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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    122,
+    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": "press_stapler",
+  "episode": "episode_0000039",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/press_stapler/aloha_agilex/data/episode_0000039.hdf5",
+  "num_frames": 122,
+  "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": {
+    "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": [
+      122,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      122,
+      14
+    ],
+    "action_shape": [
+      122,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+      {
+        "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": [
+    "Firmly push down on the modern design stapler.",
+    "Engage the smooth plastic stapler by using the right arm to press it.",
+    "Push the stapler the stapler with orange top lever to activate it.",
+    "Push down on the stapler the stapler with rounded edges.",
+    "Place pressure on the stapler with orange button to staple.",
+    "Apply force to the modern design stapler with the right arm",
+    "Firmly press down on the plastic and metal stapler to staple.",
+    "Use your the right arm to press the stapler the modern design stapler.",
+    "Lower the right arm onto the stapler the smooth plastic stapler.",
+    "Push the stapler with orange top lever down firmly.",
+    "Apply force to the plastic and metal stapler to staple.",
+    "Operate the small office stapler by pressing it with the right arm.",
+    "Press the white stapler with rounded design until it works",
+    "Press the stapler for fastening papers to complete the task.",
+    "Press on the small office stapler to activate it.",
+    "Push down forcefully on the stapler the stapler for fastening papers.",
+    "Use an arm to press the plastic and metal stapler",
+    "Push down on the stapler the plastic and metal stapler.",
+    "Apply one arm the right arm to press the stapler for fastening papers firmly.",
+    "Apply enough force to the small office stapler to press it.",
+    "Apply pressure to the smooth plastic stapler using one arm the right arm.",
+    "Lower the modern design stapler using an arm",
+    "Apply pressure to the small office stapler with the right arm.",
+    "Push the top of the stapler for fastening papers down",
+    "Push down on the smooth plastic stapler to staple",
+    "Press on the stapler with rounded edges using the right arm.",
+    "Push down hard on the stapler with rounded edges with the right arm.",
+    "Apply pressure to the paper stapler with silver tray firmly",
+    "Apply pressure to the stapler for fastening papers with the right arm.",
+    "Push the stapler the white stapler with rounded design with the right arm.",
+    "Push down on the stapler for fastening papers to staple papers.",
+    "Firmly press the stapler with orange button using an arm.",
+    "Press down on the stapler with orange button until it functions.",
+    "Use one arm the right arm to press the stapler with orange button.",
+    "Firmly push the modern design stapler using the right arm to operate it.",
+    "Simply press the stapler the smooth plastic stapler downward.",
+    "Push down firmly on the modern design stapler to complete.",
+    "Use your arm the right arm to push the modern design stapler down.",
+    "Apply pressure on the stapler with orange button until it works.",
+    "Push the paper stapler with silver tray using one arm",
+    "Use one arm to press the handheld stapler.",
+    "Press the white stapler with rounded design downward using your arm the right arm.",
+    "Press the stapler the stapler with rounded edges using an arm the right arm.",
+    "Push down on the white body stapler with accents firmly.",
+    "Push the handheld stapler down completely",
+    "Press the white stapler with rounded design firmly to staple",
+    "Press the small office stapler to staple the sheets together.",
+    "Press down on the stapler the white body stapler with accents firmly.",
+    "Push the stapler with orange button until it staples.",
+    "Push the stapler the stapler for fastening papers to operate it.",
+    "Firmly push down on the small office stapler.",
+    "Engage the plastic and metal stapler by using the right arm to press it.",
+    "Push the stapler the modern design stapler to activate it.",
+    "Push down on the stapler the stapler with rounded edges.",
+    "Place pressure on the modern design stapler to staple.",
+    "Apply force to the white stapler with rounded design with the right arm",
+    "Firmly press down on the stapler for fastening papers to staple.",
+    "Use your the right arm to press the stapler the paper stapler with silver tray.",
+    "Lower the right arm onto the stapler the white stapler with rounded design.",
+    "Push the modern design stapler down firmly.",
+    "Apply force to the modern design stapler to staple.",
+    "Operate the modern design stapler by pressing it with the right arm.",
