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diff --git a/pick_dual_bottles/episode_0000004/TCP_head/metadata.json b/pick_dual_bottles/episode_0000004/TCP_head/metadata.json
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@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    125,
+    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/pick_dual_bottles/episode_0000004/metadata.json b/pick_dual_bottles/episode_0000004/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000004",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000004.hdf5",
+  "num_frames": 125,
+  "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": [
+      125,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      125,
+      14
+    ],
+    "action_shape": [
+      125,
+      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 one arm for the medium dark brown bottle and the other for the green bottle with indented base.",
+    "Hold the bottle with white neck and red top in one arm and the bottle with rounded neck in the other.",
+    "Pick up the plastic drink bottle and the plastic bottle simultaneously.",
+    "Pick the narrow-necked bottle and the green bottle with indented base up in parallel.",
+    "Catch the brown bottle with red label and the plastic bottle in parallel.",
+    "Reach for the narrow-necked bottle and the bottle with ridges near base with both arms simultaneously.",
+    "Use both arms to lift the brown bottle with red label and the medium-sized green bottle together.",
+    "Grasp the brown bottle with red label and the bottle with ridges near base at the same time.",
+    "Take the red-capped bottle and the medium-sized green bottle together, one per arm.",
+    "Grasp both bottles, the narrow-necked bottle and the handheld green bottle, simultaneously.",
+    "Grab both bottles at once: the long thin bottle and the bottle with rounded neck.",
+    "Hold both the plastic drink bottle and the bottle with rounded neck, one in each arm.",
+    "Pick the medium dark brown bottle as the other arm picks the smooth green bottle.",
+    "Simultaneously grasp and lift the dark drink bottle with logo and the bottle with ridges near base.",
+    "Pick up both the dark drink bottle with logo and the medium-sized green bottle using separate arms.",
+    "Lift the brown bottle with red label with one arm and the green bottle with indented base with the other.",
+    "Use separate arms to grasp the brown bottle with red label and the bottle with white printed label simultaneously.",
+    "Take hold of the brown bottle with red label and the bottle with narrow top at once.",
+    "Each arm should lift one bottle: the bottle with ridges on bottom and the plastic bottle.",
+    "Use each arm to secure one bottle, the brown bottle with red label and the bottle with white printed label.",
+    "Use both arms together to pick the bottle with white neck and red top and the medium green bottle.",
+    "Pick up the dark drink bottle with logo and the medium green bottle with capped neck in one synchronized motion.",
+    "Raise both bottles together, the smooth bottle with red lid and the bottle with rounded neck.",
+    "Grab the narrow-necked bottle and the bottle with narrow top together.",
+    "Secure the dark drink bottle with logo and the smooth green plastic bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the smooth bottle with red lid and the bottle with white printed label.",
+    "Raise the brown bottle with red label and the smooth green bottle at the same time.",
+    "Lift the two bottles the red-capped bottle and the smooth green plastic bottle together.",
+    "Raise both the dark drink bottle with logo and the handheld green bottle simultaneously.",
+    "Lift the dark drink bottle with logo and the medium green bottle with capped neck together with both arms.",
+    "Use one arm for the brown bottle with red label and the other for the bottle with narrow top.",
+    "Hold the bottle with ridges on bottom in one arm and the bottle with narrow top in the other.",
+    "Pick up the bottle with ridges on bottom and the smooth green plastic bottle simultaneously.",
+    "Pick the smooth bottle with red lid and the medium green bottle up in parallel.",
+    "Catch the bottle with white neck and red top and the smooth green bottle in parallel.",
+    "Reach for the dark drink bottle with logo and the bottle with white printed label with both arms simultaneously.",
+    "Use both arms to lift the medium dark brown bottle and the smooth green plastic bottle together.",
+    "Grasp the narrow-necked bottle and the handheld green bottle at the same time.",
+    "Take the dark drink bottle with logo and the bottle with narrow top together, one per arm.",
+    "Grasp both bottles, the long thin bottle and the plastic bottle, simultaneously.",
+    "Grab both bottles at once: the brown bottle with red label and the plastic bottle.",
+    "Hold both the plastic drink bottle and the bottle with white printed label, one in each arm.",
+    "Pick the plastic drink bottle as the other arm picks the bottle with white printed label.",
+    "Simultaneously grasp and lift the narrow-necked bottle and the handheld green bottle.",
+    "Pick up both the narrow-necked bottle and the bottle with narrow top using separate arms.",
+    "Lift the plastic drink bottle with one arm and the bottle with rounded neck with the other.",
