{
  "format_version": "robotwin_4d_v1",
  "task": "move_can_pot",
  "episode": "episode_0000005",
  "embodiment": "aloha_agilex",
  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000005.hdf5",
  "num_frames": 161,
  "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": [
      161,
      3,
      4
    ],
    "transform": "world_to_camera",
    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
  },
  "robot": {
    "state_shape": [
      161,
      14
    ],
    "action_shape": [
      161,
      14
    ],
    "dtype": "float32",
    "columns": [
      {
        "name": "left_arm_joint_states",
        "start": 0,
        "end": 6
      },
      {
        "name": "left_ee_joint_states",
        "start": 6,
        "end": 7
      },
      {
        "name": "right_arm_joint_states",
        "start": 7,
        "end": 13
      },
      {
        "name": "right_ee_joint_states",
        "start": 13,
        "end": 14
      }
    ]
  },
  "frequency_hz": 15,
  "instructions": [
    "Pick up the sauce can with brown lid with the right arm and set by the smooth gray kitchenpot",
    "Use the right arm to lift the smooth cylindrical sauce can and place it near the medium-sized kitchenpot",
    "Use the right arm to move the yellow and brown sauce can beside the smooth gray kitchenpot",
    "Grab the sauce can for condiments, move it, and place by the kitchenpot for boiling and cooking",
    "Move the sauce can with brown lid from its spot to near the dark gray stove kitchenpot",
    "Use the right arm to grab the cylindrical sauce can and transfer it near the medium-sized kitchenpot",
    "Pick the sauce can for condiments up and move it next to the kitchenpot for boiling and cooking",
    "Set the brown sauce can right next to the medium-sized kitchenpot",
    "Set the sauce can with ingredient information near the medium-sized kitchenpot after picking it up",
    "Place the cylindrical sauce can beside the medium kitchenpot made of metal after picking it up",
    "Lift the printed label sauce can using the right arm and drop it beside the medium kitchenpot made of metal",
    "Take the sauce can with ingredient information with the right arm, bring it, and set next to the gray cylindrical metal kitchenpot",
    "Pick up the brown top sauce can using the right arm, transfer it beside the kitchenpot for boiling and cooking",
    "Use the right arm to lift the sauce can with ingredient information and place it next to the gray cylindrical metal kitchenpot",
    "Pick the brown sauce can with the right arm and relocate it near the round kitchenpot with handles",
    "Use the right arm to take the yellow label sauce can to the cylindrical kitchenpot",
    "Take the yellow label sauce can to the gray cylindrical metal kitchenpot using the right arm",
    "Grab the sauce can for condiments with the right arm and position it beside the gray cylindrical metal kitchenpot",
    "Lift the sauce can with ingredient information and place it next to the dark gray stove kitchenpot",
    "Lift the yellow label sauce can and move it near the gray kitchenpot",
    "Use the right arm to grab the sauce can for condiments and move it beside the round kitchenpot with handles",
    "Grab the smooth cylindrical sauce can, move it to the kitchenpot for boiling and cooking's side",
    "Use the right arm to pick the printed label sauce can, position it near the round kitchenpot with handles",
    "Lift the cylindrical sauce can, then place it next to the round kitchenpot with handles",
    "Move the sauce can for condiments to be next to the round kitchenpot with handles",
    "Grab the printed label sauce can, shift it, and place it close to the gray kitchenpot",
    "Grab the cylindrical sauce can with the right arm and set it near the kitchenpot with smooth exterior",
    "Bring the yellow label sauce can over and set it near the gray cylindrical metal kitchenpot",
    "Pick the yellow and brown sauce can up and carefully position it beside the kitchenpot with smooth exterior",
    "Lift the sauce can with brown lid, place it by the cylindrical kitchenpot",
    "Use the right arm to lift the smooth cylindrical sauce can, then move it next to the medium-sized kitchenpot",
    "Lift the sauce can for condiments and set it beside the smooth gray kitchenpot",
    "With the right arm, grab the brown sauce can and move to the medium kitchenpot made of metal",
    "Grab the brown sauce can with the right arm and move it close to the medium kitchenpot made of metal",
    "Take the metal sauce can with the right arm, place it near the gray kitchenpot",
    "Place the yellow label sauce can next to the dark gray stove kitchenpot",
    "Move the sauce can with ingredient information beside the gray kitchenpot after lifting it",
    "Pick up the smooth cylindrical sauce can and put it beside the cylindrical kitchenpot",
    "Pick the smooth cylindrical sauce can and position it next to the cooking kitchenpot with side grips",
    "Use the right arm to pick the yellow label sauce can up and set it beside the smooth gray kitchenpot",
    "Grab the brown top sauce can and move it close to the cooking kitchenpot with side grips",
    "Use the right arm to grab the metal sauce can, move it beside the dark gray stove kitchenpot",
    "Lift the smooth cylindrical sauce can and set it next to the round kitchenpot with handles",
    "Lift the sauce can with ingredient information using the right arm and position it by the metal kitchenpot",
    "Take the yellow label sauce can using the right arm, set it next to the round kitchenpot with handles",
