{
  "format_version": "robotwin_4d_v1",
  "task": "move_can_pot",
  "episode": "episode_0000002",
  "embodiment": "aloha_agilex",
  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000002.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": [
    "Move the yellow and brown sauce can to be next to the kitchenpot for boiling and cooking",
    "Lift the yellow label sauce can and place it next to the medium kitchenpot made of metal",
    "Pick the brown top sauce can with the left arm and relocate it near the smooth gray kitchenpot",
    "Lift the sauce can with brown lid and set it next to the kitchenpot for boiling and cooking",
    "Use the left arm to grab the yellow and brown sauce can and transfer it near the medium kitchenpot made of metal",
    "Use the left arm to grab the cylindrical sauce can and move it next to the cylindrical kitchenpot",
    "Lift the printed label sauce can and set it beside the cylindrical kitchenpot",
    "Pick the metal sauce can up and move it next to the medium-sized kitchenpot",
    "Grab the brown top sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
    "Lift the medium sauce can and move it near the dark gray stove kitchenpot",
    "Lift the sauce can for condiments using the left arm and drop it beside the medium-sized kitchenpot",
    "Grab the smooth cylindrical sauce can with the left arm and move it close to the cylindrical kitchenpot",
    "Grab the sauce can for condiments, shift it, and place it close to the cylindrical kitchenpot",
    "Place the sauce can for condiments next to the metal kitchenpot",
    "Take the sauce can with ingredient information to the gray kitchenpot using the left arm",
    "Pick the printed label sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
    "Take the metal sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
    "Pick up the sauce can with brown lid using the left arm, transfer it beside the metal kitchenpot",
    "Lift the medium sauce can using the left arm and position it by the medium-sized kitchenpot",
    "Lift the yellow label sauce can, then place it next to the gray cylindrical metal kitchenpot",
    "Place the brown top sauce can beside the smooth gray kitchenpot after picking it up",
    "Take the medium sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
    "Move the yellow and brown sauce can to the kitchenpot with smooth exterior with the left arm",
    "Grab the brown top sauce can, move it to the gray kitchenpot's side",
    "Use the left arm to grab the sauce can for condiments, move it beside the dark gray stove kitchenpot",
    "Set the sauce can with ingredient information right next to the gray kitchenpot",
    "Lift the metal sauce can, place it by the kitchenpot with smooth exterior",
    "Bring the metal sauce can over and set it near the medium-sized kitchenpot",
    "With the left arm, grab the printed label sauce can and move to the kitchenpot for boiling and cooking",
    "Pick up the sauce can with ingredient information with the left arm and set by the dark gray stove kitchenpot",
    "Use the left arm to lift the brown top sauce can and place it near the cylindrical kitchenpot",
    "Use the left arm to lift the sauce can with brown lid, then move it next to the dark gray stove kitchenpot",
    "Move the sauce can with ingredient information beside the medium-sized kitchenpot after lifting it",
    "Use the left arm to grab the yellow and brown sauce can and move it beside the gray cylindrical metal kitchenpot",
    "Set the metal sauce can near the round kitchenpot with handles after picking it up",
    "Pick up the yellow and brown sauce can and put it beside the metal kitchenpot",
    "Use the left arm to pick the sauce can with brown lid, position it near the kitchenpot for boiling and cooking",
    "Use the left arm to lift the sauce can for condiments and place it next to the gray kitchenpot",
    "Pick the smooth cylindrical sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
    "Move the metal sauce can from its spot to near the round kitchenpot with handles",
    "Take the cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
    "Use the left arm to pick the brown sauce can up and set it beside the smooth gray kitchenpot",
    "Pick the metal sauce can and position it next to the dark gray stove kitchenpot",
    "Grab the smooth cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
    "Using the left arm, lift the metal sauce can and place it by the kitchenpot for boiling and cooking",
    "Grab the brown sauce can, move it, and place by the gray kitchenpot",
    "Lift the sauce can with ingredient information and set it next to the medium kitchenpot made of metal",
    "Grab the smooth cylindrical sauce can and move it close to the gray kitchenpot",
    "Use the left arm to take the brown top sauce can to the kitchenpot for boiling and cooking",
