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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    122,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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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+  "format": "robotwin_tcp_v1",
+  "shape": [
+    336,
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+    "x",
+    "y",
+    "z",
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+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
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+  "source": "robot_state.npy"
+}
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+  "format": "robotwin_tcp_v1",
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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": {
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+    "open": 1,
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+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+  "format_version": "robotwin_4d_v1",
+  "task": "place_bread_skillet",
+  "episode": "episode_0000045",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_bread_skillet/aloha_agilex/data/episode_0000045.hdf5",
+  "num_frames": 174,
+  "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"
+  },
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+    "dtype": "uint8",
+    "channel_order": "RGB"
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+  "depth": {
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+    "unit": "millimeter",
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+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
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+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
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+  "frequency_hz": 15,
+  "instructions": [
+    "Keep the smooth round pan made of iron steady with the left arm while placing the smooth crusty small bread inside.",
+    "Hold the dark pan with sturdy grip with the left arm; the other arm places the smooth crusty small bread.",
+    "Lift and hold the round pan with hole in handle with the left arm while placing the soft doughy bread inside.",
+    "Place the bread with golden crust inside the solid dark-colored round pan.",
+    "Keep the round cooking pan lifted while putting the golden brown bread with braided design into it.",
+    "Set the golden brown bread inside the dark pan with sturdy grip.",
+    "Move the golden bread loaf with soft inside into the round pan with hole in handle while keeping the skillet raised.",
+    "Raise the flat-bottomed skillet with long handle, then place the soft doughy bread inside with the other arm.",
+    "Take the golden brown bread with braided design from the table to the flat-bottomed skillet with long handle.",
+    "Lift the dark pan with sturdy grip with the left arm while the other arm places the golden bread loaf with soft inside.",
+    "Pick up the bread with golden crust and put it in the dark pan with sturdy grip.",
+    "Keep the dark pan with sturdy grip raised with the left arm; the other arm places the round bread with braided top.",
+    "Raise the heavy black cooking skillet with the left arm; the other arm places the small bread.",
+    "Put the bread with golden crust into the center of the versatile skillet for stovetop cooking.",
+    "Use the left arm for the round pan with hole in handle; the other arm moves the golden brown bread with braided design.",
+    "Lift both objects and set the small golden baked bread inside the medium black pan with handle.",
+    "Hold the heavy black cooking skillet up and transfer the golden brown bread into it.",
+    "Lift the skillet the round cooking pan and place the round bread with braided top inside it.",
+    "Lift the soft golden bread and place it inside the round cooking pan.",
+    "Move and hold the flat-bottomed skillet with long handle, then place the golden brown bread inside.",
+    "Move the soft doughy bread from the table into the round cooking pan.",
+    "Place the small bread from the table into the lifted the flat-bottomed skillet with long handle.",
+    "Grab the golden bread loaf with soft inside and place it in the round cooking pan.",
+    "Pick up the round bread with braided top and set it inside the held the skillet with extended grip handle.",
+    "Transfer the braided bread loaf into the medium black pan with handle.",
+    "Hold the solid dark-colored round pan in the left arm while the other arm transfers the braided bread loaf.",
+    "Position the golden brown bread inside the medium black pan with handle.",
+    "Use the left arm for the round cooking pan and the other arm for the soft golden bread.",
+    "Hold the skillet with extended grip handle in one arm; place the soft golden bread with the other.",
