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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    173,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_bread_skillet",
+  "episode": "episode_0000036",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_bread_skillet/aloha_agilex/data/episode_0000036.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"
+  },
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+    "unit": "millimeter",
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+    "shape": [
+      3,
+      3
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+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      173,
+      3,
+      4
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+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
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+        "end": 13
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+      {
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+        "end": 14
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+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Move the soft bread into the smooth non-stick skillet while keeping the skillet raised.",
+    "Support the round skillet with handle with the left arm; the other arm sets the golden bread inside.",
+    "Place the bread with rough texture inside the skillet for frying food.",
+    "Hold the metal skillet with comfortable grip in the left arm while the other arm transfers the bread with rough texture.",
+    "Set the bread with rough texture inside the round skillet with handle.",
+    "Position the cuboid bread inside the flat-bottom skillet.",
+    "Move and hold the medium-sized frying skillet, then place the bread loaf with uneven edges inside.",
+    "Raise the skillet with black cooking surface with the left arm; the other arm places the bread block with light patches.",
+    "Pick up the soft bread and set it inside the held the metal skillet with comfortable grip.",
+    "Lift the bread with rough texture and place it inside the smooth non-stick skillet.",
+    "Hold the round skillet with handle with the left arm; the other arm places the bread loaf with uneven edges.",
+    "Lift the skillet the gray skillet for stovetop cooking and place the doughy and soft bread inside it.",
+    "Move the golden bread loaf from the table into the dark gray skillet.",
+    "Hold the gray skillet for stovetop cooking up and transfer the golden bread into it.",
+    "Put the doughy and soft bread into the center of the gray skillet for stovetop cooking.",
+    "Take the bread loaf with uneven edges from the table to the black-surfaced skillet with gray sides.",
+    "Keep the round skillet with handle lifted while putting the square-shaped bread into it.",
+    "Use the left arm for the medium-sized frying skillet and the other arm for the bread loaf with bumpy surface.",
+    "Pick up the golden bread and put it in the skillet for frying food.",
+    "Lift and hold the medium-sized frying skillet with the left arm while placing the bread with rough texture inside.",
+    "Transfer the bread block with light patches into the gray skillet for stovetop cooking.",
+    "Raise the metal skillet, then place the golden bread loaf inside with the other arm.",
+    "Place the bread with rough texture from the table into the lifted the metal skillet with comfortable grip.",
+    "Lift both objects and set the doughy and soft bread inside the medium-sized frying skillet.",
+    "Lift the dark gray skillet with the left arm while the other arm places the square-shaped bread.",
+    "Grab the bread loaf with bumpy surface and place it in the medium-sized frying skillet.",
+    "Use the left arm for the skillet with black cooking surface; the other arm moves the bread loaf with bumpy surface.",
+    "Hold the smooth non-stick skillet in one arm; place the doughy and soft bread with the other.",
+    "Keep the skillet with black cooking surface raised with the left arm; the other arm places the square-shaped bread.",
+    "Keep the smooth non-stick skillet steady with the left arm while placing the square-shaped bread inside.",
+    "Move the bread loaf with uneven edges into the metal skillet with comfortable grip while keeping the skillet raised.",
+    "Support the gray skillet for stovetop cooking with the left arm; the other arm sets the square-shaped bread inside.",
+    "Place the bread loaf with uneven edges inside the medium-sized frying skillet.",
+    "Hold the gray skillet for stovetop cooking in the left arm while the other arm transfers the bread loaf with uneven edges.",
+    "Set the light golden brown bread inside the flat-bottom skillet.",
+    "Position the hand-sized bread block inside the medium-sized frying skillet.",
+    "Move and hold the medium-sized frying skillet, then place the bread loaf with bumpy surface inside.",
+    "Raise the gray skillet for stovetop cooking with the left arm; the other arm places the golden bread loaf.",
+    "Pick up the cuboid bread and set it inside the held the round skillet with open handle end.",
+    "Lift the bread loaf with uneven edges and place it inside the metal skillet.",
+    "Hold the dark gray skillet with the left arm; the other arm places the bread loaf with uneven edges.",
+    "Lift the skillet the black-surfaced skillet with gray sides and place the bread with rough texture inside it.",
+    "Move the doughy and soft bread from the table into the medium-sized frying skillet.",
+    "Hold the dark gray skillet up and transfer the bread with rough texture into it.",
+    "Put the golden bread into the center of the skillet with black cooking surface.",
+    "Take the square-shaped bread from the table to the skillet with black cooking surface.",
+    "Keep the round skillet with handle lifted while putting the bread loaf with bumpy surface into it.",
+    "Use the left arm for the metal skillet with comfortable grip and the other arm for the doughy and soft bread.",
+    "Pick up the bread block with light patches and put it in the round skillet with open handle end.",
+    "Lift and hold the metal skillet with comfortable grip with the left arm while placing the bread with rough texture inside.",
+    "Transfer the bread loaf with uneven edges into the round skillet with handle.",
+    "Raise the round skillet with open handle end, then place the square-shaped bread inside with the other arm.",
+    "Place the hand-sized bread block from the table into the lifted the skillet for frying food.",
+    "Lift both objects and set the soft bread inside the black-surfaced skillet with gray sides.",
+    "Lift the gray skillet for stovetop cooking with the left arm while the other arm places the doughy and soft bread.",
+    "Grab the bread block with light patches and place it in the round skillet with open handle end.",
+    "Use the left arm for the smooth non-stick skillet; the other arm moves the bread block with light patches.",
+    "Hold the skillet for frying food in one arm; place the light golden brown bread with the other.",
+    "Keep the black-surfaced skillet with gray sides raised with the left arm; the other arm places the bread loaf with uneven edges.",
+    "Keep the metal skillet steady with the left arm while placing the bread with rough texture inside.",
+    "Move the golden bread into the dark gray skillet while keeping the skillet raised.",
+    "Support the black-surfaced skillet with gray sides with the left arm; the other arm sets the light golden brown bread inside.",
+    "Place the bread loaf with bumpy surface inside the medium-sized frying skillet.",
+    "Hold the gray skillet for stovetop cooking in the left arm while the other arm transfers the cuboid bread.",
