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+  "format": "robotwin_tcp_v1",
+  "shape": [
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+    7
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+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
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+  "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",
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+  "source": "robot_state.npy"
+}
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+  "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": {
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+}
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+  "format_version": "robotwin_4d_v1",
+  "task": "place_bread_basket",
+  "episode": "episode_0000041",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_bread_basket/aloha_agilex/data/episode_0000041.hdf5",
+  "num_frames": 241,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
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+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
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+    "unit": "millimeter",
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+        "start": 0,
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+  "frequency_hz": 15,
+  "instructions": [
+    "Place both breads the round bread with crusty texture and the bread with golden surface color into the spiral ridged breadbasket.",
+    "Grab the bread with golden crust and the golden brown loaf-shaped bread and put them in the breadbasket for dough.",
+    "Relocate the small golden baked bread and the golden brown loaf-shaped bread into the basket the round breadbasket.",
+    "Place the braided bread loaf and the soft golden baked bread in the spiral ridged breadbasket.",
+    "Deposit the round bread with braided top and the bread with rounded corners inside the breadbasket with flat base.",
+    "Ensure the round bread with braided top and the golden crusted bread slice are both inside the round breadbasket.",
+    "Move both breads, the smooth crusty small bread and the golden crusted bread slice, into the spiral ridged breadbasket.",
+    "Pick up both the smooth crusty small bread and the golden bread for the spiral ridged breadbasket.",
+    "Take the soft golden bread and the bread with rounded corners from the table to the breadbasket for baking.",
+    "Set the two breads the braided bread loaf and the brown bread loaf in the spiral ridged breadbasket.",
+    "Put the golden brown bread and the golden bread inside the breadbasket with spiral lines.",
+    "Collect the small golden baked bread and the golden bread in the wooden breadbasket.",
+    "Move every bread, the golden bread loaf with soft inside and the rectangular bread soft inside, into the medium breadbasket.",
+    "Lift the round bread with crusty texture and the bread loaf with square shape and place them in the wooden breadbasket.",
+    "Transfer both the round bread with crusty texture and the bread with rounded corners to the breadbasket with spiral lines.",
+    "Place both breads the golden bread loaf with soft inside and the brown bread loaf into the medium breadbasket.",
+    "Grab the bread with golden crust and the bread with firm crust edges and put them in the breadbasket for dough.",
+    "Relocate the golden brown bread with braided design and the bread loaf with square shape into the basket the round breadbasket.",
+    "Place the round bread with braided top and the bread with golden surface color in the breadbasket made of woven wood.",
+    "Deposit the golden brown bread with braided design and the bread with golden surface color inside the breadbasket made of woven wood.",
+    "Ensure the small bread and the bread loaf with square shape are both inside the breadbasket shaped like a bowl.",
+    "Move both breads, the golden brown bread and the bread with golden surface color, into the spiral ridged breadbasket.",
+    "Pick up both the golden brown bread and the soft golden baked bread for the breadbasket made of woven wood.",
+    "Take the golden bread loaf with soft inside and the bread with firm crust edges from the table to the breadbasket for dough.",
+    "Set the two breads the smooth crusty small bread and the square loaf of bread in the breadbasket with flat base.",
+    "Put the round bread with braided top and the brown bread loaf inside the breadbasket with spiral lines.",
+    "Collect the bread with golden crust and the bread with golden surface color in the medium breadbasket.",
+    "Move every bread, the golden bread loaf with soft inside and the soft golden baked bread, into the breadbasket for dough.",
+    "Lift the golden brown bread with braided design and the golden crusted bread slice and place them in the medium breadbasket.",
+    "Transfer both the braided bread loaf and the golden bread to the medium breadbasket.",
+    "Place both breads the soft doughy bread and the bread with firm crust edges into the breadbasket with spiral lines.",
+    "Grab the golden brown bread and the soft golden baked bread and put them in the breadbasket shaped like a bowl.",
+    "Relocate the braided bread loaf and the bread with golden surface color into the basket the breadbasket for dough.",
+    "Place the small bread and the golden brown loaf-shaped bread in the palm-sized breadbasket.",
+    "Deposit the braided bread loaf and the golden bread inside the wooden breadbasket.",
+    "Ensure the round bread with braided top and the bread with firm crust edges are both inside the breadbasket for dough.",
+    "Move both breads, the round bread with crusty texture and the bread with firm crust edges, into the round breadbasket.",
+    "Pick up both the soft doughy bread and the bread with firm crust edges for the breadbasket for dough.",
+    "Take the smooth crusty small bread and the rectangular bread soft inside from the table to the spiral ridged breadbasket.",
+    "Set the two breads the golden brown bread and the bread with rounded corners in the round breadbasket.",
+    "Put the smooth crusty small bread and the bread with golden surface color inside the wooden breadbasket.",
+    "Collect the golden brown bread and the rectangular bread soft inside in the breadbasket with flat base.",
+    "Move every bread, the golden brown bread with braided design and the bread with rounded corners, into the breadbasket made of woven wood.",
+    "Lift the soft golden bread and the bread with golden surface color and place them in the round breadbasket.",
+    "Transfer both the round bread with braided top and the slice-shaped bread to the spiral ridged breadbasket.",
+    "Place both breads the smooth crusty small bread and the slice-shaped bread into the breadbasket for dough.",