+    "Use separate arms to grasp the brown bottle with red label and the bottle with ridges near base simultaneously.",
+    "Take hold of the red-capped bottle and the plastic bottle at once.",
+    "Each arm should lift one bottle: the bottle with ridges on bottom and the medium green bottle.",
+    "Use each arm to secure one bottle, the bottle with ridges on bottom and the bottle with rounded neck.",
+    "Use both arms together to pick the red-capped bottle and the medium-sized green bottle.",
+    "Pick up the medium dark brown bottle and the smooth green bottle in one synchronized motion.",
+    "Raise both bottles together, the dark drink bottle with logo and the bottle with white printed label.",
+    "Grab the Coca-Cola bottle and the medium-sized green bottle together.",
+    "Secure the medium dark brown bottle and the bottle with rounded neck simultaneously with separate arms.",
+    "Use each arm to grab one of the long thin bottle and the smooth green plastic bottle.",
+    "Raise the smooth bottle with red lid and the medium green bottle at the same time.",
+    "Lift the two bottles the dark drink bottle with logo and the medium green bottle together.",
+    "Raise both the medium dark brown bottle and the handheld green bottle simultaneously.",
+    "Lift the plastic drink bottle and the medium green bottle with capped neck together with both arms.",
+    "Use one arm for the bottle with white neck and red top and the other for the plastic bottle.",
+    "Hold the bottle with ridges on bottom in one arm and the medium green bottle with capped neck in the other.",
+    "Pick up the bottle with ridges on bottom and the green bottle with indented base simultaneously.",
+    "Pick the red-capped bottle and the bottle with white printed label up in parallel.",
+    "Catch the dark drink bottle with logo and the medium green bottle in parallel.",
+    "Reach for the dark drink bottle with logo and the bottle with ridges near base with both arms simultaneously.",
+    "Use both arms to lift the hand-sized soda bottle and the bottle with narrow top together.",
+    "Grasp the red-capped bottle and the green bottle with indented base at the same time.",
+    "Take the bottle with ridges on bottom and the bottle with ridges near base together, one per arm.",
+    "Grasp both bottles, the Coca-Cola bottle and the smooth green plastic bottle, simultaneously.",
+    "Grab both bottles at once: the plastic drink bottle and the medium-sized green bottle.",
+    "Hold both the medium dark brown bottle and the medium green bottle, one in each arm.",
+    "Pick the brown bottle with red label as the other arm picks the plastic bottle.",
+    "Simultaneously grasp and lift the medium dark brown bottle and the bottle with rounded neck.",
+    "Pick up both the bottle with ridges on bottom and the medium green bottle with capped neck using separate arms.",
+    "Lift the red-capped bottle with one arm and the handheld green bottle with the other.",
+    "Use separate arms to grasp the smooth bottle with red lid and the bottle with white printed label simultaneously.",
+    "Take hold of the long thin bottle and the bottle with rounded neck at once.",
+    "Each arm should lift one bottle: the Coca-Cola bottle and the smooth green plastic bottle.",
+    "Use each arm to secure one bottle, the red-capped bottle and the smooth green bottle.",
+    "Use both arms together to pick the Coca-Cola bottle and the smooth green plastic bottle.",
+    "Pick up the Coca-Cola bottle and the bottle with narrow top in one synchronized motion.",
+    "Raise both bottles together, the dark drink bottle with logo and the medium-sized green bottle.",
+    "Grab the hand-sized soda bottle and the plastic bottle together.",
+    "Secure the Coca-Cola bottle and the bottle with rounded neck simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized soda bottle and the handheld green bottle.",
+    "Raise the Coca-Cola bottle and the bottle with rounded neck at the same time.",
+    "Lift the two bottles the bottle with ridges on bottom and the handheld green bottle together.",
+    "Raise both the red-capped bottle and the smooth green plastic bottle simultaneously.",
+    "Lift the long thin bottle and the bottle with rounded neck together with both arms.",
+    "Use one arm for the medium dark brown bottle and the other for the medium green bottle.",
+    "Hold the bottle with white neck and red top in one arm and the medium green bottle with capped neck in the other.",
+    "Pick up the bottle with white neck and red top and the medium green bottle with capped neck simultaneously.",
+    "Pick the bottle with ridges on bottom and the bottle with narrow top up in parallel.",
+    "Catch the smooth bottle with red lid and the green bottle with indented base in parallel.",
+    "Reach for the bottle with ridges on bottom and the smooth green plastic bottle with both arms simultaneously.",
+    "Use both arms to lift the hand-sized soda bottle and the smooth green plastic bottle together.",
+    "Grasp the plastic drink bottle and the bottle with narrow top at the same time.",
+    "Take the dark drink bottle with logo and the smooth green plastic bottle together, one per arm.",
+    "Grasp both bottles, the dark drink bottle with logo and the bottle with narrow top, simultaneously."