    "Move the sauce can for condiments to the round kitchenpot with handles with the right arm",
    "Lift the metal sauce can and set it next to the medium kitchenpot made of metal",
    "Pick the cylindrical sauce can up with the right arm then place near the round kitchenpot with handles",
    "Use the right arm to grab the medium sauce can and move it next to the smooth gray kitchenpot",
    "Using the right arm, lift the metal sauce can and place it by the medium kitchenpot made of metal",
    "Pick up the medium sauce can with the right arm and set by the gray kitchenpot",
    "Use the right arm to lift the brown top sauce can and place it near the dark gray stove kitchenpot",
    "Use the right arm to move the smooth cylindrical sauce can beside the gray kitchenpot",
    "Grab the sauce can with brown lid, move it, and place by the dark gray stove kitchenpot",
    "Move the yellow label sauce can from its spot to near the smooth gray kitchenpot",
    "Use the right arm to grab the cylindrical sauce can and transfer it near the kitchenpot for boiling and cooking",
    "Pick the yellow and brown sauce can up and move it next to the medium kitchenpot made of metal",
    "Set the sauce can for condiments right next to the kitchenpot for boiling and cooking",
    "Set the sauce can with brown lid near the medium kitchenpot made of metal after picking it up",
    "Place the cylindrical sauce can beside the smooth gray kitchenpot after picking it up",
    "Lift the yellow and brown sauce can using the right arm and drop it beside the kitchenpot with smooth exterior",
    "Take the yellow and brown sauce can with the right arm, bring it, and set next to the kitchenpot for boiling and cooking",
    "Pick up the sauce can with ingredient information using the right arm, transfer it beside the medium kitchenpot made of metal",
    "Use the right arm to lift the cylindrical sauce can and place it next to the gray kitchenpot",
    "Pick the yellow and brown sauce can with the right arm and relocate it near the medium-sized kitchenpot",
    "Use the right arm to take the printed label sauce can to the kitchenpot with smooth exterior",
    "Take the metal sauce can to the round kitchenpot with handles using the right arm",
    "Grab the sauce can with brown lid with the right arm and position it beside the medium-sized kitchenpot",
    "Lift the smooth cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
    "Lift the sauce can with ingredient information and move it near the kitchenpot for boiling and cooking",
    "Use the right arm to grab the medium sauce can and move it beside the kitchenpot for boiling and cooking",
    "Grab the cylindrical sauce can, move it to the gray kitchenpot's side",
    "Use the right arm to pick the brown sauce can, position it near the smooth gray kitchenpot",
    "Lift the medium sauce can, then place it next to the dark gray stove kitchenpot",
    "Move the yellow label sauce can to be next to the smooth gray kitchenpot",
    "Grab the sauce can with brown lid, shift it, and place it close to the medium kitchenpot made of metal",
    "Grab the smooth cylindrical sauce can with the right arm and set it near the smooth gray kitchenpot",
    "Bring the cylindrical sauce can over and set it near the kitchenpot for boiling and cooking",
    "Pick the smooth cylindrical sauce can up and carefully position it beside the metal kitchenpot",
    "Lift the brown top sauce can, place it by the dark gray stove kitchenpot",
    "Use the right arm to lift the brown top sauce can, then move it next to the gray kitchenpot",
    "Lift the brown top sauce can and set it beside the cylindrical kitchenpot",
    "With the right arm, grab the cylindrical sauce can and move to the medium-sized kitchenpot",
    "Grab the metal sauce can with the right arm and move it close to the smooth gray kitchenpot",
    "Take the printed label sauce can with the right arm, place it near the medium-sized kitchenpot",
    "Place the sauce can with brown lid next to the medium-sized kitchenpot",
    "Move the printed label sauce can beside the metal kitchenpot after lifting it",
    "Pick up the sauce can with brown lid and put it beside the round kitchenpot with handles",
    "Pick the sauce can for condiments and position it next to the gray cylindrical metal kitchenpot",
    "Use the right arm to pick the yellow and brown sauce can up and set it beside the cooking kitchenpot with side grips",
    "Grab the sauce can for condiments and move it close to the metal kitchenpot",
    "Use the right arm to grab the printed label sauce can, move it beside the medium kitchenpot made of metal",
    "Lift the metal sauce can and set it next to the round kitchenpot with handles",
    "Lift the sauce can with brown lid using the right arm and position it by the medium kitchenpot made of metal",
    "Take the sauce can with brown lid using the right arm, set it next to the cooking kitchenpot with side grips",
    "Move the sauce can with ingredient information to the cooking kitchenpot with side grips with the right arm",
    "Lift the sauce can for condiments and set it next to the metal kitchenpot",
    "Pick the sauce can with brown lid up with the right arm then place near the kitchenpot for boiling and cooking",
    "Use the right arm to grab the medium sauce can and move it next to the kitchenpot with smooth exterior",
    "Using the right arm, lift the sauce can with brown lid and place it by the kitchenpot for boiling and cooking"
  ]
}