+    "Press the stapler with orange button until it works",
+    "Press the plastic and metal stapler to complete the task.",
+    "Press on the modern design stapler to activate it.",
+    "Push down forcefully on the stapler the paper stapler with silver tray.",
+    "Use an arm to press the white stapler with rounded design",
+    "Push down on the stapler the stapler with orange top lever.",
+    "Apply one arm the right arm to press the white stapler with rounded design firmly.",
+    "Apply enough force to the plastic and metal stapler to press it.",
+    "Apply pressure to the white body stapler with accents using one arm the right arm.",
+    "Lower the stapler for fastening papers using an arm",
+    "Apply pressure to the smooth plastic stapler with the right arm.",
+    "Push the top of the white body stapler with accents down",
+    "Push down on the stapler with orange button to staple",
+    "Press on the white body stapler with accents using the right arm.",
+    "Push down hard on the white stapler with rounded design with the right arm.",
+    "Apply pressure to the paper stapler with silver tray firmly",
+    "Apply pressure to the small office stapler with the right arm.",
+    "Push the stapler the stapler with orange button with the right arm.",
+    "Push down on the stapler with orange button to staple papers.",
+    "Firmly press the stapler with rounded edges using an arm.",
+    "Press down on the stapler with orange button until it functions.",
+    "Use one arm the right arm to press the white body stapler with accents.",
+    "Firmly push the white stapler with rounded design using the right arm to operate it.",
+    "Simply press the stapler the white body stapler with accents downward.",
+    "Push down firmly on the stapler with orange button to complete.",
+    "Use your arm the right arm to push the smooth plastic stapler down.",
+    "Apply pressure on the stapler with orange top lever until it works.",
+    "Push the stapler with rounded edges using one arm",
+    "Use one arm to press the stapler with orange top lever.",
+    "Press the white stapler with rounded design downward using your arm the right arm.",
+    "Press the stapler the white body stapler with accents using an arm the right arm.",
+    "Push down on the white body stapler with accents firmly.",
+    "Push the modern design stapler down completely",
+    "Press the plastic and metal stapler firmly to staple",
+    "Press the white stapler with rounded design to staple the sheets together.",
+    "Press down on the stapler the plastic and metal stapler firmly.",
+    "Push the stapler with rounded edges until it staples.",
+    "Push the stapler the stapler for fastening papers to operate it."
+  ]
+}
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "turn_switch",
+  "episode": "episode_0000001",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/turn_switch/aloha_agilex/data/episode_0000001.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": {
+    "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": [
+      97,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      97,
+      14
+    ],
+    "action_shape": [
+      97,
+      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": [
+    "Deploy the right arm to operate the plastic switch with angled edges",
+    "Set the right arm to press the tan switch",
+    "Activate the small light tan switch directly",
+    "Activate the switch with darker rectangle via the right arm",
+    "Interact with the hand-sized switch tan smooth finish.",
+    "Engage the angled switch light tan color using the right arm.",
+    "Engage the light tan rectangular switch smooth finish using the robotic arm",
+    "Move to the rectangular switch with slanted sides and click it.",
+    "Click on the trapezoid-shaped switch smooth surface precisely",
+    "Click the switch with darker rectangle to activate it",
+    "Operate the smooth tan switch with textured sides with the right arm",
+    "Activate the switch trapezoid shape brown marking using the right arm",
+    "Set the switch at the switch trapezoid shape brown marking",
+    "Trigger the tan switch without referencing the right arm",
+    "Click the small light tan switch using automated tools",
+    "Deploy the right arm to press the flat switch",
+    "Locate and press the rectangular switch with slanted sides",
+    "Activate the plastic switch with angled edges by pressing it",
+    "Activate the smooth tan switch with textured sides with the right arm.",
+    "Approach and tap the light tan rectangular switch smooth finish via the right arm",
+    "Interact with the light tan rectangular switch smooth finish directly",
+    "Trigger the switch trapezoid shape brown marking with precision",
+    "Direct the right arm to operate the trapezoid-shaped switch smooth surface",
+    "Operate the right arm to engage the tan switch",
+    "Click the tan switch with robotic precision",
+    "Locate and press the flat switch",
