diff --git a/adjust_bottle/episode_0000039/TCP_third/metadata.json b/adjust_bottle/episode_0000039/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5055bf07ad8857ed0403f2b0a43cf36619d73ad2
--- /dev/null
+++ b/adjust_bottle/episode_0000039/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    162,
+    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"
+}
diff --git a/dump_bin_bigbin/episode_0000005/TCP_head/metadata.json b/dump_bin_bigbin/episode_0000005/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a80f53322998f8a54a3e6a2a6128eac2f887228
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000005/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    340,
+    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"
+}
diff --git a/dump_bin_bigbin/episode_0000005/metadata.json b/dump_bin_bigbin/episode_0000005/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b637d2244ce52a724f562705d4d0aaa0be2ae903
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000005/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "dump_bin_bigbin",
+  "episode": "episode_0000005",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000005.hdf5",
+  "num_frames": 340,
+  "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": [
+      340,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      340,
+      14
+    ],
+    "action_shape": [
+      340,
+      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": [
+    "Hold the compact tabletop trashbin, then pour contents.",
+    "Move the arm, take the simple white plastic trashbin, and pour.",
+    "Use the compact tabletop trashbin to pour the balls out.",
+    "Grab the tabletrashbin and transfer balls to the bin.",
+    "Lift the cylindrical small white trashbin using the arm to pour balls.",
+    "Take the cylindrical tabletrashbin with flared rim and empty its contents.",
+    "Raise the mini white trashbin for desk to dump its contents out.",
+    "Take the smooth plastic tabletrashbin and pour contents.",
+    "Use the arm to grab the simple white plastic trashbin and pour.",
+    "Direct the arm to grab the white round tabletrashbin and tilt.",
+    "Take hold of the simple white plastic trashbin, pour contents.",
+    "Grab the compact tabletop trashbin with arm and pour contents",
+    "Pick the simple white plastic trashbin up, pour all balls inside bin",
+    "Grab the mini white trashbin for desk and empty it into the bin.",
+    "Use arm to pick the compact tabletop trashbin, pour in bin",
+    "Take the white bin with flared top edge and pour the balls out.",
+    "Pick up the tabletrashbin, empty into the big bin",
+    "Take the white bin with flared top edge and pour the balls.",
+    "Lift the simple white plastic trashbin and pour balls into the bin.",
+    "Take hold of the desk-sized white tabletrashbin and dump the balls.",
+    "Hold the cylindrical small white trashbin and dump its balls.",
+    "Secure the smooth plastic tabletrashbin and pour the balls.",
+    "Lift the simple white plastic trashbin, pour contents into big bin",
+    "Pick up the white round tabletrashbin using the arm, pour balls.",
+    "Use the arm to lift the small white trashbin and empty it.",
+    "Hold the white bin with flared top edge, dump balls in big bin",
+    "Pour balls from the desk-sized white tabletrashbin into the bin.",
+    "Lift the white bin with flared top edge and pour contents down.",
+    "Lift the cylindrical small white trashbin and pour its contents into bin.",
+    "Use the arm to empty the white cylindrical waste bin into the bin.",
+    "Grab the tabletrashbin, pour its contents away.",
+    "Pick the smooth plastic tabletrashbin, pour its contents out.",
+    "Take the tabletrashbin and empty balls into the bin.",
+    "Grasp the white round tabletrashbin and empty it out.",
+    "Control the arm to raise the white cylindrical waste bin and pour.",
+    "Lift the cylindrical small white trashbin, pour the balls into big bin",
+    "Use arm to grab the white bin with flared top edge, dump contents",
+    "Grab the white cylindrical waste bin and pour it out.",
+    "Grab the desk-sized white tabletrashbin, then pour balls into the bin.",
