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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    476,
+    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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+  ],
+  "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_cans_plasticbox/episode_0000041/metadata.json b/place_cans_plasticbox/episode_0000041/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..33031caab7545c0ba89e5bad36c17377593a1578
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000041/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_cans_plasticbox",
+  "episode": "episode_0000041",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_cans_plasticbox/aloha_agilex/data/episode_0000041.hdf5",
+  "num_frames": 304,
+  "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": [
+      304,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      304,
+      14
+    ],
+    "action_shape": [
+      304,
+      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 and the metallic red beverage can, then set them inside the blue plasticbox",
+    "Use both arms to place the Coca-Cola soda can and the Coca-Cola soda can inside the blue plasticbox.",
+    "After grasping the red cylindrical can with silver top and the metallic red beverage can together, place each into the medium box with angled sides.",
+    "Use both arms to grab the cylindrical red drink can with logo and the small aluminum red drink can, place them in the medium blue plasticbox.",
+    "Lift the hand-sized red can for drinks and the cylindrical red drink can with logo together, then place both in the blue box for storing things.",
+    "Use arms to set the red can with white lettering and the red can with white lettering into the smooth blue hard plasticbox.",
+    "First grasp the cylindrical red drink can with logo and the red can with white Coca-Cola logo together, then place both in the medium box with angled sides.",
+    "Move the hand-sized red can for drinks to the medium storage plasticbox and repeat with the red can with white lettering.",
+    "Transfer the red cylindrical can with silver top to the medium blue plasticbox, then transfer the Coca-Cola soda can to the medium blue plasticbox.",
+    "Use the arms to transfer the Coca-Cola can and the smooth red can with silver bottom into the plasticbox with grooved sides.",
+    "Drop the red cylindrical can with silver top and the hand-sized red can for drinks into the smooth blue hard plasticbox with both arms",
+    "Transfer the red can with smooth metallic texture into the rectangular storage box with grooves, then position the red can with smooth metallic texture within the rectangular storage box with grooves.",
+    "With both arms, transfer the small aluminum red drink can and the red cylindrical can with silver top into the medium storage plasticbox.",
+    "Transfer the small aluminum red drink can and the cylindrical red drink can with logo into the blue plastic rectangular storage box using dual arms",
+    "Both arms lift the cylindrical red drink can with logo and the red can with white Coca-Cola logo, then place them in the plasticbox with grooved sides.",
+    "Grip the smooth red can with silver bottom and the small aluminum red drink can simultaneously, then insert both into the medium storage plasticbox.",
+    "Lift the rounded red Coca-Cola soda container and the red can with white lettering, and stick them into the medium blue plasticbox",
+    "First move the cylindrical red drink can with logo to the deep blue plasticbox with grooves, then move the Coca-Cola soda can into the deep blue plasticbox with grooves.",
+    "Grasp the small aluminum red drink can and the red can with white Coca-Cola logo simultaneously, then place both in the blue plastic rectangular storage box.",
+    "Place the Coca-Cola soda can and the red can with smooth metallic texture in the medium box with angled sides using both arms.",
+    "Pick the Coca-Cola can and the red can with white lettering together; place the Coca-Cola can, then the red can with white lettering, in the plasticbox with grooved sides.",
+    "Pick and drop the Coca-Cola soda can and the red can with white Coca-Cola logo into the rectangular storage box with grooves.",
+    "Employ both arms to pick the Coca-Cola soda can and the smooth red can with silver bottom, and place them inside the blue plasticbox.",
+    "Use both arms to place the small aluminum red drink can and the metallic red beverage can into the deep blue plasticbox with grooves.",
+    "Pick the red cylindrical can with silver top and the Coca-Cola can together, then put both inside the rectangular storage box with grooves.",
+    "Use both arms to pick the red can with smooth metallic texture and the red cylindrical can with silver top together for the smooth blue hard plasticbox.",
+    "Pick the red can with smooth metallic texture and the red can with smooth metallic texture together, then move each into the deep blue box for storage",
+    "Use both arms, position the red can with white lettering and the small aluminum red drink can within the blue box with angled edges.",
+    "Grab the cylindrical red drink can with logo and the red can with white Coca-Cola logo together, then transfer them to the medium storage plasticbox.",
+    "Lift the smooth red can with silver bottom and the rounded red Coca-Cola soda container together, then place each in the medium blue plasticbox.",
