move to the black kitchenpot with plastic lid handle",
+    "Use the left arm to move the cylindrical container for sauce beside the kitchenpot with metallic round lid",
+    "Lift the white cylindrical sauce holder and place it next to the black kitchenpot with plastic lid handle",
+    "Use the left arm to pick the cylindrical container for sauce up and set it beside the medium kitchenpot with smooth surface",
+    "Use the left arm to pick the white sauce can with label, position it near the kitchenpot for boiling food",
+    "Grab the cylindrical can brown round top with the left arm and position it beside the black kitchenpot with silver and black handles",
+    "Use the left arm to lift the white label brown lidded can, then move it next to the black kitchenpot with silver handle bars",
+    "Pick the white sauce can with label with the left arm and relocate it near the black metal kitchenpot",
+    "Lift the white sauce can with label and set it beside the black metal kitchenpot",
+    "Use the left arm to grab the hand-held sauce container, move it beside the cooking kitchenpot with sturdy handles",
+    "Take the white sauce can brown top with the left arm, place it near the black cooking pot with silver handles",
+    "Grab the brown top white sauce can and move it close to the black kitchenpot",
+    "Take the brown top white sauce can with the left arm, bring it, and set next to the medium kitchenpot with smooth surface",
+    "Pick up the hand-held sauce container and put it beside the kitchenpot for boiling food",
+    "Grab the white sauce can with label with the left arm and move it close to the black metal kitchenpot",
+    "Pick the cylindrical container for sauce up and carefully position it beside the black cooking pot with silver handles",
+    "Move the hand-held sauce container from its spot to near the black kitchenpot with round lid",
+    "Use the left arm to take the brown top white sauce can to the cooking kitchenpot with sturdy handles",
+    "Move the cylindrical container for sauce to the kitchenpot for boiling food with the left arm",
+    "Grab the metal can with plastic lid, shift it, and place it close to the kitchenpot with metallic round lid",
+    "Lift the cylindrical can brown round top using the left arm and position it by the black kitchenpot with silver and black handles",
+    "Use the left arm to lift the metal can with plastic lid and place it near the cooking kitchenpot with sturdy handles",
+    "Pick up the cylindrical can brown round top using the left arm, transfer it beside the black cooking pot with silver handles",
+    "Lift the white sauce can brown top, place it by the kitchenpot for boiling food",
+    "Lift the smooth metal sauce can white and move it near the kitchenpot for boiling food",
+    "Place the white sauce can with label beside the kitchenpot for boiling food after picking it up",
+    "Use the left arm to grab the cylindrical container for sauce and transfer it near the kitchenpot for boiling food",
+    "Move the white sauce can brown top to be next to the black kitchenpot with silver handle bars",
+    "Grab the white sauce can with label, move it, and place by the black kitchenpot with silver handle bars",
+    "Pick the white sauce can brown top and position it next to the black cooking pot with silver handles",
+    "Use the left arm to grab the white sauce can brown top and move it beside the black kitchenpot with round lid",
+    "Take the cylindrical can brown round top using the left arm, set it next to the black kitchenpot with plastic lid handle",
+    "Lift the metal can with plastic lid and set it next to the black kitchenpot with plastic lid handle",
+    "Bring the smooth metal sauce can white over and set it near the black kitchenpot",
+    "Set the white sauce can brown top right next to the black kitchenpot with round lid",
+    "Take the white sauce can with label to the black kitchenpot with round lid using the left arm",
+    "Pick up the cylindrical container for sauce with the left arm and set by the black kitchenpot with silver handle bars",
+    "Use the left arm to lift the brown-lid sauce can and place it next to the black kitchenpot",
+    "Use the left arm to grab the hand-held sauce container and move it next to the kitchenpot with metallic round lid",
+    "Pick the white sauce can brown top up and move it next to the medium kitchenpot with smooth surface",
+    "Lift the cylindrical container for sauce and set it next to the black kitchenpot with silver handle bars",
+    "Place the metal can with plastic lid next to the black metal kitchenpot",
+    "Pick the brown-lid sauce can up with the left arm then place near the black metal kitchenpot",
+    "Grab the white sauce can brown top with the left arm and set it near the black kitchenpot",
+    "Lift the brown-lid sauce can, then place it next to the black kitchenpot",
+    "Move the brown cap sauce storage can beside the kitchenpot for boiling food after lifting it",
+    "Lift the white sauce can with label using the left arm and drop it beside the black kitchenpot with silver and black handles",
+    "Using the left arm, lift the white sauce can with label and place it by the black kitchenpot with round lid",
+    "Grab the white label brown lidded can, move it to the medium kitchenpot with smooth surface's side",
+    "Set the white sauce can brown top near the black kitchenpot with round lid after picking it up",
+    "With the left arm, grab the white cylindrical sauce holder and move to the black kitchenpot",
+    "Use the left arm to move the cylindrical can brown round top beside the black kitchenpot with round lid",
+    "Lift the brown cap sauce storage can and place it next to the black kitchenpot",
+    "Use the left arm to pick the white sauce can brown top up and set it beside the black kitchenpot with silver handle bars",
+    "Use the left arm to pick the smooth metal sauce can white, position it near the kitchenpot with metallic round lid",
+    "Grab the brown-lid sauce can with the left arm and position it beside the black kitchenpot with silver and black handles",
+    "Use the left arm to lift the white cylindrical sauce holder, then move it next to the black kitchenpot",
+    "Pick the smooth metal sauce can white with the left arm and relocate it near the medium kitchenpot with smooth surface",
+    "Lift the smooth metal sauce can white and set it beside the black kitchenpot with silver handle bars",
+    "Use the left arm to grab the white sauce can brown top, move it beside the black kitchenpot with flat lid"
+  ]
+}