+    "Lift up the small white trashbin, then pour balls.",
+    "Lift the white bin with flared top edge, then pour the balls.",
+    "Hold the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the small white trashbin and pour carefully.",
+    "Grab and tilt the white round tabletrashbin to empty the balls.",
+    "Take the smooth plastic tabletrashbin using arm, pour contents inside",
+    "Lift the smooth plastic tabletrashbin, pour into the big bin.",
+    "Hold the smooth plastic tabletrashbin and pour all balls into bin",
+    "Pick up the white cylindrical waste bin and pour into bin.",
+    "Grab the small white trashbin and transfer balls.",
+    "Use the arm to move the white round tabletrashbin and pour.",
+    "Hold the simple white plastic trashbin, then pour contents.",
+    "Move the arm, take the compact tabletop trashbin, and pour.",
+    "Use the small white trashbin to pour the balls out.",
+    "Grab the compact tabletop trashbin and transfer balls to the bin.",
+    "Lift the compact tabletop trashbin using the arm to pour balls.",
+    "Take the compact tabletop trashbin and empty its contents.",
+    "Raise the mini white trashbin for desk to dump its contents out.",
+    "Take the desk-sized white tabletrashbin and pour contents.",
+    "Use the arm to grab the white cylindrical waste bin and pour.",
+    "Direct the arm to grab the compact tabletop trashbin and tilt.",
+    "Take hold of the smooth plastic tabletrashbin, pour contents.",
+    "Grab the cylindrical small white trashbin with arm and pour contents",
+    "Pick the desk-sized white tabletrashbin up, pour all balls inside bin",
+    "Grab the smooth plastic tabletrashbin and empty it into the bin.",
+    "Use arm to pick the white cylindrical waste bin, pour in bin",
+    "Take the white cylindrical waste bin and pour the balls out.",
+    "Pick up the mini white trashbin for desk, empty into the big bin",
+    "Take the mini white trashbin for desk and pour the balls.",
+    "Lift the small white trashbin and pour balls into the bin.",
+    "Take hold of the white round tabletrashbin and dump the balls.",
+    "Hold the smooth plastic tabletrashbin and dump its balls.",
+    "Secure the mini white trashbin for desk and pour the balls.",
+    "Lift the mini white trashbin for desk, pour contents into big bin",
+    "Pick up the small white trashbin using the arm, pour balls.",
+    "Use the arm to lift the mini white trashbin for desk and empty it.",
+    "Hold the tabletrashbin, dump balls in big bin",
+    "Pour balls from the small white trashbin into the bin.",
+    "Lift the desk-sized white tabletrashbin and pour contents down.",
+    "Lift the white bin with flared top edge and pour its contents into bin.",
+    "Use the arm to empty the smooth plastic tabletrashbin into the bin.",
+    "Grab the small white trashbin, pour its contents away.",
+    "Pick the white round tabletrashbin, pour its contents out.",
+    "Take the small white trashbin and empty balls into the bin.",
+    "Grasp the compact tabletop trashbin and empty it out.",
+    "Control the arm to raise the white cylindrical waste bin and pour.",
+    "Lift the smooth plastic tabletrashbin, pour the balls into big bin",
+    "Use arm to grab the cylindrical tabletrashbin with flared rim, dump contents",
+    "Grab the smooth plastic tabletrashbin and pour it out.",
+    "Grab the tabletrashbin, then pour balls into the bin.",
+    "Lift up the desk-sized white tabletrashbin, then pour balls.",
+    "Lift the compact tabletop trashbin, then pour the balls.",
+    "Hold the cylindrical tabletrashbin with flared rim and pour the balls.",
+    "Pick up the white bin with flared top edge and pour carefully.",
+    "Grab and tilt the small white trashbin to empty the balls.",
+    "Take the tabletrashbin using arm, pour contents inside",
+    "Lift the compact tabletop trashbin, pour into the big bin.",
+    "Hold the cylindrical tabletrashbin with flared rim and pour all balls into bin",
+    "Pick up the compact tabletop trashbin and pour into bin.",
+    "Grab the tabletrashbin and transfer balls.",
+    "Use the arm to move the tabletrashbin and pour."