+    "Press the switch with darker rectangle using robotic control",
+    "Press the switch with darker rectangle via automation",
+    "Initiate the light tan rectangular switch smooth finish by clicking",
+    "Use the right arm to interact with the rectangular switch with slanted sides",
+    "Press the hand-sized switch tan smooth finish to activate.",
+    "Press the tan switch carefully with the right arm",
+    "Toggle the hand-sized switch tan smooth finish with the right arm.",
+    "Engage the light tan rectangular switch smooth finish with a press.",
+    "Tap the light tan rectangular switch smooth finish to engage it",
+    "Directly interact with the smooth tan switch with textured sides",
+    "Use the right arm to engage the light tan rectangular switch smooth finish",
+    "Engage the tan switch using the right arm",
+    "Engage the right arm to press the small light tan switch",
+    "Press the hand-sized switch tan smooth finish using the right arm.",
+    "Command the right arm to engage the angled switch light tan color",
+    "Press the angled switch light tan color with the right arm",
+    "Use the right arm for switching the angled switch light tan color",
+    "Click the rectangular switch with slanted sides directly.",
+    "Engage with the small light tan switch manually",
+    "Activate the switch with darker rectangle with robotic precision",
+    "Trigger the rectangular switch with slanted sides using the right arm",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Press the switch trapezoid shape brown marking directly",
+    "Switch the tan switch to its active state",
+    "Deploy the right arm to operate the light tan rectangular switch smooth finish",
+    "Set the right arm to press the switch with darker rectangle",
+    "Activate the rectangular switch with slanted sides directly",
+    "Activate the smooth tan switch with textured sides via the right arm",
+    "Interact with the angled switch light tan color.",
+    "Engage the light tan rectangular switch smooth finish using the right arm.",
+    "Engage the flat switch using the robotic arm",
+    "Move to the angled switch light tan color and click it.",
+    "Click on the flat switch precisely",
+    "Click the hand-sized switch tan smooth finish to activate it",
+    "Operate the switch trapezoid shape brown marking with the right arm",
+    "Activate the tan switch using the right arm",
+    "Set the switch at the tan switch",
+    "Trigger the plastic switch with angled edges without referencing the right arm",
+    "Click the hand-sized switch tan smooth finish using automated tools",
+    "Deploy the right arm to press the angled switch light tan color",
+    "Locate and press the smooth tan switch with textured sides",
+    "Activate the switch trapezoid shape brown marking by pressing it",
+    "Activate the tan switch with the right arm.",
+    "Approach and tap the flat switch via the right arm",
+    "Interact with the plastic switch with angled edges directly",
+    "Trigger the tan switch with precision",
+    "Direct the right arm to operate the small light tan switch",
+    "Operate the right arm to engage the switch trapezoid shape brown marking",
+    "Click the light tan rectangular switch smooth finish with robotic precision",
+    "Locate and press the small light tan switch",
+    "Press the trapezoid-shaped switch smooth surface using robotic control",
+    "Press the plastic switch with angled edges via automation",
+    "Initiate the switch trapezoid shape brown marking by clicking",
+    "Use the right arm to interact with the angled switch light tan color",
+    "Press the flat switch to activate.",
+    "Press the switch with darker rectangle carefully with the right arm",
+    "Toggle the angled switch light tan color with the right arm.",
+    "Engage the trapezoid-shaped switch smooth surface with a press.",
+    "Tap the small light tan switch to engage it",
+    "Directly interact with the plastic switch with angled edges",
+    "Use the right arm to engage the switch trapezoid shape brown marking",
+    "Engage the switch trapezoid shape brown marking using the right arm",
+    "Engage the right arm to press the angled switch light tan color",
+    "Press the rectangular switch with slanted sides using the right arm.",
+    "Command the right arm to engage the switch with darker rectangle",
+    "Press the light tan rectangular switch smooth finish with the right arm",
+    "Use the right arm for switching the light tan rectangular switch smooth finish",
+    "Click the smooth tan switch with textured sides directly.",
+    "Engage with the light tan rectangular switch smooth finish manually",
+    "Activate the plastic switch with angled edges with robotic precision",
+    "Trigger the rectangular switch with slanted sides using the right arm",
+    "Push the switch trapezoid shape brown marking via the right arm.",
+    "Press the rectangular switch with slanted sides directly",
+    "Switch the switch with darker rectangle to its active state"
+  ]
+}