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train_set/stack_bowls__episode_13/metadata.json

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+{
+  "format": "cobot_magic_robolab_dual_arm_v1",
+  "task": "stack_bowls",
+  "episode": "stack_bowls__episode_13",
+  "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": 265,
+  "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": 1793705807.1847062,
+  "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_joint5": 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_13.hdf5",
+    "bytes": 1628408536,
+    "mtime_ns": 1793705831533729719,
+    "attributes": {
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+      "capture_fps_target": 30,
+      "compress": false,
+      "d2c_calibration_json": "{\"cam_high\": {\"depth_to_color_rotation\": [0.9999898076057434, 0.00391424261033535, -0.0022519873455166817, -0.003916234243661165, 0.9999919533729553, -0.0008810812723822892, 0.0022485204972326756, 0.0008898915839381516, 0.999997079372406], \"depth_to_color_translation_mm\": [-29.9287166595459, 0.0734393298625946, -0.3187415897846222], \"depth_intrinsics\": [480.2350158691406, 480.2350158691406, 320.7066650390625, 197.73878479003906], \"color_intrinsics\": [491.8817138671875, 491.8817138671875, 319.936279296875, 216.91455078125], \"color_distortion\": [0.07834134995937347, -0.10805182158946991, 0.00021358509548008442, 0.0006581011111848056, 0.0]}, \"cam_left_wrist\": {\"depth_to_color_rotation\": [0.9999996423721313, -0.0008124888991005719, -0.0001223644649144262, 0.0008124978048726916, 0.9999997019767761, 7.254868251038715e-05, 0.00012230554420966655, -7.264807936735451e-05, 1.0], \"depth_to_color_translation_mm\": [-30.089664459228516, -0.07116754353046417, -0.3732297718524933], \"depth_intrinsics\": [478.9222717285156, 478.9222717285156, 322.1435852050781, 198.15664672851562], \"color_intrinsics\": [490.3507080078125, 490.3507080078125, 324.10919189453125, 208.4798583984375], \"color_distortion\": [0.07843434810638428, -0.10695845633745193, -0.00045983862946741283, -0.0002557099796831608, 0.0]}, \"cam_right_wrist\": {\"depth_to_color_rotation\": [0.9999839663505554, 0.005572977010160685, -0.001012213877402246, -0.0055723125115036964, 0.9999842643737793, 0.0006583989597856998, 0.0010158672230318189, -0.0006527479854412377, 0.9999992847442627], \"depth_to_color_translation_mm\": [-29.843658447265625, 0.02817603200674057, -0.4604440927505493], \"depth_intrinsics\": [477.0848693847656, 477.0848693847656, 322.91326904296875, 200.268798828125], \"color_intrinsics\": [488.3016357421875, 488.3016357421875, 322.48052978515625, 211.33033752441406], \"color_distortion\": [0.07329659909009933, -0.09818476438522339, -1.4781552636122797e-05, -7.829237438272685e-05, 0.0]}, \"cam_third_person\": {\"depth_to_color_rotation\": [0.9999836683273315, 0.005246705841273069, 0.002256643259897828, -0.005245425272732973, 0.9999860525131226, -0.0005729289259761572, -0.00225961790420115, 0.0005610825610347092, 0.9999973177909851], \"depth_to_color_translation_mm\": [-30.031505584716797, 0.10484972596168518, -0.19603946805000305], \"depth_intrinsics\": [477.4841613769531, 477.4841613769531, 325.431640625, 197.94100952148438], \"color_intrinsics\": [489.95361328125, 489.95361328125, 323.3766784667969, 214.44711303710938], \"color_distortion\": [0.07671473175287247, -0.10570856183767319, -0.00027645903173834085, -8.25181559775956e-05, 0.0]}}",
+      "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": "2026-11-03T12:32:33.817740+00:00",
+  "validation": {
+    "frames": 265,
+    "rgb_cameras": [
+      "third_person",
+      "left_view",
+      "right_view"
+    ],
+    "valid_depth_pixels": 12377684,
+    "tcp_in_image_frames": {
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+      "right": 265
+    }
+  }
+}