+    "Support the round cooking pan with the left arm; the other arm sets the small golden baked bread inside.",
+    "Keep the skillet with extended grip handle steady with the left arm while placing the small bread inside.",
+    "Hold the versatile skillet for stovetop cooking with the left arm; the other arm places the soft doughy bread.",
+    "Lift and hold the smooth round pan made of iron with the left arm while placing the soft golden bread inside.",
+    "Place the round bread with braided top inside the heavy black cooking skillet.",
+    "Keep the black skillet with smooth base lifted while putting the small bread into it.",
+    "Set the golden brown bread with braided design inside the dark pan with sturdy grip.",
+    "Move the round bread with crusty texture into the medium black pan with handle while keeping the skillet raised.",
+    "Raise the round pan with hole in handle, then place the soft doughy bread inside with the other arm.",
+    "Take the smooth crusty small bread from the table to the flat-bottomed skillet with long handle.",
+    "Lift the round pan with hole in handle with the left arm while the other arm places the golden bread loaf with soft inside.",
+    "Pick up the braided bread loaf and put it in the medium black pan with handle.",
+    "Keep the smooth round pan made of iron raised with the left arm; the other arm places the braided bread loaf.",
+    "Raise the flat-bottomed skillet with long handle with the left arm; the other arm places the braided bread loaf.",
+    "Put the soft doughy bread into the center of the dark pan with sturdy grip.",
+    "Use the left arm for the smooth round pan made of iron; the other arm moves the braided bread loaf.",
+    "Lift both objects and set the braided bread loaf inside the medium black pan with handle.",
+    "Hold the heavy black cooking skillet up and transfer the golden bread loaf with soft inside into it.",
+    "Lift the skillet the versatile skillet for stovetop cooking and place the round bread with braided top inside it.",
+    "Lift the golden brown bread and place it inside the heavy black cooking skillet.",
+    "Move and hold the flat-bottomed skillet with long handle, then place the round bread with crusty texture inside.",
+    "Move the round bread with braided top from the table into the solid dark-colored round pan.",
+    "Place the golden brown bread with braided design from the table into the lifted the flat-bottomed skillet with long handle.",
+    "Grab the soft doughy bread and place it in the black skillet with smooth base.",
+    "Pick up the soft doughy bread and set it inside the held the medium black pan with handle.",
+    "Transfer the bread with golden crust into the smooth round pan made of iron.",
+    "Hold the round pan with hole in handle in the left arm while the other arm transfers the golden brown bread with braided design.",
+    "Position the golden brown bread with braided design inside the black skillet with smooth base.",
+    "Use the left arm for the smooth round pan made of iron and the other arm for the golden brown bread with braided design.",
+    "Hold the medium black pan with handle in one arm; place the small golden baked bread with the other.",
+    "Support the flat-bottomed skillet with long handle with the left arm; the other arm sets the soft doughy bread inside.",
+    "Keep the round pan with hole in handle steady with the left arm while placing the soft golden bread inside.",
+    "Hold the flat-bottomed skillet with long handle with the left arm; the other arm places the golden bread loaf with soft inside.",
+    "Lift and hold the smooth round pan made of iron with the left arm while placing the small bread inside.",
+    "Place the golden brown bread inside the medium black pan with handle.",
+    "Keep the smooth round pan made of iron lifted while putting the soft doughy bread into it.",
+    "Set the small golden baked bread inside the heavy black cooking skillet.",
+    "Move the small golden baked bread into the flat-bottomed skillet with long handle while keeping the skillet raised.",
+    "Raise the solid dark-colored round pan, then place the braided bread loaf inside with the other arm.",
+    "Take the round bread with crusty texture from the table to the solid dark-colored round pan.",
+    "Lift the round pan with hole in handle with the left arm while the other arm places the soft doughy bread.",
+    "Pick up the golden brown bread and put it in the round pan with hole in handle.",
+    "Keep the black pan with curved edges raised with the left arm; the other arm places the small golden baked bread.",
+    "Raise the black skillet with smooth base with the left arm; the other arm places the round bread with crusty texture.",
+    "Put the bread with golden crust into the center of the solid dark-colored round pan.",