+    "Move the red can with white Coca-Cola logo and the rounded red Coca-Cola soda container into the blue plasticbox using separate arms.",
+    "Using dual arms, place the red can with smooth metallic texture and the smooth red can with silver bottom inside the blue plastic rectangular storage box",
+    "Pick the red can with white Coca-Cola logo and the rounded red Coca-Cola soda container simultaneously, then place them inside the blue box with angled edges.",
+    "Pick the red cylindrical can with silver top and the red can with white Coca-Cola logo together, then move both into the deep blue plasticbox with grooves.",
+    "Use your arms to set the smooth red can with silver bottom and the small aluminum red drink can gently into the medium storage plasticbox.",
+    "Grasp the small aluminum red drink can and the Coca-Cola can together; transfer the small aluminum red drink can, then the Coca-Cola can, to the blue box with angled edges.",
+    "Place the small aluminum red drink can and the red can with white lettering into the deep blue plasticbox with grooves with dual arms",
+    "Grab the red can with smooth metallic texture and the rounded red Coca-Cola soda container together, then insert each into the deep blue plasticbox with grooves.",
+    "Utilize the arms to deposit both the cylindrical red drink can with logo and the small aluminum red drink can into the medium storage plasticbox.",
+    "Use dual arms to pick the Coca-Cola can and the rounded red Coca-Cola soda container, placing both in the blue box with angled edges.",
+    "Pick the red can with white Coca-Cola logo and the Coca-Cola soda can together, then drop each into the smooth blue hard plasticbox",
+    "Lift the red can with white lettering and the Coca-Cola soda can simultaneously, then set them into the deep blue plasticbox with grooves.",
+    "Begin with the metallic red beverage can, place it in the deep blue box for storage, finish with the cylindrical red drink can with logo into the deep blue box for storage.",
+    "Place the Coca-Cola can in the medium blue plasticbox, follow with the red can with white Coca-Cola logo using each arm.",
+    "Pick the Coca-Cola can and the hand-sized red can for drinks using both arms and put them in the blue box for storing things",
+    "Pick up the Coca-Cola soda can and the red can with white Coca-Cola logo with separate arms, then fill the smooth blue hard plasticbox.",
+    "Place the red cylindrical can with silver top and the smooth red can with silver bottom into the deep blue plasticbox with grooves using both arms.",
+    "Use both arms to move the cylindrical red drink can with logo and the red can with white Coca-Cola logo into the medium storage plasticbox",
+    "Use both arms to move the red can with white Coca-Cola logo and the smooth red can with silver bottom into the smooth blue hard plasticbox.",
+    "Place the cylindrical red drink can with logo into the smooth blue hard plasticbox, then place the red cylindrical can with silver top into the smooth blue hard plasticbox.",
+    "Lift the red can with white Coca-Cola logo and the red can with white Coca-Cola logo, then set them inside the blue plastic rectangular storage box",
+    "Use both arms to place the cylindrical red drink can with logo and the rounded red Coca-Cola soda container inside the blue plastic rectangular storage box.",
+    "After grasping the red cylindrical can with silver top and the red can with white Coca-Cola logo together, place each into the medium box with angled sides.",
+    "Use both arms to grab the metallic red beverage can and the smooth red can with silver bottom, place them in the plasticbox with grooved sides.",
+    "Lift the red can with white Coca-Cola logo and the hand-sized red can for drinks together, then place both in the blue plastic rectangular storage box.",
+    "Use arms to set the red cylindrical can with silver top and the red can with white lettering into the blue box with angled edges.",
+    "First grasp the Coca-Cola can and the rounded red Coca-Cola soda container together, then place both in the medium blue plasticbox.",
+    "Move the red can with smooth metallic texture to the blue plasticbox and repeat with the hand-sized red can for drinks.",
+    "Transfer the smooth red can with silver bottom to the medium storage plasticbox, then transfer the cylindrical red drink can with logo to the medium storage plasticbox.",
+    "Use the arms to transfer the Coca-Cola soda can and the small aluminum red drink can into the blue box with angled edges.",
+    "Drop the hand-sized red can for drinks and the metallic red beverage can into the medium box with angled sides with both arms",
+    "Transfer the hand-sized red can for drinks into the medium blue plasticbox, then position the hand-sized red can for drinks within the medium blue plasticbox.",
+    "With both arms, transfer the metallic red beverage can and the Coca-Cola can into the medium storage plasticbox.",
+    "Transfer the hand-sized red can for drinks and the cylindrical red drink can with logo into the rectangular storage box with grooves using dual arms",
+    "Both arms lift the red can with smooth metallic texture and the hand-sized red can for drinks, then place them in the deep blue plasticbox with grooves.",
