{
  "format_version": "robotwin_4d_v1",
  "task": "stack_blocks_three",
  "episode": "episode_0000009",
  "embodiment": "aloha_agilex",
  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_three/aloha_agilex/data/episode_0000009.hdf5",
  "num_frames": 514,
  "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": [
      514,
      3,
      4
    ],
    "transform": "world_to_camera",
    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
  },
  "robot": {
    "state_shape": [
      514,
      14
    ],
    "action_shape": [
      514,
      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": [
    "Use the left arm for red block, the right arm for green block, and the left arm for blue block, stacking bottom-up.",
    "Move red block, green block, and blue block using the left arm, the right arm, and the left arm to form a centered stack.",
    "Stack red block, green block, and blue block centrally with blue block on top.",
    "Stack the blocks bottom-up: red block, then green block, then blue block.",
    "Place red block beneath green block and green block beneath blue block in one centered tower.",
    "Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
    "Stack green block on red block, then stack blue block on green block at the center.",
    "Complete a centered stack with red block supporting green block, and green block supporting blue block.",
    "Form a three-block tower: red block bottom, green block middle, blue block top.",
    "Make red block the base, set green block on it, and set blue block on green block.",
    "Set red block down first, place green block on it, and finish with blue block.",
    "Place red block as the base, green block above it, and blue block at the top.",
    "Place red block with the left arm, then green block with the right arm, then blue block with the left arm.",
    "Using the left arm, the right arm, and the left arm, build a stack with red block below green block below blue block.",
    "Build the centered tower by adding green block to red block, then blue block to green block.",
    "Build a centered stack with red block below green block and green block below blue block.",
    "Center red block, then put green block on red block and blue block on green block.",
    "Move red block, green block, and blue block into a tower with red block as its base.",
    "Arrange blue block above green block and green block above red block at the center.",
    "Use the left arm, the right arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
    "Build upward from red block to green block to blue block at the table's center.",
    "Move red block to the center, add green block, then add blue block.",
    "Place red block at the center, then green block on red block, then blue block on green block.",
    "Position red block centrally and build upward with green block and then blue block.",
    "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
    "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
    "At the center, place green block on red block, followed by blue block on green block.",
    "Set red block at the center and stack green block and blue block above it.",
    "With the left arm, place red block; with the right arm, add green block; with the left arm, add blue block.",
    "Put red block at the base and stack green block and blue block above it in order.",
    "Use the left arm for red block, the right arm for green block, and the left arm for blue block, stacking bottom-up.",
    "Move red block, green block, and blue block using the left arm, the right arm, and the left arm to form a centered stack.",
    "Stack red block, green block, and blue block centrally with blue block on top.",
    "Stack the blocks bottom-up: red block, then green block, then blue block.",
    "Place red block beneath green block and green block beneath blue block in one centered tower.",
    "Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
    "Stack green block on red block, then stack blue block on green block at the center.",
    "Complete a centered stack with red block supporting green block, and green block supporting blue block.",
    "Form a three-block tower: red block bottom, green block middle, blue block top.",
    "Make red block the base, set green block on it, and set blue block on green block.",
    "Set red block down first, place green block on it, and finish with blue block.",
    "Place red block as the base, green block above it, and blue block at the top.",
    "Place red block with the left arm, then green block with the right arm, then blue block with the left arm.",
    "Using the left arm, the right arm, and the left arm, build a stack with red block below green block below blue block.",
    "Build the centered tower by adding green block to red block, then blue block to green block.",
    "Build a centered stack with red block below green block and green block below blue block.",
    "Center red block, then put green block on red block and blue block on green block.",
    "Move red block, green block, and blue block into a tower with red block as its base.",
    "Arrange blue block above green block and green block above red block at the center.",
    "Use the left arm, the right arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
    "Build upward from red block to green block to blue block at the table's center.",
    "Move red block to the center, add green block, then add blue block.",
    "Place red block at the center, then green block on red block, then blue block on green block.",
    "Position red block centrally and build upward with green block and then blue block.",
    "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
    "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
    "At the center, place green block on red block, followed by blue block on green block.",
    "Set red block at the center and stack green block and blue block above it.",
    "With the left arm, place red block; with the right arm, add green block; with the left arm, add blue block.",
    "Put red block at the base and stack green block and blue block above it in order.",
    "Use the left arm for red block, the right arm for green block, and the left arm for blue block, stacking bottom-up.",
    "Move red block, green block, and blue block using the left arm, the right arm, and the left arm to form a centered stack.",
    "Stack red block, green block, and blue block centrally with blue block on top.",
    "Stack the blocks bottom-up: red block, then green block, then blue block.",
    "Place red block beneath green block and green block beneath blue block in one centered tower.",
    "Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
    "Stack green block on red block, then stack blue block on green block at the center.",
    "Complete a centered stack with red block supporting green block, and green block supporting blue block.",
    "Form a three-block tower: red block bottom, green block middle, blue block top.",
    "Make red block the base, set green block on it, and set blue block on green block.",
    "Set red block down first, place green block on it, and finish with blue block.",
    "Place red block as the base, green block above it, and blue block at the top.",
    "Place red block with the left arm, then green block with the right arm, then blue block with the left arm.",
    "Using the left arm, the right arm, and the left arm, build a stack with red block below green block below blue block.",
    "Build the centered tower by adding green block to red block, then blue block to green block.",
    "Build a centered stack with red block below green block and green block below blue block.",
    "Center red block, then put green block on red block and blue block on green block.",
    "Move red block, green block, and blue block into a tower with red block as its base.",
    "Arrange blue block above green block and green block above red block at the center.",
    "Use the left arm, the right arm, and the left arm to stack red block, green block, and blue block from bottom to top.",
    "Build upward from red block to green block to blue block at the table's center.",
    "Move red block to the center, add green block, then add blue block.",
    "Place red block at the center, then green block on red block, then blue block on green block.",
    "Position red block centrally and build upward with green block and then blue block.",
    "Relocate the blocks into a centered stack ordered red block, green block, blue block from bottom upward.",
    "Arrange red block, green block, and blue block as a bottom-to-top stack at the center.",
    "At the center, place green block on red block, followed by blue block on green block.",
    "Set red block at the center and stack green block and blue block above it.",
    "With the left arm, place red block; with the right arm, add green block; with the left arm, add blue block.",
    "Put red block at the base and stack green block and blue block above it in order.",
    "Use the left arm for red block, the right arm for green block, and the left arm for blue block, stacking bottom-up.",
    "Move red block, green block, and blue block using the left arm, the right arm, and the left arm to form a centered stack.",
    "Stack red block, green block, and blue block centrally with blue block on top.",
    "Stack the blocks bottom-up: red block, then green block, then blue block.",
    "Place red block beneath green block and green block beneath blue block in one centered tower.",
    "Create a stack with red block at the bottom, green block in the middle, and blue block on top.",
    "Stack green block on red block, then stack blue block on green block at the center.",
    "Complete a centered stack with red block supporting green block, and green block supporting blue block.",
    "Form a three-block tower: red block bottom, green block middle, blue block top.",
    "Make red block the base, set green block on it, and set blue block on green block."
  ]
}