+    "Use the left arm for the solid dark-colored round pan; the other arm moves the round bread with crusty texture.",
+    "Lift both objects and set the soft doughy bread inside the skillet with extended grip handle.",
+    "Hold the flat-bottomed skillet with long handle up and transfer the golden brown bread into it.",
+    "Lift the skillet the round pan with hole in handle and place the soft golden bread inside it.",
+    "Lift the soft golden bread and place it inside the smooth round pan made of iron.",
+    "Move and hold the flat-bottomed skillet with long handle, then place the golden bread loaf with soft inside inside.",
+    "Move the golden bread loaf with soft inside from the table into the black pan with curved edges.",
+    "Place the soft golden bread from the table into the lifted the black pan with curved edges.",
+    "Grab the small golden baked bread and place it in the skillet with extended grip handle.",
+    "Pick up the soft doughy bread and set it inside the held the medium black pan with handle.",
+    "Transfer the small bread into the smooth round pan made of iron.",
+    "Hold the heavy black cooking skillet in the left arm while the other arm transfers the small golden baked bread.",
+    "Position the soft doughy bread inside the smooth round pan made of iron.",
+    "Use the left arm for the round pan with hole in handle and the other arm for the round bread with crusty texture.",
+    "Hold the black pan with curved edges in one arm; place the bread with golden crust with the other.",
+    "Support the round cooking pan with the left arm; the other arm sets the braided bread loaf inside.",
+    "Keep the flat-bottomed skillet with long handle steady with the left arm while placing the bread with golden crust inside.",
+    "Hold the black skillet with smooth base with the left arm; the other arm places the small golden baked bread.",
+    "Lift and hold the solid dark-colored round pan with the left arm while placing the soft doughy bread inside.",
+    "Place the golden brown bread inside the heavy black cooking skillet.",
+    "Keep the black skillet with smooth base lifted while putting the round bread with crusty texture into it.",
+    "Set the round bread with crusty texture inside the black skillet with smooth base.",
+    "Move the soft doughy bread into the solid dark-colored round pan while keeping the skillet raised.",
+    "Raise the round pan with hole in handle, then place the bread with golden crust inside with the other arm.",
+    "Take the soft doughy bread from the table to the versatile skillet for stovetop cooking.",
+    "Lift the black pan with curved edges with the left arm while the other arm places the round bread with braided top."
+  ]
+}
diff --git a/place_bread_skillet/episode_0000049/TCP_head/metadata.json b/place_bread_skillet/episode_0000049/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff3e97aa42922ee21e4aee0ca20f11441f6d45d
--- /dev/null
+++ b/place_bread_skillet/episode_0000049/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    176,
+    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_bread_skillet/episode_0000049/TCP_third/metadata.json b/place_bread_skillet/episode_0000049/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e472288ce3f1fb2f091b241b207bce39df778cb
--- /dev/null
+++ b/place_bread_skillet/episode_0000049/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    176,
+    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_bread_skillet/episode_0000049/metadata.json b/place_bread_skillet/episode_0000049/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cfb01aa543ae419f177c8d80f7021463859727c
--- /dev/null
+++ b/place_bread_skillet/episode_0000049/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_bread_skillet",
+  "episode": "episode_0000049",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_bread_skillet/aloha_agilex/data/episode_0000049.hdf5",
+  "num_frames": 176,
+  "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": [
+      176,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      176,
+      14
+    ],
+    "action_shape": [
+      176,
+      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": [
+    "Grab the bread loaf with uneven edges and place it in the skillet with extended grip handle.",
+    "Lift the versatile skillet for stovetop cooking with the left arm while the other arm places the cuboid bread.",
+    "Keep the solid dark-colored round pan lifted while putting the bread loaf with uneven edges into it.",
+    "Position the golden bread inside the heavy black cooking skillet.",
+    "Set the bread with rough texture inside the dark pan with sturdy grip.",
+    "Lift and hold the solid dark-colored round pan with the left arm while placing the hand-sized bread block inside.",