+  ]
+}
diff --git a/pick_dual_bottles/episode_0000008/TCP_head/metadata.json b/pick_dual_bottles/episode_0000008/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..858c86cf55055919ab5c43b2cca965e89aaa5ba0
--- /dev/null
+++ b/pick_dual_bottles/episode_0000008/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    132,
+    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/pick_dual_bottles/episode_0000008/TCP_third/metadata.json b/pick_dual_bottles/episode_0000008/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73d6e5303a4f665b495dc917ac59c82e6b3b2b2
--- /dev/null
+++ b/pick_dual_bottles/episode_0000008/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    132,
+    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/pick_dual_bottles/episode_0000008/metadata.json b/pick_dual_bottles/episode_0000008/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd0edaac6d1984ceee839530b06b6e6c0b34ca2
--- /dev/null
+++ b/pick_dual_bottles/episode_0000008/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000008",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000008.hdf5",
+  "num_frames": 132,
+  "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": [
+      132,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      132,
+      14
+    ],
+    "action_shape": [
+      132,
+      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": [
+    "Lift the narrow-necked bottle with one arm and the smooth green bottle with the other.",
+    "Use each arm to secure one bottle, the dark drink bottle with logo and the medium-sized green bottle.",
+    "Grasp both bottles, the long thin bottle and the bottle with ridges near base, simultaneously.",
+    "Lift the red-capped bottle and the bottle with rounded neck together with both arms.",
+    "Use one arm for the Coca-Cola bottle and the other for the smooth green plastic bottle.",
+    "Grab both bottles at once: the bottle with ridges on bottom and the bottle with rounded neck.",
+    "Lift the two bottles the narrow-necked bottle and the bottle with white printed label together.",
+    "Raise both bottles together, the red-capped bottle and the medium green bottle with capped neck.",
+    "Use both arms together to pick the long thin bottle and the bottle with white printed label.",
+    "Take the brown bottle with red label and the bottle with white printed label together, one per arm.",
+    "Use separate arms to grasp the red-capped bottle and the bottle with rounded neck simultaneously.",
+    "Pick the bottle with white neck and red top as the other arm picks the handheld green bottle.",
+    "Raise both the smooth bottle with red lid and the smooth green plastic bottle simultaneously.",
+    "Hold both the long thin bottle and the medium green bottle with capped neck, one in each arm.",
+    "Pick up the long thin bottle and the smooth green plastic bottle in one synchronized motion.",
+    "Use both arms to lift the long thin bottle and the handheld green bottle together.",
+    "Use each arm to grab one of the Coca-Cola bottle and the bottle with ridges near base.",
+    "Simultaneously grasp and lift the plastic drink bottle and the medium green bottle with capped neck.",
+    "Catch the plastic drink bottle and the plastic bottle in parallel.",
+    "Hold the smooth bottle with red lid in one arm and the bottle with rounded neck in the other.",
+    "Take hold of the long thin bottle and the bottle with rounded neck at once.",
+    "Reach for the Coca-Cola bottle and the medium green bottle with both arms simultaneously.",
+    "Grasp the plastic drink bottle and the plastic bottle at the same time.",
+    "Grab the bottle with ridges on bottom and the smooth green bottle together.",
+    "Pick up both the dark drink bottle with logo and the bottle with white printed label using separate arms.",
+    "Pick up the long thin bottle and the bottle with white printed label simultaneously.",
+    "Secure the bottle with ridges on bottom and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise the smooth bottle with red lid and the medium green bottle with capped neck at the same time.",
+    "Each arm should lift one bottle: the medium dark brown bottle and the bottle with narrow top.",
+    "Pick the bottle with ridges on bottom and the bottle with rounded neck up in parallel.",
+    "Lift the Coca-Cola bottle with one arm and the medium green bottle with the other.",
+    "Use each arm to secure one bottle, the narrow-necked bottle and the bottle with rounded neck.",
+    "Grasp both bottles, the medium dark brown bottle and the handheld green bottle, simultaneously.",
+    "Lift the smooth bottle with red lid and the smooth green plastic bottle together with both arms.",
+    "Use one arm for the dark drink bottle with logo and the other for the smooth green bottle.",
+    "Grab both bottles at once: the Coca-Cola bottle and the handheld green bottle.",
+    "Lift the two bottles the bottle with white neck and red top and the medium-sized green bottle together.",
+    "Raise both bottles together, the hand-sized soda bottle and the medium green bottle with capped neck.",
+    "Use both arms together to pick the smooth bottle with red lid and the smooth green plastic bottle.",
+    "Take the bottle with ridges on bottom and the handheld green bottle together, one per arm.",
+    "Use separate arms to grasp the smooth bottle with red lid and the medium green bottle with capped neck simultaneously.",
+    "Pick the smooth bottle with red lid as the other arm picks the medium green bottle.",
+    "Raise both the dark drink bottle with logo and the green bottle with indented base simultaneously.",
