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eval_set/G_106.yaml

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+cameras:
+  observation.images.cam_third_person:
+    extrinsic:
+    - [-0.8849049806594849, 0.4641234278678894, -0.039155006408691406, 0.4468119740486145]
+    - [0.22213824093341827, 0.3466508388519287, -0.911311149597168, 0.6441681981086731]
+    - [-0.4093876779079437, -0.8151214122772217, -0.4098527431488037, 1.2640737295150757]
+    - [0.0, 0.0, 0.0, 1.0]
+    extrinsic_convention: null
+    intrinsic:
+    - [244.9770, 0.0, 162.4385]
+    - [0.0, 244.9770, 112.9735]
+    - [0.0, 0.0, 1.0]
+dataset: 4cam

eval_set/stack_bowls__episode_79/metadata.json

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+{
+  "format": "cobot_magic_robolab_dual_arm_v1",
+  "task": "stack_bowls",
+  "episode": "stack_bowls__episode_79",
+  "language_instruction": [
+    "Using both arms, pick up the bowl on the table at the same time. Then, place the right bowl in the right plate first, and then stack the left bowl on top of it."
+  ],
+  "status": "success",
+  "complete": true,
+  "camera_id": "third_person",
+  "source_camera": "cam_third_person",
+  "rgb_cameras": {
+    "third_person": "cam_third_person",
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist"
+  },
+  "width": 320,
+  "height": 240,
+  "fps": 30.0,
+  "frame_count": 397,
+  "frame_alignment": "same source HDF5 row for RGB, depth, state and action; no resampling",
+  "timestamp_unit": "seconds",
+  "timestamp_clock": "source camera clock, episode-relative (source origin preserved)",
+  "source_timestamp_origin": 1793708264.8274956,
+  "base_frame": "footprint",
+  "extrinsics": "base_to_camera",
+  "camera_frame": "OpenCV camera (+x right, +y down, +z forward)",
+  "arm_order": [
+    "left",
+    "right"
+  ],
+  "qpos_layout": [
+    "fl_joint1",
+    "fl_joint2",
+    "fl_joint3",
+    "fl_joint4",
+    "fl_joint5",
+    "fl_joint6",
+    "left_gripper_width_m",
+    "fr_joint1",
+    "fr_joint2",
+    "fr_joint3",
+    "fr_joint4",
+    "fr_joint5",
+    "fr_joint6",
+    "right_gripper_width_m"
+  ],
+  "arm_joint_names": [
+    [
+      "fl_joint1",
+      "fl_joint2",
+      "fl_joint3",
+      "fl_joint4",
+      "fl_joint5",
+      "fl_joint6"
+    ],
+    [
+      "fr_joint1",
+      "fr_joint2",
+      "fr_joint3",
+      "fr_joint4",
+      "fr_joint5",
+      "fr_joint6"
+    ]
+  ],
+  "arm_joint_unit": "radian",
+  "gripper_position_unit": "meter; total two-finger width",
+  "gripper_open": "clip(source_width_m / 0.10, 0, 1)",
+  "gripper_replay": "joint7=+max(width,0)/2; joint8=-max(width,0)/2; no URDF limit clamp",
+  "cartesian_position": "[T,2,6] fixed TCP xyz/rpy in footprint; meters/radians",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "action_semantics": "source 14D action preserved unchanged; no temporal shift or inferred control semantics",
+  "urdf": "/home/agilex/Documents/phs/github/4RC/embodiments/aloha_new_description/urdf/aloha_tracer2_dabai_dark.urdf",
+  "urdf_sha256": "0baf5762857082b1217f79a7c36a614511613bb9e7e5306560677f1dad610bf1",
+  "unobserved_joint_values": {
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+    "left_joint": 0.0,
+    "camera_stand_1_joint": 0.0,
+    "camera_stand_2_joint": 0.0,
+    "bl_joint1": 0.0,
+    "br_joint1": 0.0,
+    "bl_joint2": 0.0,
+    "br_joint2": 0.0,
+    "bl_joint3": 0.0,
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+    "br_joint4": 0.0,
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+    "br_joint6": 0.0,
+    "bl_joint7": 0.0,
+    "bl_joint8": 0.0,
+    "br_joint7": 0.0,
+    "br_joint8": 0.0
+  },
+  "calibration": {
+    "source": "/home/agilex/Documents/phs/github/4RC/cobot_magic/G_106.yaml",
+    "sha256": "0d915f40ac0039f30b6c51bfbaeb321ca71a4baef25c16a54b3ac85fe8a18734",
+    "source_intrinsic_size_wh": [
+      322,
+      252
+    ],
+    "removed_padding_left_top": [
+      1,
+      6
+    ],
+    "extrinsic_convention": "world_to_camera; world is footprint; matrix used directly",
+    "source_image_size_wh": [
+      640,
+      480
+    ],
+    "rgb_resize": "INTER_AREA",
+    "depth_resize": "INTER_NEAREST",
+    "depth_already_aligned": true
+  },
+  "source": {
+    "path": "/home/agilex/data/exp13_Stack_bowls/Stack_bowls/episode_79.hdf5",
+    "bytes": 2439505720,
+    "mtime_ns": 1793708294311985353,
+    "attributes": {
+      "camera_config_json": "[{\"name\": \"cam_high\", \"namespace\": \"camera_f\", \"serial\": \"CC1N16201XR\", \"rgb_topic\": \"/camera_f/color_d2c/image_raw\", \"depth_topic\": \"/camera_f/depth_d2c/image_raw\"}, {\"name\": \"cam_left_wrist\", \"namespace\": \"camera_l\", \"serial\": \"CC1N16200V9\", \"rgb_topic\": \"/camera_l/color_d2c/image_raw\", \"depth_topic\": \"/camera_l/depth_d2c/image_raw\"}, {\"name\": \"cam_right_wrist\", \"namespace\": \"camera_r\", \"serial\": \"CC1N16200C1\", \"rgb_topic\": \"/camera_r/color_d2c/image_raw\", \"depth_topic\": \"/camera_r/depth_d2c/image_raw\"}, {\"name\": \"cam_third_person\", \"namespace\": \"camera_third\", \"serial\": \"CC1W56100VG\", \"rgb_topic\": \"/camera_third/color_d2c/image_raw\", \"depth_topic\": \"/camera_third/depth_d2c/image_raw\"}]",
+      "capture_fps_target": 30,
+      "compress": false,
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+      "d2c_max_source_skew_seconds": 0.02,
+      "depth_alignment": "factory_calibrated_d2c_to_rectified_color",
+      "depth_semantics": "color_camera_z; zero_is_invalid",
+      "depth_unit": "mm",
+      "max_sync_skew_seconds": 0.05,
+      "rgb_semantics": "rgb8_rectified",
+      "sim": false
+    }
+  },
+  "created_utc": "2026-11-03T12:38:22.421674+00:00",
+  "validation": {
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+    "rgb_cameras": [
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+    "valid_depth_pixels": 18761166,
+    "tcp_in_image_frames": {
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+      "right": 397
+    }
+  }
+}

train_set/stack_bowls__episode_51/TCP/third_person/pose.npy

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train_set/stack_bowls__episode_51/action/gripper_position.npy

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