+    "Hold the flat-bottomed skillet with long handle up and transfer the golden bread loaf into it.",
+    "Put the doughy and soft bread into the center of the round pan with hole in handle.",
+    "Hold the round cooking pan in the left arm while the other arm transfers the golden bread loaf.",
+    "Pick up the hand-sized bread block and put it in the smooth round pan made of iron.",
+    "Use the left arm for the black skillet with smooth base; the other arm moves the light golden brown bread.",
+    "Lift the skillet the black skillet with smooth base and place the bread block with light patches inside it.",
+    "Pick up the bread loaf with bumpy surface and set it inside the held the medium black pan with handle.",
+    "Transfer the soft bread into the black pan with curved edges.",
+    "Raise the medium black pan with handle with the left arm; the other arm places the golden bread.",
+    "Move the cuboid bread from the table into the black skillet with smooth base.",
+    "Move and hold the medium black pan with handle, then place the bread loaf with bumpy surface inside.",
+    "Keep the black pan with curved edges raised with the left arm; the other arm places the doughy and soft bread.",
+    "Lift both objects and set the bread loaf with bumpy surface inside the dark pan with sturdy grip.",
+    "Support the round cooking pan with the left arm; the other arm sets the golden bread inside.",
+    "Hold the smooth round pan made of iron with the left arm; the other arm places the bread block with light patches.",
+    "Use the left arm for the versatile skillet for stovetop cooking and the other arm for the bread loaf with uneven edges.",
+    "Place the bread block with light patches from the table into the lifted the flat-bottomed skillet with long handle.",
+    "Lift the bread loaf with bumpy surface and place it inside the skillet with extended grip handle.",
+    "Raise the black pan with curved edges, then place the golden bread loaf inside with the other arm.",
+    "Place the bread loaf with uneven edges inside the solid dark-colored round pan.",
+    "Keep the black pan with curved edges steady with the left arm while placing the hand-sized bread block inside.",
+    "Take the golden bread loaf from the table to the skillet with extended grip handle.",
+    "Hold the flat-bottomed skillet with long handle in one arm; place the bread with rough texture with the other.",
+    "Move the bread block with light patches into the round pan with hole in handle while keeping the skillet raised.",
+    "Grab the soft bread and place it in the versatile skillet for stovetop cooking.",
+    "Lift the versatile skillet for stovetop cooking with the left arm while the other arm places the hand-sized bread block.",
+    "Keep the round pan with hole in handle lifted while putting the bread loaf with uneven edges into it.",
+    "Position the bread block with light patches inside the dark pan with sturdy grip.",
+    "Set the bread block with light patches inside the smooth round pan made of iron.",
+    "Lift and hold the smooth round pan made of iron with the left arm while placing the bread loaf with uneven edges inside.",
+    "Hold the round pan with hole in handle up and transfer the square-shaped bread into it.",
+    "Put the golden bread into the center of the dark pan with sturdy grip.",
+    "Hold the round cooking pan in the left arm while the other arm transfers the light golden brown bread.",
+    "Pick up the bread block with light patches and put it in the round pan with hole in handle.",
+    "Use the left arm for the solid dark-colored round pan; the other arm moves the soft bread.",
+    "Lift the skillet the black skillet with smooth base and place the bread loaf with bumpy surface inside it.",
+    "Pick up the soft bread and set it inside the held the versatile skillet for stovetop cooking.",
+    "Transfer the bread block with light patches into the flat-bottomed skillet with long handle.",
+    "Raise the medium black pan with handle with the left arm; the other arm places the hand-sized bread block.",
+    "Move the golden bread loaf from the table into the black pan with curved edges.",
+    "Move and hold the round pan with hole in handle, then place the square-shaped bread inside.",
+    "Keep the round cooking pan raised with the left arm; the other arm places the cuboid bread.",
+    "Lift both objects and set the doughy and soft bread inside the flat-bottomed skillet with long handle.",
+    "Support the heavy black cooking skillet with the left arm; the other arm sets the light golden brown bread inside.",
+    "Hold the solid dark-colored round pan with the left arm; the other arm places the hand-sized bread block.",
+    "Use the left arm for the round pan with hole in handle and the other arm for the cuboid bread.",