+    "Hold both the plastic drink bottle and the medium green bottle, one in each arm.",
+    "Pick up the narrow-necked bottle and the smooth green plastic bottle in one synchronized motion.",
+    "Use both arms to lift the red-capped bottle and the medium green bottle with capped neck together.",
+    "Use each arm to grab one of the dark drink bottle with logo and the smooth green bottle.",
+    "Simultaneously grasp and lift the hand-sized soda bottle and the green bottle with indented base.",
+    "Catch the plastic drink bottle and the bottle with rounded neck in parallel.",
+    "Hold the smooth bottle with red lid in one arm and the bottle with narrow top in the other.",
+    "Take hold of the hand-sized soda bottle and the medium green bottle with capped neck at once.",
+    "Reach for the red-capped bottle and the bottle with ridges near base with both arms simultaneously.",
+    "Grasp the red-capped bottle and the bottle with narrow top at the same time.",
+    "Grab the medium dark brown bottle and the smooth green plastic bottle together.",
+    "Pick up both the red-capped bottle and the medium green bottle using separate arms.",
+    "Pick up the long thin bottle and the green bottle with indented base simultaneously.",
+    "Secure the plastic drink bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise the plastic drink bottle and the green bottle with indented base at the same time.",
+    "Each arm should lift one bottle: the dark drink bottle with logo and the medium green bottle with capped neck.",
+    "Pick the Coca-Cola bottle and the bottle with narrow top up in parallel.",
+    "Lift the Coca-Cola bottle with one arm and the bottle with ridges near base with the other.",
+    "Use each arm to secure one bottle, the hand-sized soda bottle and the plastic bottle.",
+    "Grasp both bottles, the dark drink bottle with logo and the handheld green bottle, simultaneously.",
+    "Lift the medium dark brown bottle and the green bottle with indented base together with both arms.",
+    "Use one arm for the brown bottle with red label and the other for the medium green bottle.",
+    "Grab both bottles at once: the narrow-necked bottle and the handheld green bottle.",
+    "Lift the two bottles the narrow-necked bottle and the bottle with white printed label together.",
+    "Raise both bottles together, the dark drink bottle with logo and the handheld green bottle.",
+    "Use both arms together to pick the red-capped bottle and the bottle with narrow top.",
+    "Take the medium dark brown bottle and the medium green bottle together, one per arm.",
+    "Use separate arms to grasp the hand-sized soda bottle and the medium green bottle with capped neck simultaneously.",
+    "Pick the bottle with white neck and red top as the other arm picks the smooth green plastic bottle.",
+    "Raise both the narrow-necked bottle and the smooth green bottle simultaneously.",
+    "Hold both the smooth bottle with red lid and the bottle with rounded neck, one in each arm.",
+    "Pick up the bottle with white neck and red top and the medium-sized green bottle in one synchronized motion.",
+    "Use both arms to lift the hand-sized soda bottle and the bottle with ridges near base together.",
+    "Use each arm to grab one of the medium dark brown bottle and the plastic bottle.",
+    "Simultaneously grasp and lift the plastic drink bottle and the medium-sized green bottle.",
+    "Catch the Coca-Cola bottle and the smooth green bottle in parallel.",
+    "Hold the bottle with white neck and red top in one arm and the medium green bottle in the other.",
+    "Take hold of the red-capped bottle and the plastic bottle at once.",
+    "Reach for the brown bottle with red label and the green bottle with indented base with both arms simultaneously.",
+    "Grasp the smooth bottle with red lid and the medium-sized green bottle at the same time.",
+    "Grab the hand-sized soda bottle and the bottle with white printed label together.",
+    "Pick up both the narrow-necked bottle and the handheld green bottle using separate arms.",
+    "Pick up the narrow-necked bottle and the green bottle with indented base simultaneously.",
+    "Secure the narrow-necked bottle and the medium green bottle with capped neck simultaneously with separate arms.",
+    "Raise the smooth bottle with red lid and the plastic bottle at the same time.",
+    "Each arm should lift one bottle: the hand-sized soda bottle and the medium green bottle with capped neck.",
+    "Pick the red-capped bottle and the medium green bottle up in parallel.",
+    "Lift the plastic drink bottle with one arm and the bottle with narrow top with the other.",
+    "Use each arm to secure one bottle, the bottle with white neck and red top and the bottle with ridges near base.",
+    "Grasp both bottles, the bottle with ridges on bottom and the green bottle with indented base, simultaneously.",
+    "Lift the medium dark brown bottle and the bottle with ridges near base together with both arms.",
+    "Use one arm for the bottle with white neck and red top and the other for the bottle with rounded neck.",
+    "Grab both bottles at once: the bottle with white neck and red top and the bottle with white printed label.",
+    "Lift the two bottles the brown bottle with red label and the smooth green plastic bottle together.",
+    "Raise both bottles together, the plastic drink bottle and the plastic bottle.",
+    "Use both arms together to pick the bottle with white neck and red top and the medium green bottle.",
+    "Take the hand-sized soda bottle and the smooth green plastic bottle together, one per arm."
