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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    145,
+    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": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
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+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+  "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": "turn_switch",
+  "episode": "episode_0000029",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/turn_switch/aloha_agilex/data/episode_0000029.hdf5",
+  "num_frames": 97,
+  "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": {
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+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
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+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
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+      3
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+    "per_view_constant": true
+  },
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+      3,
+      4
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+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
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+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+      {
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+        "start": 6,
+        "end": 7
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+      {
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+        "end": 13
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+      {
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+        "start": 13,
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+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Activate the black switch with metallic connectors using the left arm",
+    "Trigger the compact switch with toggle on top using the left arm",
+    "Trigger the red-top black switch with precision",
+    "Tap the small switch to engage it",
+    "Approach and tap the compact switch with toggle on top via the left arm",
+    "Activate the red and black switch with the left arm.",
+    "Deploy the left arm to press the red-top black switch",
+    "Use the left arm for switching the rectangular black plastic switch",
+    "Trigger the black switch with metallic connectors without referencing the left arm",
+    "Operate the compact switch with toggle on top with the left arm",
+    "Push the red and black switch via the left arm.",
+    "Engage the left arm to press the hand-sized switch with connector prongs",
+    "Use the left arm to interact with the hand-sized switch with connector prongs",
+    "Engage the black base switch with red toggle using the left arm.",
+    "Directly interact with the black base switch with red toggle",
+    "Press the black base switch with red toggle directly",
+    "Click the red-top black switch to activate it",
+    "Operate the left arm to engage the hand-sized switch with connector prongs",
+    "Set the left arm to press the black switch with metallic connectors",
+    "Press the red and black switch via automation",
+    "Press the red and black switch using robotic control",
+    "Engage the hand-sized switch with connector prongs using the robotic arm",
+    "Click the plastic switch with metal terminals with robotic precision",
+    "Use the left arm to engage the red-top black switch",
+    "Press the black switch to activate.",
+    "Set the switch at the rectangular black plastic switch",
+    "Click on the black base switch with red toggle precisely",
+    "Switch the switch with curved red toggle to its active state",
+    "Activate the red-top black switch by pressing it",
+    "Move to the red-top black switch and click it.",
+    "Interact with the compact switch with toggle on top.",
+    "Activate the black base switch with red toggle directly",
+    "Interact with the black switch with metallic connectors directly",
+    "Deploy the left arm to operate the black switch with metallic connectors",
+    "Press the rectangular switch with curved lever with the left arm",
+    "Click the black switch with metallic connectors directly.",
+    "Click the red and black switch using automated tools",
+    "Activate the black switch via the left arm",
+    "Activate the plastic switch with metal terminals with robotic precision",
+    "Locate and press the black switch",
+    "Toggle the rectangular black plastic switch with the left arm.",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Initiate the black switch by clicking",
+    "Engage with the switch with curved red toggle manually",
+    "Engage the rectangular black plastic switch with a press.",
+    "Press the compact switch with toggle on top using the left arm.",
+    "Command the left arm to engage the black switch",
+    "Press the red-top black switch carefully with the left arm",
+    "Direct the left arm to operate the small switch",
+    "Engage the red and black switch using the left arm",
+    "Activate the switch with curved red toggle using the left arm",
+    "Trigger the black base switch with red toggle using the left arm",
+    "Trigger the rectangular switch with curved lever with precision",
+    "Tap the switch with curved red toggle to engage it",
+    "Approach and tap the plastic switch with metal terminals via the left arm",
+    "Activate the switch with curved red toggle with the left arm.",
+    "Deploy the left arm to press the hand-sized switch with connector prongs",
+    "Use the left arm for switching the rectangular switch with curved lever",
+    "Trigger the switch with curved red toggle without referencing the left arm",
+    "Operate the red-top black switch with the left arm",
+    "Push the hand-sized switch with connector prongs via the left arm.",
+    "Engage the left arm to press the black switch with metallic connectors",
+    "Use the left arm to interact with the black switch",
+    "Engage the black switch using the left arm.",
+    "Directly interact with the black base switch with red toggle",
+    "Press the black base switch with red toggle directly",
+    "Click the red-top black switch to activate it",
+    "Operate the left arm to engage the rectangular switch with curved lever",
+    "Set the left arm to press the black switch with metallic connectors",
+    "Press the plastic switch with metal terminals via automation",
+    "Press the small switch using robotic control",
+    "Engage the small switch using the robotic arm",
+    "Click the hand-sized switch with connector prongs with robotic precision",
+    "Use the left arm to engage the red and black switch",
+    "Press the black switch with metallic connectors to activate.",
+    "Set the switch at the rectangular black plastic switch",
+    "Click on the black switch with metallic connectors precisely",
+    "Switch the compact switch with toggle on top to its active state",
+    "Activate the black switch with metallic connectors by pressing it",
+    "Move to the compact switch with toggle on top and click it.",
+    "Interact with the rectangular black plastic switch.",
+    "Activate the red and black switch directly",
+    "Interact with the small switch directly",
+    "Deploy the left arm to operate the rectangular black plastic switch",
+    "Press the black base switch with red toggle with the left arm",
+    "Click the red and black switch directly.",
+    "Click the small switch using automated tools",
+    "Activate the switch with curved red toggle via the left arm",
+    "Activate the plastic switch with metal terminals with robotic precision",
+    "Locate and press the hand-sized switch with connector prongs",
+    "Toggle the small switch with the left arm.",
+    "Locate and press the rectangular switch with curved lever",
+    "Initiate the black switch with metallic connectors by clicking",
+    "Engage with the switch with curved red toggle manually",
+    "Engage the switch with curved red toggle with a press.",
+    "Press the plastic switch with metal terminals using the left arm.",
+    "Command the left arm to engage the small switch",
+    "Press the red and black switch carefully with the left arm",
+    "Direct the left arm to operate the black base switch with red toggle",
+    "Engage the black switch using the left arm"
+  ]
+}