+    "Place the doughy and soft bread from the table into the lifted the black skillet with smooth base.",
+    "Lift the doughy and soft bread and place it inside the medium black pan with handle.",
+    "Raise the medium black pan with handle, then place the square-shaped bread inside with the other arm.",
+    "Place the soft bread inside the flat-bottomed skillet with long handle.",
+    "Keep the skillet with extended grip handle steady with the left arm while placing the cuboid bread inside.",
+    "Take the bread loaf with bumpy surface from the table to the round pan with hole in handle.",
+    "Hold the round pan with hole in handle in one arm; place the doughy and soft bread with the other.",
+    "Move the square-shaped bread into the round cooking pan while keeping the skillet raised.",
+    "Grab the bread with rough texture and place it in the skillet with extended grip handle.",
+    "Lift the versatile skillet for stovetop cooking with the left arm while the other arm places the golden bread loaf.",
+    "Keep the medium black pan with handle lifted while putting the golden bread loaf into it.",
+    "Position the doughy and soft bread inside the skillet with extended grip handle.",
+    "Set the cuboid bread inside the medium black pan with handle.",
+    "Lift and hold the solid dark-colored round pan with the left arm while placing the bread loaf with uneven edges inside.",
+    "Hold the flat-bottomed skillet with long handle up and transfer the bread loaf with bumpy surface into it.",
+    "Put the golden bread loaf into the center of the dark pan with sturdy grip.",
+    "Hold the heavy black cooking skillet in the left arm while the other arm transfers the golden bread loaf.",
+    "Pick up the doughy and soft bread and put it in the solid dark-colored round pan.",
+    "Use the left arm for the smooth round pan made of iron; the other arm moves the golden bread loaf.",
+    "Lift the skillet the round pan with hole in handle and place the soft bread inside it.",
+    "Pick up the bread loaf with bumpy surface and set it inside the held the black pan with curved edges.",
+    "Transfer the golden bread loaf into the round pan with hole in handle.",
+    "Raise the heavy black cooking skillet with the left arm; the other arm places the square-shaped bread.",
+    "Move the doughy and soft bread from the table into the black skillet with smooth base.",
+    "Move and hold the heavy black cooking skillet, then place the doughy and soft bread inside.",
+    "Keep the heavy black cooking skillet raised with the left arm; the other arm places the bread with rough texture.",
+    "Lift both objects and set the golden bread inside the round pan with hole in handle.",
+    "Support the round cooking pan with the left arm; the other arm sets the light golden brown bread inside.",
+    "Hold the smooth round pan made of iron with the left arm; the other arm places the golden bread.",
+    "Use the left arm for the round pan with hole in handle and the other arm for the bread loaf with bumpy surface.",
+    "Place the light golden brown bread from the table into the lifted the smooth round pan made of iron.",
+    "Lift the bread with rough texture and place it inside the medium black pan with handle.",
+    "Raise the heavy black cooking skillet, then place the hand-sized bread block inside with the other arm.",
+    "Place the golden bread inside the smooth round pan made of iron.",
+    "Keep the heavy black cooking skillet steady with the left arm while placing the bread with rough texture inside.",
+    "Take the bread loaf with bumpy surface from the table to the black pan with curved edges.",
+    "Hold the round pan with hole in handle in one arm; place the soft bread with the other.",
+    "Move the soft bread into the solid dark-colored round pan while keeping the skillet raised.",
+    "Grab the cuboid bread and place it in the smooth round pan made of iron.",
+    "Lift the dark pan with sturdy grip with the left arm while the other arm places the bread block with light patches.",
+    "Keep the smooth round pan made of iron lifted while putting the golden bread into it.",
+    "Position the cuboid bread inside the heavy black cooking skillet.",
+    "Set the doughy and soft bread inside the skillet with extended grip handle.",
+    "Lift and hold the heavy black cooking skillet with the left arm while placing the doughy and soft bread inside.",
+    "Hold the skillet with extended grip handle up and transfer the doughy and soft bread into it.",
+    "Put the bread block with light patches into the center of the smooth round pan made of iron.",
+    "Hold the versatile skillet for stovetop cooking in the left arm while the other arm transfers the square-shaped bread.",
+    "Pick up the doughy and soft bread and put it in the round pan with hole in handle."