    "Use the left arm to move the sauce can with ingredient information beside the round kitchenpot with handles",
    "Move the sauce can for condiments to be next to the medium kitchenpot made of metal",
    "Lift the yellow and brown sauce can and place it next to the round kitchenpot with handles",
    "Pick the sauce can with brown lid with the left arm and relocate it near the dark gray stove kitchenpot",
    "Lift the brown top sauce can and set it next to the metal kitchenpot",
    "Use the left arm to grab the metal sauce can and transfer it near the cooking kitchenpot with side grips",
    "Use the left arm to grab the brown top sauce can and move it next to the metal kitchenpot",
    "Lift the cylindrical sauce can and set it beside the medium-sized kitchenpot",
    "Pick the metal sauce can up and move it next to the medium kitchenpot made of metal",
    "Grab the cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal",
    "Lift the brown sauce can and move it near the smooth gray kitchenpot",
    "Lift the metal sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
    "Grab the brown sauce can with the left arm and move it close to the metal kitchenpot",
    "Grab the smooth cylindrical sauce can, shift it, and place it close to the gray kitchenpot",
    "Place the brown top sauce can next to the gray cylindrical metal kitchenpot",
    "Take the yellow label sauce can to the metal kitchenpot using the left arm",
    "Pick the cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
    "Take the yellow and brown sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
    "Pick up the sauce can with ingredient information using the left arm, transfer it beside the cylindrical kitchenpot",
    "Lift the yellow and brown sauce can using the left arm and position it by the medium kitchenpot made of metal",
    "Lift the medium sauce can, then place it next to the dark gray stove kitchenpot",
    "Place the sauce can for condiments beside the metal kitchenpot after picking it up",
    "Take the medium sauce can with the left arm, place it near the medium-sized kitchenpot",
    "Move the cylindrical sauce can to the smooth gray kitchenpot with the left arm",
    "Grab the yellow label sauce can, move it to the gray cylindrical metal kitchenpot's side",
    "Use the left arm to grab the brown top sauce can, move it beside the metal kitchenpot",
    "Set the brown sauce can right next to the dark gray stove kitchenpot",
    "Lift the sauce can with ingredient information, place it by the kitchenpot with smooth exterior",
    "Bring the smooth cylindrical sauce can over and set it near the round kitchenpot with handles",
    "With the left arm, grab the printed label sauce can and move to the medium kitchenpot made of metal",
    "Pick up the sauce can for condiments with the left arm and set by the cylindrical kitchenpot",
    "Use the left arm to lift the sauce can with ingredient information and place it near the kitchenpot for boiling and cooking",
    "Use the left arm to lift the sauce can for condiments, then move it next to the metal kitchenpot",
    "Move the sauce can with brown lid beside the kitchenpot with smooth exterior after lifting it",
    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot with smooth exterior",
    "Set the yellow and brown sauce can near the smooth gray kitchenpot after picking it up",
    "Pick up the printed label sauce can and put it beside the round kitchenpot with handles",
    "Use the left arm to pick the yellow and brown sauce can, position it near the cylindrical kitchenpot",
    "Use the left arm to lift the sauce can for condiments and place it next to the gray cylindrical metal kitchenpot",
    "Pick the cylindrical sauce can up and carefully position it beside the medium-sized kitchenpot",
    "Move the brown top sauce can from its spot to near the gray cylindrical metal kitchenpot",
    "Take the cylindrical sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
    "Use the left arm to pick the cylindrical sauce can up and set it beside the cooking kitchenpot with side grips",
    "Pick the cylindrical sauce can and position it next to the round kitchenpot with handles",
    "Grab the printed label sauce can with the left arm and set it near the medium kitchenpot made of metal",
    "Using the left arm, lift the printed label sauce can and place it by the medium kitchenpot made of metal",
    "Grab the metal sauce can, move it, and place by the cylindrical kitchenpot",
    "Lift the brown top sauce can and set it next to the round kitchenpot with handles",
    "Grab the yellow label sauce can and move it close to the dark gray stove kitchenpot",
    "Use the left arm to take the printed label sauce can to the kitchenpot with smooth exterior",
    "Use the left arm to move the cylindrical sauce can beside the cylindrical kitchenpot"
  ]
}