+  ]
+}
diff --git a/dump_bin_bigbin/episode_0000006/TCP_head/metadata.json b/dump_bin_bigbin/episode_0000006/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8791556365a8b717053d10e44e1aa71a514a83
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000006/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    177,
+    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"
+}
diff --git a/dump_bin_bigbin/episode_0000006/TCP_third/metadata.json b/dump_bin_bigbin/episode_0000006/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea4342a8124bc2da75ddfa251204de26e2a4b99
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000006/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    177,
+    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"
+}
diff --git a/dump_bin_bigbin/episode_0000006/metadata.json b/dump_bin_bigbin/episode_0000006/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2016a06515b213dbc38143525505df9fe1698e8
--- /dev/null
+++ b/dump_bin_bigbin/episode_0000006/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "dump_bin_bigbin",
+  "episode": "episode_0000006",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/dump_bin_bigbin/aloha_agilex/data/episode_0000006.hdf5",
+  "num_frames": 177,
+  "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": [
+      177,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      177,
+      14
+    ],
+    "action_shape": [
+      177,
+      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": [
+    "Use arm to grab the small rectangular bin for waste, dump contents",
+    "Take the bucket-shaped gray trashbin using arm, pour contents inside",
+    "Use the arm to move the tabletrashbin with smooth grooves and pour.",
+    "Lift up the open-top tabletrashbin, then pour balls.",
+    "Take hold of the tabletrashbin for holding waste and dump the balls.",
+    "Lift the light gray tabletrashbin, pour into the big bin.",
+    "Grab the gray plastic trashbin, then pour balls into the bin.",
+    "Take the tabletrashbin for holding waste and empty its contents.",
+    "Take the small light gray waste bin and pour the balls.",
+    "Use the open-top tabletrashbin to pour the balls out.",
+    "Grab the bucket-shaped gray trashbin and transfer balls.",
+    "Lift the light gray tabletrashbin and pour its contents into bin.",
+    "Secure the small light gray waste bin and pour the balls.",
+    "Grasp the small light gray waste bin and empty it out.",
+    "Take the open-top tabletrashbin and empty balls into the bin.",
+    "Direct the arm to grab the light gray bucket-shaped waste bin and tilt.",
+    "Hold the light gray trashbin with open top and pour the balls.",
+    "Take the small rectangular tabletrashbin and pour contents.",
+    "Grab the light gray trashbin with open top and transfer balls to the bin.",
+    "Use arm to pick the light gray trashbin with open top, pour in bin",
+    "Use the arm to grab the tabletrashbin for holding waste and pour.",
+    "Grab the bucket-shaped gray trashbin and empty it into the bin.",
+    "Move the arm, take the tabletrashbin for holding waste, and pour.",
+    "Lift the light gray tabletrashbin and pour balls into the bin.",
+    "Grab and tilt the rectangular tabletop waste container to empty the balls.",
+    "Grab the small rectangular tabletrashbin, pour its contents away.",
+    "Pick the small rectangular tabletrashbin, pour its contents out.",
+    "Raise the rectangular tabletop waste container to dump its contents out.",
+    "Pick up the tabletrashbin with smooth grooves, empty into the big bin",
+    "Control the arm to raise the bucket-shaped gray trashbin and pour.",
+    "Hold the tabletrashbin with smooth grooves, dump balls in big bin",
+    "Pick the small rectangular bin for waste up, pour all balls inside bin",
+    "Hold the small light gray waste bin, then pour contents.",
+    "Grab the gray plastic trashbin and pour it out.",
+    "Pick up the small rectangular tabletrashbin using the arm, pour balls.",
+    "Pour balls from the light gray trashbin with open top into the bin.",
+    "Hold the open-top tabletrashbin and pour all balls into bin",
+    "Use the arm to empty the small rectangular tabletrashbin into the bin.",
+    "Pick up the light gray bucket-shaped waste bin and pour carefully.",
+    "Lift the tabletrashbin for holding waste and pour contents down.",
+    "Pick up the gray plastic trashbin and pour into bin.",
+    "Hold the gray plastic trashbin and dump its balls.",
+    "Use the arm to lift the tabletrashbin with smooth grooves and empty it.",
+    "Lift the light gray tabletrashbin, then pour the balls.",
+    "Grab the gray plastic trashbin with arm and pour contents",