+  ]
+}
diff --git a/place_can_basket/episode_0000012/TCP_head/metadata.json b/place_can_basket/episode_0000012/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..48df450b38d450181083bcf165202fa472d0432f
--- /dev/null
+++ b/place_can_basket/episode_0000012/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    259,
+    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/place_can_basket/episode_0000012/TCP_third/metadata.json b/place_can_basket/episode_0000012/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..77898f834b83b15dae457ee9682d83eb2982f16d
--- /dev/null
+++ b/place_can_basket/episode_0000012/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    259,
+    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/place_can_basket/episode_0000012/metadata.json b/place_can_basket/episode_0000012/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..88e46dd89f7484725a6ccf509265c0a923a428fc
--- /dev/null
+++ b/place_can_basket/episode_0000012/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000012",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000012.hdf5",
+  "num_frames": 259,
+  "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": [
+      259,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      259,
+      14
+    ],
+    "action_shape": [
+      259,
+      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": [
+    "Lift the red cylindrical can with silver top, put it in the rectangular basket with smooth surface, and carry the rectangular basket with smooth surface afterward.",
+    "Pick up the red can with smooth metallic texture, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.",
+    "Use the right arm to insert the rounded red Coca-Cola soda container in the basket with black handle; the other arm lifts the basket with black handle.",
+    "Use the right arm to lower the cylindrical red drink can with logo into the basket with black handle; the other arm lifts the basket with black handle.",
+    "Use the right arm to drop the red can with smooth metallic texture in the yellow basket for carrying stuff; the other arm lifts the yellow basket for carrying stuff.",
+    "Use the right arm to grab the metallic red beverage can, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.",
+    "Grab the red can with smooth metallic texture, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.",
+    "Use the right arm to set the small aluminum red drink can in the yellow basket; another arm lifts the yellow basket.",
+    "Pick up the Coca-Cola soda can, place it into the bright yellow basket, then lift the bright yellow basket.",
+    "Grab the Coca-Cola soda can, put it in the basket with black handle, then raise the basket with black handle.",
+    "Grab the metallic red beverage can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.",
+    "Take the red can with white lettering with the right arm, drop it into the basket with arched black grip, and lift the basket with arched black grip using another arm.",
+    "Use the right arm to grab the smooth red can with silver bottom and place in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.",
+    "Use the right arm to put the hand-sized red can for drinks in the basket with perforated sides; the other arm raises the basket with perforated sides.",
+    "Grab and drop the red can with white Coca-Cola logo in the basket with perforated sides, lift the basket with perforated sides.",
+    "Grab the smooth red can with silver bottom, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.",
+    "Place the smooth red can with silver bottom in the yellow basket and then lift the yellow basket.",
+    "Pick the cylindrical red drink can with logo with one arm, place it in the basket with black handle, and lift the basket with black handle using another arm.",
+    "Pick the Coca-Cola soda can, set it in the yellow basket, and lift the yellow basket upward.",
+    "Use one arm for the red can with smooth metallic texture, then the other arm lifts the basket with arched black grip.",
+    "Grab the Coca-Cola can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.",
+    "Grab the rounded red Coca-Cola soda container, place it in the plastic basket, and lift the plastic basket upwards.",
+    "Take the Coca-Cola can and put it in the plastic basket, then lift the plastic basket.",
+    "Use the right arm to set the cylindrical red drink can with logo in the medium yellow basket with slots; the other arm lifts the medium yellow basket with slots.",
+    "Pick up the metallic red beverage can, set it inside the yellow basket, then lift the yellow basket.",
+    "Take the hand-sized red can for drinks, set it into the medium yellow basket with slots, and raise the medium yellow basket with slots.",
+    "Pick the red can with white lettering with the right arm, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.",
+    "Lift the red can with white Coca-Cola logo, drop it into the plastic basket, then carry the plastic basket.",
+    "Take the cylindrical red drink can with logo, place it into the handheld basket, then lift the handheld basket.",
+    "Pick the red can with white lettering, set it in the basket with arched black grip, then lift the basket with arched black grip.",
+    "Lift the rounded red Coca-Cola soda container, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.",
+    "Lift the red can with white Coca-Cola logo, place it inside the bright yellow basket, and elevate the bright yellow basket.",
+    "Lift the small aluminum red drink can, place it in the yellow basket for carrying stuff, and raise the yellow basket for carrying stuff.",
+    "Take the hand-sized red can for drinks in the right arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket.",
+    "Use the right arm to put the red can with white lettering in the basket with black handle; another arm lifts the basket with black handle.",
+    "Drop the metallic red beverage can into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.",
+    "Grab the cylindrical red drink can with logo, drop it into the medium yellow basket with slots, and raise the medium yellow basket with slots with the other arm.",
+    "Place the red can with white Coca-Cola logo inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.",
+    "Lift the red cylindrical can with silver top, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward.",
+    "Pick the smooth red can with silver bottom using the right arm, drop it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.",
+    "Use the right arm to place the hand-sized red can for drinks in the rectangular basket with smooth surface; another arm lifts the rectangular basket with smooth surface.",
+    "Use the right arm to put the rounded red Coca-Cola soda container in the rectangular basket with smooth surface; the other arm lifts the rectangular basket with smooth surface.",
+    "Grab the Coca-Cola soda can, drop it into the handheld basket, then use another arm for the handheld basket.",
+    "Grab the smooth red can with silver bottom with the right arm, put it into the medium yellow basket with slots, and lift the medium yellow basket with slots with the other arm.",
+    "Use the right arm to place the red cylindrical can with silver top in the basket with perforated sides; the other arm lifts the basket with perforated sides.",