+  ]
+}
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diff --git a/place_cans_plasticbox/episode_0000039/TCP_head/metadata.json b/place_cans_plasticbox/episode_0000039/TCP_head/metadata.json
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--- /dev/null
+++ b/place_cans_plasticbox/episode_0000039/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    318,
+    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_cans_plasticbox/episode_0000039/metadata.json b/place_cans_plasticbox/episode_0000039/metadata.json
new file mode 100644
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--- /dev/null
+++ b/place_cans_plasticbox/episode_0000039/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_cans_plasticbox",
+  "episode": "episode_0000039",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_cans_plasticbox/aloha_agilex/data/episode_0000039.hdf5",
+  "num_frames": 318,
+  "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": [
+      318,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      318,
+      14
+    ],
+    "action_shape": [
+      318,
+      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 both arms to place the smooth cylindrical can with lime pattern and the red green can into the rectangular storage box with grooves.",
+    "Place the red green can and the soda can with lime illustration in the medium blue plasticbox using both arms.",
+    "Use arms to set the metal can with pull-tab top and the red green beverage can into the blue box with angled edges.",
+    "Using dual arms, place the metal can with pull-tab top and the small soda can with lime graphics inside the medium box with angled sides",
+    "Drop the metallic drink can with pull-tab and the green red metallic soda can into the plasticbox with grooved sides with both arms",
+    "Place the smooth cylindrical can with lime pattern and the red green beverage can into the plasticbox with grooved sides with dual arms",
+    "Place the colorful can with lime and orange design in the medium box with angled sides, follow with the small soda can with lime graphics using each arm.",
+    "Use your arms to set the colorful can with lime and orange design and the small soda can with lime graphics gently into the blue box for storing things.",
+    "First move the red green can to the deep blue plasticbox with grooves, then move the metal can with pull-tab top into the deep blue plasticbox with grooves.",
+    "With both arms, transfer the colorful can with lime and orange design and the smooth cylindrical can with lime pattern into the deep blue plasticbox with grooves.",
+    "Lift the beverage can with red green graphics and the smooth cylindrical can with lime pattern, then set them inside the medium blue plasticbox",
+    "Transfer the can with red green label into the smooth blue hard plasticbox, then position the red green can within the smooth blue hard plasticbox.",
+    "Pick the green red metallic soda can and the red green can simultaneously, then place them inside the blue box for storing things.",
+    "Grasp the beverage can with red green graphics and the beverage can with red green graphics simultaneously, then place both in the medium blue plasticbox.",
+    "Pick and drop the small soda can with lime graphics and the smooth cylindrical can with lime pattern into the medium storage plasticbox.",
+    "Begin with the soda can with lime illustration, place it in the deep blue plasticbox with grooves, finish with the can with red green label into the deep blue plasticbox with grooves.",
+    "Pick the red green can and the colorful can with lime and orange design together, then move both into the blue plasticbox.",
+    "Lift the green red metallic soda can and the soda can with lime illustration together, then place each in the blue box with angled edges.",
+    "Use both arms to grab the can with red green label and the metallic drink can with pull-tab, place them in the plasticbox with grooved sides.",
+    "Lift the soda can with lime illustration and the small soda can with lime graphics, and stick them into the blue box for storing things",
+    "Grip the smooth cylindrical can with lime pattern and the metallic drink can with pull-tab simultaneously, then insert both into the medium blue plasticbox.",
+    "Both arms lift the metallic drink can with pull-tab and the smooth cylindrical can with lime pattern, then place them in the medium blue plasticbox.",
+    "Lift the soda can with lime illustration and the soda can with lime illustration simultaneously, then set them into the medium storage plasticbox.",
