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train_set/stack_bowls__episode_49/TCP/third_person/metadata.json

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+{
+  "shape": [
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+    2,
+    7
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+  "pose_shape": [
+    267,
+    2,
+    4,
+    4
+  ],
+  "arm_order": [
+    "left",
+    "right"
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "coordinate_frame": "OpenCV camera (+x right, +y down, +z forward)",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "pose_convention": "T_camera_tcp; maps TCP coordinates into OpenCV camera",
+  "tcp_definition_id": "aloha_fixed_fingertip_center_v1",
+  "tcp_definition": "fixed midpoint of area centroids of closed inner fingertip contact faces; orientation equals link6",
+  "tcp_reference_links": [
+    "fl_link6",
+    "fr_link6"
+  ],
+  "tcp_offsets_in_link6_m": [
+    [
+      1.16277768659896e-13,
+      6.932020992986642e-11,
+      0.1348330098977198
+    ],
+    [
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+      6.932032102161884e-11,
+      0.13483300989771985
+    ]
+  ]
+}

train_set/stack_bowls__episode_49/depths/metadata.json

@@ -0,0 +1,14 @@
+{
+  "units": "millimeters",
+  "dtype": "uint16",
+  "invalid_value": 0,
+  "depth_type": "distance_to_image_plane",
+  "frame_alignment": "index",
+  "cameras": {
+    "third_person": {
+      "frames": 267,
+      "width": 320,
+      "height": 240
+    }
+  }
+}

train_set/stack_bowls__episode_49/depths_completed/metadata.json

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+{
+  "units": "millimeters",
+  "dtype": "uint16",
+  "invalid_value": 0,
+  "depth_type": "distance_to_image_plane",
+  "frame_alignment": "index",
+  "cameras": {
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+      "height": 240,
+      "frames": 267
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+  "intrinsics_yaml": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/G_106.yaml",
+  "processing": {
+    "version": 1,
+    "source_episode": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_49",
+    "model": "robbyant/lingbot-depth-pretrain-vitl-14-v0.5",
+    "mode": "completion_only",
+    "resolution_level": 9,
+    "apply_mask": false,
+    "depth_scale": 1000.0,
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+    "height": 240,
+    "intrinsics_pixels": [
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+  "pending_frames": [],
+  "last_run": {
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+    "selected_frames": 267,
+    "written": 267,
+    "skipped": 0,
+    "device": "cuda",
+    "precision": "bfloat16"
+  }
+}

train_set/stack_bowls__episode_49/depths_completed/postprocess_metadata.json

@@ -0,0 +1,13 @@
+{
+  "operation": "depth_edge_and_border_mask",
+  "version": 1,
+  "edge_threshold_mm": 50.0,
+  "border_pixels": 4,
+  "connectivity": 8,
+  "ignore_invalid_neighbors": true,
+  "source_dir": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_49/depths_completed/third_person",
+  "output_dir": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_49/depths_completed/third_person",
+  "selected_frames": 267,
+  "processed_frames": 267,
+  "status": "finished"
+}

train_set/stack_bowls__episode_51/metadata.json

@@ -0,0 +1,149 @@
+{
+  "format": "cobot_magic_robolab_dual_arm_v1",
+  "task": "stack_bowls",
+  "episode": "stack_bowls__episode_51",
+  "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": 527,
+  "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": 1793707173.8465128,
+  "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",
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+    "left_joint": 0.0,
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+    "bl_joint7": 0.0,
+    "bl_joint8": 0.0,
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+    "br_joint8": 0.0
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+  "calibration": {
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+    "sha256": "0d915f40ac0039f30b6c51bfbaeb321ca71a4baef25c16a54b3ac85fe8a18734",
+    "source_intrinsic_size_wh": [
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+    "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_51.hdf5",
+    "bytes": 3238341544,
+    "mtime_ns": 1793707211057217200,
+    "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\"}]",
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+      "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": "2026-11-03T12:35:42.439112+00:00",
+  "validation": {
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+    "rgb_cameras": [
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+      "left_view",
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+    ],
+    "valid_depth_pixels": 24973820,
+    "tcp_in_image_frames": {
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+      "right": 527
+    }
+  }
+}

train_set/stack_bowls__episode_8/TCP/third_person/state.npy

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