+    "Set the cuboid bread inside the round skillet with open handle end.",
+    "Position the bread with rough texture inside the smooth non-stick skillet.",
+    "Move and hold the metal skillet with comfortable grip, then place the doughy and soft bread inside.",
+    "Raise the gray skillet for stovetop cooking with the left arm; the other arm places the cuboid bread.",
+    "Pick up the bread with rough texture and set it inside the held the metal skillet.",
+    "Lift the bread loaf with uneven edges and place it inside the gray skillet for stovetop cooking.",
+    "Hold the smooth non-stick skillet with the left arm; the other arm places the bread loaf with bumpy surface.",
+    "Lift the skillet the skillet with black cooking surface and place the square-shaped bread inside it.",
+    "Move the golden bread loaf from the table into the medium-sized frying skillet.",
+    "Hold the round skillet with handle up and transfer the golden bread loaf into it.",
+    "Put the golden bread loaf into the center of the medium-sized frying skillet.",
+    "Take the hand-sized bread block from the table to the skillet for frying food.",
+    "Keep the skillet for frying food lifted while putting the soft bread into it.",
+    "Use the left arm for the skillet for frying food and the other arm for the cuboid bread.",
+    "Pick up the golden bread and put it in the black-surfaced skillet with gray sides.",
+    "Lift and hold the metal skillet with the left arm while placing the golden bread inside.",
+    "Transfer the bread with rough texture into the smooth non-stick skillet.",
+    "Raise the medium-sized frying skillet, then place the hand-sized bread block inside with the other arm.",
+    "Place the bread block with light patches from the table into the lifted the flat-bottom skillet.",
+    "Lift both objects and set the bread with rough texture inside the flat-bottom skillet.",
+    "Lift the medium-sized frying skillet with the left arm while the other arm places the bread loaf with uneven edges.",
+    "Grab the soft bread and place it in the black-surfaced skillet with gray sides.",
+    "Use the left arm for the medium-sized frying skillet; the other arm moves the hand-sized bread block.",
+    "Hold the round skillet with open handle end in one arm; place the square-shaped bread with the other.",
+    "Keep the medium-sized frying skillet raised with the left arm; the other arm places the bread block with light patches.",
+    "Keep the skillet for frying food steady with the left arm while placing the golden bread loaf inside.",
+    "Move the soft bread into the metal skillet with comfortable grip while keeping the skillet raised.",
+    "Support the metal skillet with comfortable grip with the left arm; the other arm sets the bread loaf with uneven edges inside.",
+    "Place the cuboid bread inside the smooth non-stick skillet.",
+    "Hold the round skillet with open handle end in the left arm while the other arm transfers the bread with rough texture.",
+    "Set the light golden brown bread inside the skillet for frying food.",
+    "Position the golden bread loaf inside the round skillet with open handle end.",
+    "Move and hold the metal skillet with comfortable grip, then place the bread with rough texture inside.",
+    "Raise the gray skillet for stovetop cooking with the left arm; the other arm places the bread with rough texture.",
+    "Pick up the golden bread and set it inside the held the metal skillet.",
+    "Lift the golden bread loaf and place it inside the metal skillet."
+  ]
+}
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+    "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": [
+      331,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      331,
+      14
+    ],
+    "action_shape": [
+      331,
+      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": [
+    "Move red block with the left arm, then stack green block on it using the left arm.",
+    "Move red block to the middle and put green block on top of it.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "the left arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Put red block in the center, then add green block above it.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "the left arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Use the left arm to place red block in the center; stack green block on it with the left arm.",
+    "Position red block at the center and stack green block above it.",
+    "Bring red block to the center, then stack green block over it.",
+    "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.",
+    "Shift red block to the center and place green block on top.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Use the left arm to move red block and the left arm to stack green block.",
+    "Relocate red block to the middle and place green block on it.",
+    "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Move red block to the center using the left arm, then stack green block on red block using the left arm.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Use the left arm to center red block, then stack green block with the left arm.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Center red block using the left arm, then stack green block with the left arm on top.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Use the left arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Use the left arm to move red block and the left arm to position green block.",
+    "Move red block with the left arm, then stack green block on it using the left arm.",
+    "Move red block to the middle and put green block on top of it.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "the left arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Put red block in the center, then add green block above it.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "the left arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Use the left arm to place red block in the center; stack green block on it with the left arm.",
+    "Position red block at the center and stack green block above it.",
+    "Bring red block to the center, then stack green block over it.",
+    "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.",
+    "Shift red block to the center and place green block on top.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Use the left arm to move red block and the left arm to stack green block.",
+    "Relocate red block to the middle and place green block on it.",
+    "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Move red block to the center using the left arm, then stack green block on red block using the left arm.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Use the left arm to center red block, then stack green block with the left arm.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Center red block using the left arm, then stack green block with the left arm on top.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Use the left arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Use the left arm to move red block and the left arm to position green block.",
+    "Move red block with the left arm, then stack green block on it using the left arm.",
+    "Move red block to the middle and put green block on top of it.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "the left arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Put red block in the center, then add green block above it.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "the left arm takes red block, sets it in the center, the left arm places green block on red block."
+  ]
+}