+    "Grip the cylindrical red drink can with logo and the Coca-Cola can simultaneously, then insert both into the medium box with angled sides.",
+    "Lift the rounded red Coca-Cola soda container and the Coca-Cola can, and stick them into the rectangular storage box with grooves",
+    "First move the hand-sized red can for drinks to the medium box with angled sides, then move the cylindrical red drink can with logo into the medium box with angled sides.",
+    "Grasp the small aluminum red drink can and the smooth red can with silver bottom simultaneously, then place both in the blue box for storing things.",
+    "Place the red can with white Coca-Cola logo and the small aluminum red drink can in the plasticbox with grooved sides using both arms.",
+    "Pick the red cylindrical can with silver top and the hand-sized red can for drinks together; place the red cylindrical can with silver top, then the hand-sized red can for drinks, in the medium storage plasticbox.",
+    "Pick and drop the red cylindrical can with silver top and the smooth red can with silver bottom into the medium box with angled sides.",
+    "Employ both arms to pick the rounded red Coca-Cola soda container and the red can with smooth metallic texture, and place them inside the medium box with angled sides.",
+    "Use both arms to place the red can with smooth metallic texture and the metallic red beverage can into the medium storage plasticbox.",
+    "Pick the red can with smooth metallic texture and the metallic red beverage can together, then put both inside the medium box with angled sides.",
+    "Use both arms to pick the small aluminum red drink can and the red can with white Coca-Cola logo together for the smooth blue hard plasticbox.",
+    "Pick the red cylindrical can with silver top and the red can with white lettering together, then move each into the rectangular storage box with grooves",
+    "Use both arms, position the red can with white lettering and the smooth red can with silver bottom within the blue plasticbox.",
+    "Grab the small aluminum red drink can and the metallic red beverage can together, then transfer them to the blue box for storing things.",
+    "Lift the cylindrical red drink can with logo and the Coca-Cola can together, then place each in the rectangular storage box with grooves.",
+    "Move the rounded red Coca-Cola soda container and the red can with smooth metallic texture into the rectangular storage box with grooves using separate arms.",
+    "Using dual arms, place the red cylindrical can with silver top and the red can with white Coca-Cola logo inside the plasticbox with grooved sides",
+    "Pick the Coca-Cola soda can and the red can with smooth metallic texture simultaneously, then place them inside the rectangular storage box with grooves.",
+    "Pick the Coca-Cola soda can and the red can with smooth metallic texture together, then move both into the medium storage plasticbox.",
+    "Use your arms to set the Coca-Cola can and the Coca-Cola soda can gently into the medium box with angled sides.",
+    "Grasp the smooth red can with silver bottom and the metallic red beverage can together; transfer the smooth red can with silver bottom, then the metallic red beverage can, to the medium blue plasticbox.",
+    "Place the red can with smooth metallic texture and the red can with white lettering into the medium blue plasticbox with dual arms",
+    "Grab the Coca-Cola soda can and the small aluminum red drink can together, then insert each into the deep blue box for storage.",
+    "Utilize the arms to deposit both the red can with white Coca-Cola logo and the metallic red beverage can into the blue plastic rectangular storage box.",
+    "Use dual arms to pick the Coca-Cola soda can and the red can with white Coca-Cola logo, placing both in the medium box with angled sides.",
+    "Pick the red can with white lettering and the Coca-Cola can together, then drop each into the deep blue box for storage",
+    "Lift the red can with white Coca-Cola logo and the cylindrical red drink can with logo simultaneously, then set them into the plasticbox with grooved sides.",
+    "Begin with the Coca-Cola soda can, place it in the plasticbox with grooved sides, finish with the Coca-Cola can into the plasticbox with grooved sides.",
+    "Place the red can with white lettering in the medium blue plasticbox, follow with the smooth red can with silver bottom using each arm.",
+    "Pick the metallic red beverage can and the red cylindrical can with silver top using both arms and put them in the blue box with angled edges",
+    "Pick up the rounded red Coca-Cola soda container and the rounded red Coca-Cola soda container with separate arms, then fill the blue plastic rectangular storage box.",
+    "Place the Coca-Cola soda can and the cylindrical red drink can with logo into the medium blue plasticbox using both arms.",
+    "Use both arms to move the rounded red Coca-Cola soda container and the smooth red can with silver bottom into the blue plasticbox",
+    "Use both arms to move the hand-sized red can for drinks and the hand-sized red can for drinks into the deep blue plasticbox with grooves.",
+    "Place the red can with smooth metallic texture into the blue box with angled edges, then place the rounded red Coca-Cola soda container into the blue box with angled edges."
+  ]
+}
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