{
  "format_version": "robotwin_4d_v1",
  "task": "move_can_pot",
  "episode": "episode_0000007",
  "embodiment": "aloha_agilex",
  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/move_can_pot/aloha_agilex/data/episode_0000007.hdf5",
  "num_frames": 173,
  "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": [
      173,
      3,
      4
    ],
    "transform": "world_to_camera",
    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
  },
  "robot": {
    "state_shape": [
      173,
      14
    ],
    "action_shape": [
      173,
      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": [
    "Lift the sauce can, place it by the pot with lid and sturdy handles",
    "Set the plastic lid sauce can near the round pot with dark gray knob after picking it up",
    "Use the right arm to grab the white plastic lid sauce can and move it beside the kitchenpot with smooth texture",
    "Using the right arm, lift the sauce can with glossy finish and place it by the gray kitchenpot",
    "Take the medium sauce can with white lid to the kitchenpot used for cooking meals using the right arm",
    "Pick the cylindrical sauce can up and move it next to the medium-sized smooth gray cooking pot",
    "Move the rounded-edge sauce can to the metal cooking pot with the right arm",
    "Pick the rounded-edge sauce can with the right arm and relocate it near the kitchenpot with smooth texture",
    "Lift the sauce can with glossy finish and set it next to the rounded pot with metal lid",
    "Use the right arm to grab the sauce can and move it next to the pot with lid and sturdy handles",
    "Set the sauce can right next to the rounded pot with metal lid",
    "Grab the yellow brown sauce can with the right arm and set it near the dark gray pot with side handles",
    "Lift the white plastic lid sauce can and move it near the rounded pot with metal lid",
    "Grab the round sauce can with yellow pattern, shift it, and place it close to the rounded pot with metal lid",
    "Use the right arm to move the plastic lid sauce can beside the pot with round lid",
    "Use the right arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot with smooth texture",
    "Bring the white plastic lid sauce can over and set it near the medium-sized smooth gray cooking pot",
    "Pick the cylindrical sauce can up and carefully position it beside the round pot with dark gray knob",
    "Grab the sauce can with the right arm and position it beside the kitchenpot used for cooking meals",
    "Lift the plastic lid sauce can, then place it next to the kitchenpot used for cooking meals",
    "Move the rounded-edge sauce can to be next to the rounded pot with metal lid",
    "Grab the yellow brown sauce can, move it to the kitchenpot used for cooking meals's side",
    "Lift the yellow brown sauce can and set it next to the round pot with dark gray knob",
    "Pick the round sauce can with yellow pattern up with the right arm then place near the medium gray pot with handles",
    "Use the right arm to grab the medium sauce can with white lid, move it beside the kitchenpot with smooth texture",
    "Use the right arm to pick the plastic lid sauce can, position it near the rounded pot with metal lid",
    "Grab the sauce can with glossy finish with the right arm and move it close to the kitchenpot with smooth texture",
    "With the right arm, grab the cylindrical sauce can and move to the pot with round lid",
    "Take the sauce can with the right arm, place it near the pot with round lid",
    "Pick the cylindrical sauce can and position it next to the pot with round lid",
    "Lift the medium sauce can with white lid and set it beside the gray pot for boiling food",
    "Take the rounded-edge sauce can using the right arm, set it next to the dark gray pot with side handles",
    "Move the sauce can with sealed top beside the metal cooking pot after lifting it",
    "Take the round sauce can with yellow pattern with the right arm, bring it, and set next to the gray pot for boiling food",
    "Use the right arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot",
    "Pick up the sauce can with sealed top with the right arm and set by the pot with lid and sturdy handles",
    "Lift the plastic lid sauce can using the right arm and position it by the gray pot for boiling food",
    "Pick up the rounded-edge sauce can and put it beside the metal cooking pot",
    "Place the round sauce can with yellow pattern beside the medium gray pot with handles after picking it up",
    "Lift the rounded-edge sauce can using the right arm and drop it beside the metal cooking pot",
    "Pick up the sauce can using the right arm, transfer it beside the kitchenpot with smooth texture",
    "Move the yellow brown sauce can from its spot to near the metal cooking pot",
    "Grab the medium sauce can with white lid and move it close to the medium-sized smooth gray cooking pot",
    "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized smooth gray cooking pot",
    "Use the right arm to lift the hand-sized sauce can and place it next to the medium gray pot with handles",
    "Use the right arm to pick the round sauce can with yellow pattern up and set it beside the gray pot for boiling food",
    "Use the right arm to lift the cylindrical sauce can and place it near the gray pot for boiling food",