+    "Pick up the small aluminum red drink can with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.",
+    "Pick up the Coca-Cola can, place it in the basket with perforated sides, and then lift the basket with perforated sides.",
+    "Place the smooth red can with silver bottom in the basket with perforated sides and then use another arm to lift the basket with perforated sides.",
+    "Pick up the rounded red Coca-Cola soda container, put it in the basket with arched black grip, and lift the basket with arched black grip.",
+    "Pick the rounded red Coca-Cola soda container with the right arm, drop it in the handheld basket, lift the handheld basket with another arm.",
+    "Lift the red can with white Coca-Cola logo, put it in the medium yellow basket with slots, and carry the medium yellow basket with slots afterward.",
+    "Pick up the red can with smooth metallic texture, put it into the yellow basket, and lift the yellow basket.",
+    "Use the right arm to insert the red can with smooth metallic texture in the basket with black handle; the other arm lifts the basket with black handle.",
+    "Use the right arm to lower the cylindrical red drink can with logo into the carrying basket with black plastic handle; the other arm lifts the carrying basket with black plastic handle.",
+    "Use the right arm to drop the smooth red can with silver bottom in the medium yellow basket with slots; the other arm lifts the medium yellow basket with slots.",
+    "Use the right arm to grab the smooth red can with silver bottom, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with another arm.",
+    "Grab the smooth red can with silver bottom, place it in the plastic basket, and raise the plastic basket using the other arm.",
+    "Use the right arm to set the red cylindrical can with silver top in the handheld basket; another arm lifts the handheld basket.",
+    "Pick up the smooth red can with silver bottom, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.",
+    "Grab the Coca-Cola soda can, put it in the basket with arched black grip, then raise the basket with arched black grip.",
+    "Grab the red can with white Coca-Cola logo, drop it into the handheld basket, and raise the handheld basket.",
+    "Take the red cylindrical can with silver top with the right arm, drop it into the bright yellow basket, and lift the bright yellow basket using another arm.",
+    "Use the right arm to grab the smooth red can with silver bottom and place in the basket with perforated sides, lift the basket with perforated sides with another arm.",
+    "Use the right arm to put the smooth red can with silver bottom in the yellow basket for carrying stuff; the other arm raises the yellow basket for carrying stuff.",
+    "Grab and drop the hand-sized red can for drinks in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface.",
+    "Grab the hand-sized red can for drinks, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.",
+    "Place the red cylindrical can with silver top in the yellow basket for carrying stuff and then lift the yellow basket for carrying stuff.",
+    "Pick the hand-sized red can for drinks with one arm, place it in the yellow basket, and lift the yellow basket using another arm.",
+    "Pick the Coca-Cola can, set it in the handheld basket, and lift the handheld basket upward.",
+    "Use one arm for the metallic red beverage can, then the other arm lifts the handheld basket.",
+    "Grab the small aluminum red drink can, place it in the plastic basket, and then lift the plastic basket.",
+    "Grab the small aluminum red drink can, place it in the basket with perforated sides, and lift the basket with perforated sides upwards.",
+    "Take the Coca-Cola can and put it in the basket with perforated sides, then lift the basket with perforated sides.",
+    "Use the right arm to set the red cylindrical can with silver top in the plastic basket; the other arm lifts the plastic basket.",
+    "Pick up the metallic red beverage can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.",
+    "Take the cylindrical red drink can with logo, set it into the rectangular yellow basket, and raise the rectangular yellow basket.",
+    "Pick the red can with white lettering with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.",
+    "Lift the Coca-Cola can, drop it into the handheld basket, then carry the handheld basket.",
+    "Take the hand-sized red can for drinks, place it into the rectangular yellow basket, then lift the rectangular yellow basket.",
+    "Pick the rounded red Coca-Cola soda container, set it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.",
+    "Lift the red can with white Coca-Cola logo, set it in the basket with perforated sides, and elevate the basket with perforated sides.",
+    "Lift the Coca-Cola soda can, place it inside the bright yellow basket, and elevate the bright yellow basket.",
+    "Lift the red can with white lettering, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.",
+    "Take the Coca-Cola soda can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.",
+    "Use the right arm to put the Coca-Cola can in the basket with arched black grip; another arm lifts the basket with arched black grip.",
+    "Drop the red cylindrical can with silver top into the bright yellow basket using the right arm, then lift the bright yellow basket with another arm.",
+    "Grab the smooth red can with silver bottom, drop it into the handheld basket, and raise the handheld basket with the other arm.",
+    "Place the Coca-Cola soda can inside the rectangular yellow basket, then lift the rectangular yellow basket.",
+    "Lift the red cylindrical can with silver top, place it in the rectangular yellow basket, pick up the rectangular yellow basket afterward.",
+    "Pick the rounded red Coca-Cola soda container using the right arm, drop it in the basket with black handle, and lift the basket with black handle with the other arm.",
+    "Use the right arm to place the smooth red can with silver bottom in the basket with arched black grip; another arm lifts the basket with arched black grip.",
+    "Use the right arm to put the rounded red Coca-Cola soda container in the medium yellow basket with slots; the other arm lifts the medium yellow basket with slots.",
+    "Grab the Coca-Cola soda can, drop it into the bright yellow basket, then use another arm for the bright yellow basket.",
+    "Grab the rounded red Coca-Cola soda container with the right arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm.",
+    "Use the right arm to place the Coca-Cola soda can in the rectangular basket with smooth surface; the other arm lifts the rectangular basket with smooth surface.",
+    "Pick up the Coca-Cola can with the right arm, place into the basket with arched black grip, the other arm raises the basket with arched black grip.",
+    "Pick up the smooth red can with silver bottom, place it in the plastic basket, and then lift the plastic basket.",
+    "Place the smooth red can with silver bottom in the basket with arched black grip and then use another arm to lift the basket with arched black grip.",
+    "Pick up the red cylindrical can with silver top, put it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface.",
+    "Pick the red cylindrical can with silver top with the right arm, drop it in the plastic basket, lift the plastic basket with another arm."