+    "Lift the gray plastic trashbin, pour the balls into big bin",
+    "Lift the small rectangular tabletrashbin using the arm to pour balls.",
+    "Take the small rectangular tabletrashbin and pour the balls out.",
+    "Lift the tabletrashbin for holding waste, pour contents into big bin",
+    "Take hold of the small light gray waste bin, pour contents.",
+    "Use arm to grab the light gray tabletrashbin, dump contents",
+    "Take the small light gray waste bin using arm, pour contents inside",
+    "Use the arm to move the light gray tabletrashbin and pour.",
+    "Lift up the light gray bucket-shaped waste bin, then pour balls.",
+    "Take hold of the light gray bucket-shaped waste bin and dump the balls.",
+    "Lift the light gray trashbin with open top, pour into the big bin.",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Take the small rectangular bin for waste and empty its contents.",
+    "Take the light gray bucket-shaped waste bin and pour the balls.",
+    "Use the tabletrashbin for holding waste to pour the balls out.",
+    "Grab the small light gray waste bin and transfer balls.",
+    "Lift the light gray bucket-shaped waste bin and pour its contents into bin.",
+    "Secure the small rectangular bin for waste and pour the balls.",
+    "Grasp the tabletrashbin for holding waste and empty it out.",
+    "Take the small rectangular bin for waste and empty balls into the bin.",
+    "Direct the arm to grab the light gray tabletrashbin and tilt.",
+    "Hold the light gray trashbin with open top and pour the balls.",
+    "Take the gray plastic trashbin and pour contents.",
+    "Grab the light gray tabletrashbin and transfer balls to the bin.",
+    "Use arm to pick the light gray tabletrashbin, pour in bin",
+    "Use the arm to grab the small light gray waste bin and pour.",
+    "Grab the gray plastic trashbin and empty it into the bin.",
+    "Move the arm, take the light gray bucket-shaped waste bin, and pour.",
+    "Lift the small rectangular bin for waste and pour balls into the bin.",
+    "Grab and tilt the small rectangular tabletrashbin to empty the balls.",
+    "Grab the bucket-shaped gray trashbin, pour its contents away.",
+    "Pick the light gray bucket-shaped waste bin, pour its contents out.",
+    "Raise the bucket-shaped gray trashbin to dump its contents out.",
+    "Pick up the light gray tabletrashbin, empty into the big bin",
+    "Control the arm to raise the bucket-shaped gray trashbin and pour.",
+    "Hold the rectangular tabletop waste container, dump balls in big bin",
+    "Pick the rectangular tabletop waste container up, pour all balls inside bin",
+    "Hold the small rectangular tabletrashbin, then pour contents.",
+    "Grab the light gray tabletrashbin and pour it out.",
+    "Pick up the small rectangular tabletrashbin using the arm, pour balls.",
+    "Pour balls from the small rectangular bin for waste into the bin.",
+    "Hold the light gray bucket-shaped waste bin and pour all balls into bin",
+    "Use the arm to empty the tabletrashbin for holding waste into the bin.",
+    "Pick up the tabletrashbin with smooth grooves and pour carefully.",
+    "Lift the small rectangular bin for waste and pour contents down.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Hold the light gray trashbin with open top and dump its balls.",
+    "Use the arm to lift the tabletrashbin with smooth grooves and empty it.",
+    "Lift the tabletrashbin for holding waste, then pour the balls.",
+    "Grab the open-top tabletrashbin with arm and pour contents",
+    "Lift the rectangular tabletop waste container, pour the balls into big bin",
+    "Lift the light gray bucket-shaped waste bin using the arm to pour balls.",
+    "Take the small light gray waste bin and pour the balls out.",
+    "Lift the bucket-shaped gray trashbin, pour contents into big bin",
+    "Take hold of the light gray bucket-shaped waste bin, pour contents."
+  ]
+}
diff --git a/pick_diverse_bottles/episode_0000000/images/head_view/000007.png b/pick_diverse_bottles/episode_0000000/images/head_view/000007.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8616f07b552efb07aa610829483bf6744ea6a4c16a81f9b8a35dd6a34151fe
+size 49421
diff --git a/pick_diverse_bottles/episode_0000000/images/head_view/000009.png b/pick_diverse_bottles/episode_0000000/images/head_view/000009.png
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9624b443ad79accfd73a1bc82ae9ee3fb857e89fc10764df774104d5b348c49c
+size 49843
diff --git a/pick_diverse_bottles/episode_0000000/images/head_view/000012.png b/pick_diverse_bottles/episode_0000000/images/head_view/000012.png
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