    "Use the right arm to take the sauce can to the metal cooking pot",
    "Place the sauce can next to the gray pot for boiling food",
    "Lift the sauce can and place it next to the pot with lid and sturdy handles",
    "Lift the sauce can with glossy finish, place it by the gray kitchenpot",
    "Set the sauce can with glossy finish near the gray pot for boiling food after picking it up",
    "Use the right arm to grab the medium sauce can with white lid and move it beside the rounded pot with metal lid",
    "Using the right arm, lift the sauce can with sealed top and place it by the kitchenpot with smooth texture",
    "Take the hand-sized sauce can to the round pot with dark gray knob using the right arm",
    "Pick the sauce can up and move it next to the pot with lid and sturdy handles",
    "Move the plastic lid sauce can to the metal cooking pot with the right arm",
    "Pick the white plastic lid sauce can with the right arm and relocate it near the round pot with dark gray knob",
    "Lift the white plastic lid sauce can and set it next to the medium-sized smooth gray cooking pot",
    "Use the right arm to grab the yellow brown sauce can and move it next to the medium-sized smooth gray cooking pot",
    "Set the brown and yellow cylindrical sauce can right next to the kitchenpot used for cooking meals",
    "Grab the sauce can with the right arm and set it near the pot with round lid",
    "Lift the sauce can and move it near the gray pot for boiling food",
    "Grab the plastic lid sauce can, shift it, and place it close to the gray kitchenpot",
    "Use the right arm to move the yellow brown sauce can beside the kitchenpot with smooth texture",
    "Use the right arm to grab the hand-sized sauce can and transfer it near the medium-sized smooth gray cooking pot",
    "Bring the yellow brown sauce can over and set it near the pot with round lid",
    "Pick the cylindrical sauce can up and carefully position it beside the pot with round lid",
    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the round pot with dark gray knob",
    "Lift the hand-sized sauce can, then place it next to the round pot with dark gray knob",
    "Move the sauce can with glossy finish to be next to the kitchenpot with smooth texture",
    "Grab the sauce can, move it to the kitchenpot used for cooking meals's side",
    "Lift the round sauce can with yellow pattern and set it next to the metal cooking pot",
    "Pick the sauce can with sealed top up with the right arm then place near the metal cooking pot",
    "Use the right arm to grab the cylindrical sauce can, move it beside the medium gray pot with handles",
    "Use the right arm to pick the sauce can, position it near the medium-sized smooth gray cooking pot",
    "Grab the medium sauce can with white lid with the right arm and move it close to the metal cooking pot",
    "With the right arm, grab the sauce can with sealed top and move to the medium-sized smooth gray cooking pot",
    "Take the sauce can with the right arm, place it near the kitchenpot used for cooking meals",
    "Pick the rounded-edge sauce can and position it next to the dark gray pot with side handles",
    "Lift the hand-sized sauce can and set it beside the dark gray pot with side handles",
    "Take the white plastic lid sauce can using the right arm, set it next to the round pot with dark gray knob",
    "Move the sauce can with sealed top beside the medium-sized smooth gray cooking pot after lifting it",
    "Take the cylindrical sauce can with the right arm, bring it, and set next to the medium-sized smooth gray cooking pot",
    "Use the right arm to lift the round sauce can with yellow pattern, then move it next to the dark gray pot with side handles",
    "Pick up the brown and yellow cylindrical sauce can with the right arm and set by the round pot with dark gray knob",
    "Lift the yellow brown sauce can using the right arm and position it by the medium gray pot with handles",
    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot with smooth texture",
    "Place the hand-sized sauce can beside the pot with round lid after picking it up",
    "Lift the cylindrical sauce can using the right arm and drop it beside the pot with lid and sturdy handles",
    "Pick up the yellow brown sauce can using the right arm, transfer it beside the gray pot for boiling food",
    "Move the white plastic lid sauce can from its spot to near the medium gray pot with handles",
    "Grab the brown and yellow cylindrical sauce can and move it close to the gray kitchenpot",
    "Grab the sauce can with sealed top, move it, and place by the dark gray pot with side handles",
    "Use the right arm to lift the plastic lid sauce can and place it next to the gray kitchenpot",
    "Use the right arm to pick the brown and yellow cylindrical sauce can up and set it beside the medium-sized smooth gray cooking pot",
    "Use the right arm to lift the rounded-edge sauce can and place it near the pot with round lid",
    "Use the right arm to take the rounded-edge sauce can to the medium-sized smooth gray cooking pot",
    "Place the brown and yellow cylindrical sauce can next to the metal cooking pot",
    "Lift the brown and yellow cylindrical sauce can and place it next to the metal cooking pot"
  ]
}