+  ]
+}
diff --git a/place_can_basket/episode_0000032/TCP_third/metadata.json b/place_can_basket/episode_0000032/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e02677023d079a4d3c0c21e22cc4796e402f27f6
--- /dev/null
+++ b/place_can_basket/episode_0000032/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    263,
+    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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+  "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/stack_bowls_three/episode_0000034/metadata.json b/stack_bowls_three/episode_0000034/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b65bd276624a653d2b252ed87d213c54d1156d
--- /dev/null
+++ b/stack_bowls_three/episode_0000034/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_three",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_three/aloha_agilex/data/episode_0000034.hdf5",
+  "num_frames": 513,
+  "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": [
+      513,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      513,
+      14
+    ],
+    "action_shape": [
+      513,
+      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": [
+    "Stack all the rounded bowl with light blue color sequentially while handling one at a time.",
+    "Place each the rounded bowl with light blue color on top of the previous one.",
+    "Align bowls the blue bowl with slightly rounded base in descending size, forming a stack.",
+    "Start with the first the dark inside bowl light blue outside, adding the next two in sequence.",
+    "Place the first the bowl with brown outer rim down, then stack the remaining two.",
+    "Lift each the medium-sized bowl for holding food and stack it over the previous one.",
+    "Hold the rounded bowl with light blue color, place them one after another.",
+    "Grab the first the blue bowl with slightly rounded base, position the second, then add the third.",
+    "Grab the dark inside bowl light blue outside, arrange them vertically.",
+    "Form a tower with bowls the bowl with brown outer rim, placing smallest last.",
+    "Stack the glazed bowl with curved sides sequentially using your arms.",
+    "Position the first the ceramic bowl, and sequentially add the two above it.",
+    "Use the arm to stack the rounded bowl with light blue color one by one.",
+    "Place the bottom the ceramic bowl with earthy brown trim, then add the other two on top.",
+    "Stack the dark inside bowl light blue outside, starting with the largest bowl at the bottom.",
+    "Grab the rounded bowl with light blue color, stack from largest at the base to the smallest.",
+    "Stack all three the blue bowl with slightly rounded base directly on top of each other.",
+    "Position the bowl with shiny texture one on top of the other largest to smallest.",
+    "Align and stack the dark inside bowl light blue outside step by step using arms.",
+    "Take the curved bowl light blue shade, stack them from bottom to top.",
+    "Grab a the rounded bowl with light blue color, set it down, and stack the rest on it.",
+    "Place one the ceramic bowl down and carefully stack the others above it.",
+    "Pick up the medium-sized bowl for holding food and stack them from biggest to smallest.",
+    "Pick each the blue bowl with slightly rounded base and stack them in order one on top of another.",
+    "Take each the ceramic bowl with earthy brown trim and place them one by one on top.",
+    "Place the first the dark inside bowl light blue outside down, then stack the next two above it.",
+    "Arrange all three the bowl with shiny texture into a vertical stack.",
+    "Place the curved bowl light blue shade in a stack with the largest at the foundation.",
+    "Carefully stack the small bowl with brown edge piece by piece.",
+    "Stack the bowl with shiny texture without arms in a vertical sequence.",
+    "Place three the blue bowl with slightly rounded base on top of each other.",
+    "Place the bowls the curved bowl light blue shade in a stacking order.",
+    "Stack the small bowl with brown edge from the base up to the top.",
+    "Organize bowls the blue bowl by stacking them in size order.",
+    "Use arms to place each the curved bowl light blue shade atop the previous one.",
+    "Position the second the bowl with shiny texture over the first, then the third on top.",
+    "Place the first the glazed bowl with curved sides, then align the others on top using the arm.",
+    "Stack the curved bowl light blue shade by arranging them sequentially.",
+    "Stack all three the blue bowl with slightly rounded base by placing one on top of another.",
+    "Take the bottom the dark inside bowl light blue outside and sequentially pile the other two above.",
+    "Arrange the ceramic bowl with earthy brown trim one on top of another.",
+    "Lift each the blue bowl and stack them together neatly.",
