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+  "format": "robotwin_tcp_v1",
+  "shape": [
+    504,
+    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
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      315,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      315,
+      14
+    ],
+    "action_shape": [
+      315,
+      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": [
+    "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "the right arm moves red block to the center, the right arm stacks green block onto red block.",
+    "the right arm takes red block, sets it in the center, the right arm places green block on red block.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Use the right arm to move red block, then the right arm to stack green block on red block at the center.",
+    "Relocate red block to the middle and place green block on it.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.",
+    "the right arm relocates red block and the right 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 with the right arm, then stack green block on it using the right arm.",
+    "Use the right arm to move red block and the right arm to position green block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.",
+    "Use the right arm to move red block and the right arm to stack green block.",
+    "Put red block in the center, then add green block above it.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Center red block using the right arm, then stack green block with the right arm on top.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.",
+    "Shift red block to the center and place green block on top.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the right arm.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.",
+    "Position red block at the center and stack green block above it.",
+    "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.",
+    "Use the right arm to center red block, then stack green block with the right arm.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Move red block to the center using the right arm, then stack green block on red block using the right arm.",
+    "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "the right arm moves red block to the center, the right arm stacks green block onto red block.",
+    "the right arm takes red block, sets it in the center, the right arm places green block on red block.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Use the right arm to move red block, then the right arm to stack green block on red block at the center.",
+    "Relocate red block to the middle and place green block on it.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.",
+    "the right arm relocates red block and the right 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 with the right arm, then stack green block on it using the right arm.",
+    "Use the right arm to move red block and the right arm to position green block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.",
+    "Use the right arm to move red block and the right arm to stack green block.",
+    "Put red block in the center, then add green block above it.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Center red block using the right arm, then stack green block with the right arm on top.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.",
+    "Shift red block to the center and place green block on top.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the right arm.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.",
+    "Position red block at the center and stack green block above it.",
+    "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.",
+    "Use the right arm to center red block, then stack green block with the right arm.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Move red block to the center using the right arm, then stack green block on red block using the right arm.",
+    "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "the right arm moves red block to the center, the right arm stacks green block onto red block.",
+    "the right arm takes red block, sets it in the center, the right arm places green block on red block.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Use the right arm to move red block, then the right arm to stack green block on red block at the center.",
+    "Relocate red block to the middle and place green block on it.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block."
+  ]
+}