+    "Grab the braided bread loaf and the golden crusted bread slice and put them in the smooth beige breadbasket.",
+    "Relocate the small bread and the square loaf of bread into the basket the palm-sized breadbasket.",
+    "Place the bread with golden crust and the golden bread in the breadbasket for dough.",
+    "Deposit the golden brown bread with braided design and the golden bread inside the spiral ridged breadbasket.",
+    "Ensure the golden brown bread and the bread with rounded corners are both inside the breadbasket with flat base.",
+    "Move both breads, the smooth crusty small bread and the bread with rounded corners, into the breadbasket with spiral lines.",
+    "Pick up both the small golden baked bread and the golden bread for the round breadbasket.",
+    "Take the braided bread loaf and the brown bread loaf from the table to the wooden breadbasket.",
+    "Set the two breads the small bread and the bread with golden surface color in the spiral ridged breadbasket.",
+    "Put the smooth crusty small bread and the golden brown loaf-shaped bread inside the smooth beige breadbasket.",
+    "Collect the golden brown bread and the bread with golden surface color in the smooth beige breadbasket.",
+    "Move every bread, the golden brown bread with braided design and the golden crusted bread slice, into the breadbasket for baking.",
+    "Lift the small bread and the rectangular bread soft inside and place them in the breadbasket with flat base.",
+    "Transfer both the smooth crusty small bread and the slice-shaped bread to the breadbasket for baking.",
+    "Place both breads the round bread with crusty texture and the bread with golden surface color into the wooden breadbasket.",
+    "Grab the golden bread loaf with soft inside and the golden bread and put them in the breadbasket made of woven wood.",
+    "Relocate the bread with golden crust and the golden crusted bread slice into the basket the medium breadbasket.",
+    "Place the golden bread loaf with soft inside and the bread with firm crust edges in the wooden breadbasket.",
+    "Deposit the golden bread loaf with soft inside and the soft golden baked bread inside the breadbasket made of woven wood.",
+    "Ensure the round bread with crusty texture and the brown bread loaf are both inside the medium breadbasket.",
+    "Move both breads, the round bread with crusty texture and the bread with firm crust edges, into the breadbasket for baking.",
+    "Pick up both the soft doughy bread and the golden brown loaf-shaped bread for the breadbasket shaped like a bowl.",
+    "Take the bread with golden crust and the bread with golden surface color from the table to the breadbasket for dough.",
+    "Set the two breads the smooth crusty small bread and the square loaf of bread in the breadbasket for baking.",
+    "Put the soft doughy bread and the soft golden baked bread inside the smooth beige breadbasket.",
+    "Collect the small bread and the bread with firm crust edges in the spiral ridged breadbasket.",
+    "Move every bread, the braided bread loaf and the bread with firm crust edges, into the medium breadbasket.",
+    "Lift the golden brown bread and the rectangular bread soft inside and place them in the breadbasket with flat base.",
+    "Transfer both the golden brown bread with braided design and the soft golden baked bread to the wooden breadbasket.",
+    "Place both breads the smooth crusty small bread and the soft golden baked bread into the breadbasket shaped like a bowl.",
+    "Grab the soft doughy bread and the square loaf of bread and put them in the spiral ridged breadbasket.",
+    "Relocate the golden brown bread and the soft golden baked bread into the basket the smooth beige breadbasket.",
+    "Place the bread with golden crust and the rectangular bread soft inside in the breadbasket shaped like a bowl.",
+    "Deposit the braided bread loaf and the bread with rounded corners inside the medium breadbasket.",
+    "Ensure the small golden baked bread and the bread with golden surface color are both inside the breadbasket for dough.",
+    "Move both breads, the braided bread loaf and the bread with firm crust edges, into the breadbasket with flat base.",
+    "Pick up both the round bread with braided top and the bread with firm crust edges for the breadbasket for baking.",
+    "Take the small bread and the golden brown loaf-shaped bread from the table to the wooden breadbasket.",
+    "Set the two breads the small golden baked bread and the bread with golden surface color in the palm-sized breadbasket.",
+    "Put the smooth crusty small bread and the golden bread inside the breadbasket shaped like a bowl.",
+    "Collect the golden bread loaf with soft inside and the golden crusted bread slice in the medium breadbasket.",
+    "Move every bread, the small golden baked bread and the square loaf of bread, into the breadbasket for baking.",
+    "Lift the golden brown bread with braided design and the rectangular bread soft inside and place them in the breadbasket shaped like a bowl.",
+    "Transfer both the smooth crusty small bread and the bread with firm crust edges to the round breadbasket.",
+    "Place both breads the golden brown bread and the brown bread loaf into the spiral ridged breadbasket.",
+    "Grab the braided bread loaf and the bread loaf with square shape and put them in the breadbasket made of woven wood.",
+    "Relocate the round bread with braided top and the rectangular bread soft inside into the basket the breadbasket for baking.",
+    "Place the smooth crusty small bread and the bread with golden surface color in the breadbasket with flat base.",
+    "Deposit the golden bread loaf with soft inside and the bread with firm crust edges inside the breadbasket with spiral lines.",
+    "Ensure the smooth crusty small bread and the rectangular bread soft inside are both inside the breadbasket with spiral lines.",
+    "Move both breads, the small golden baked bread and the golden crusted bread slice, into the breadbasket with spiral lines.",
+    "Pick up both the golden brown bread and the slice-shaped bread for the breadbasket for dough.",
+    "Take the soft doughy bread and the golden crusted bread slice from the table to the breadbasket with spiral lines.",
+    "Set the two breads the round bread with crusty texture and the bread with rounded corners in the spiral ridged breadbasket."
+  ]
+}
diff --git a/place_bread_skillet/episode_0000045/TCP_third/metadata.json b/place_bread_skillet/episode_0000045/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..38f0fa14a29a1076c03115c8c3581dd9deebcf39
--- /dev/null
+++ b/place_bread_skillet/episode_0000045/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    174,
+    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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