+    "Arrange the three the bowl with shiny texture by stacking them one over the other.",
+    "Arrange the blue bowl with the largest bowl at the base.",
+    "Pick up each the bowl with brown outer rim and set them one over another.",
+    "Start with one the bowl with brown outer rim, and stack the other two on top.",
+    "Align the second the small bowl with brown edge atop the first, then add the third above.",
+    "Start with the bottom the ceramic bowl and finish stacking.",
+    "Use arms to stack each the glazed bowl with curved sides carefully.",
+    "Sequentially stack the bowl with shiny texture using arms to align them.",
+    "Stack all the rounded bowl with light blue color sequentially while handling one at a time.",
+    "Place each the blue bowl on top of the previous one.",
+    "Align bowls the rounded bowl with light blue color in descending size, forming a stack.",
+    "Start with the first the ceramic bowl with earthy brown trim, adding the next two in sequence.",
+    "Place the first the bowl with brown outer rim down, then stack the remaining two.",
+    "Lift each the glazed bowl with curved sides and stack it over the previous one.",
+    "Hold the ceramic bowl with earthy brown trim, place them one after another.",
+    "Grab the first the ceramic bowl, position the second, then add the third.",
+    "Grab the blue bowl with slightly rounded base, arrange them vertically.",
+    "Form a tower with bowls the glazed bowl with curved sides, placing smallest last.",
+    "Stack the bowl with brown outer rim sequentially using your arms.",
+    "Position the first the ceramic bowl with earthy brown trim, and sequentially add the two above it.",
+    "Use the arm to stack the bowl with brown outer rim one by one.",
+    "Place the bottom the blue bowl, then add the other two on top.",
+    "Stack the rounded bowl with light blue color, starting with the largest bowl at the bottom.",
+    "Grab the rounded bowl with light blue color, stack from largest at the base to the smallest.",
+    "Stack all three the bowl with shiny texture directly on top of each other.",
+    "Position the dark inside bowl light blue outside one on top of the other largest to smallest.",
+    "Align and stack the glazed bowl with curved sides step by step using arms.",
+    "Take the bowl with brown outer rim, stack them from bottom to top.",
+    "Grab a the medium-sized bowl for holding food, set it down, and stack the rest on it.",
+    "Place one the bowl with brown outer rim down and carefully stack the others above it.",
+    "Pick up the glazed bowl with curved sides and stack them from biggest to smallest.",
+    "Pick each the blue bowl and stack them in order one on top of another.",
+    "Take each the curved bowl light blue shade and place them one by one on top.",
+    "Place the first the bowl with brown outer rim down, then stack the next two above it.",
+    "Arrange all three the ceramic bowl into a vertical stack.",
+    "Place the small bowl with brown edge in a stack with the largest at the foundation.",
+    "Carefully stack the curved bowl light blue shade piece by piece.",
+    "Stack the blue bowl with slightly rounded base without arms in a vertical sequence.",
+    "Place three the ceramic bowl with earthy brown trim on top of each other.",
+    "Place the bowls the rounded bowl with light blue color in a stacking order.",
+    "Stack the rounded bowl with light blue color from the base up to the top.",
+    "Organize bowls the curved bowl light blue shade by stacking them in size order.",
+    "Use arms to place each the ceramic bowl atop the previous one.",
+    "Position the second the ceramic bowl over the first, then the third on top.",
+    "Place the first the rounded bowl with light blue color, then align the others on top using the arm.",
+    "Stack the bowl with brown outer rim by arranging them sequentially.",
+    "Stack all three the small bowl with brown edge by placing one on top of another.",
+    "Take the bottom the bowl with brown outer rim and sequentially pile the other two above.",
+    "Arrange the ceramic bowl with earthy brown trim one on top of another.",
+    "Lift each the medium-sized bowl for holding food and stack them together neatly.",
+    "Arrange the three the bowl with shiny texture by stacking them one over the other.",
+    "Arrange the bowl with shiny texture with the largest bowl at the base.",
+    "Pick up each the small bowl with brown edge and set them one over another.",
+    "Start with one the medium-sized bowl for holding food, and stack the other two on top.",
+    "Align the second the ceramic bowl atop the first, then add the third above.",
+    "Start with the bottom the blue bowl with slightly rounded base and finish stacking.",
+    "Use arms to stack each the dark inside bowl light blue outside carefully.",
+    "Sequentially stack the ceramic bowl using arms to align them."
+  ]
+}