+    "Lift the red green can and the colorful can with lime and orange design together, then place both in the plasticbox with grooved sides.",
+    "Use both arms to move the green red metallic soda can and the smooth cylindrical can with lime pattern into the plasticbox with grooved sides.",
+    "First grasp the small soda can with lime graphics and the smooth cylindrical can with lime pattern together, then place both in the blue box for storing things.",
+    "Use both arms to move the green red metallic soda can and the metallic drink can with pull-tab into the blue plastic rectangular storage box",
+    "Grab the drink can with bright colors and the can with red green label together, then insert each into the blue box for storing things.",
+    "Grab the can with red green label and the colorful can with lime and orange design together, then transfer them to the plasticbox with grooved sides.",
+    "Transfer the red green beverage can to the blue plasticbox, then transfer the metallic drink can with pull-tab to the blue plasticbox.",
+    "Pick the red green beverage can and the metal can with pull-tab top together, then move each into the deep blue plasticbox with grooves",
+    "Use both arms to pick the metal can with pull-tab top and the soda can with lime illustration together for the blue plasticbox.",
+    "Pick up the small soda can with lime graphics and the drink can with bright colors with separate arms, then fill the smooth blue hard plasticbox.",
+    "Pick the metal can with pull-tab top and the drink can with bright colors using both arms and put them in the medium storage plasticbox",
+    "Use dual arms to pick the smooth cylindrical can with lime pattern and the red green can, placing both in the blue box with angled edges.",
+    "Employ both arms to pick the green red metallic soda can and the red green can, and place them inside the blue plastic rectangular storage box.",
+    "Use both arms to place the red green beverage can and the metal can with pull-tab top inside the blue box for storing things.",
+    "Pick the beverage can with red green graphics and the red green can together; place the beverage can with red green graphics, then the red green can, in the blue box for storing things.",
+    "Pick the green red metallic soda can and the red green can together, then drop each into the rectangular storage box with grooves",
+    "Move the drink can with bright colors to the rectangular storage box with grooves and repeat with the soda can with lime illustration.",
+    "Use both arms, position the red green beverage can and the small soda can with lime graphics within the rectangular storage box with grooves.",
+    "Move the small soda can with lime graphics and the red green beverage can into the medium blue plasticbox using separate arms.",
+    "Utilize the arms to deposit both the small soda can with lime graphics and the red green beverage can into the rectangular storage box with grooves.",
+    "Transfer the metallic drink can with pull-tab and the red green can into the medium box with angled sides using dual arms",
+    "After grasping the drink can with bright colors and the metallic drink can with pull-tab together, place each into the plasticbox with grooved sides.",
+    "Use the arms to transfer the colorful can with lime and orange design and the metal can with pull-tab top into the smooth blue hard plasticbox.",
+    "Place the metal can with pull-tab top into the blue box with angled edges, then place the can with red green label into the blue box with angled edges.",
+    "Grasp the drink can with bright colors and the red green can together; transfer the drink can with bright colors, then the red green can, to the deep blue plasticbox with grooves.",
+    "Place the small soda can with lime graphics and the red green can into the deep blue box for storage using both arms.",
+    "Pick the metallic drink can with pull-tab and the drink can with bright colors together, then put both inside the medium blue plasticbox.",
+    "Use both arms to place the smooth cylindrical can with lime pattern and the can with red green label into the deep blue plasticbox with grooves.",
+    "Place the red green beverage can and the small soda can with lime graphics in the blue plasticbox using both arms.",
+    "Use arms to set the red green can and the beverage can with red green graphics into the plasticbox with grooved sides.",
+    "Using dual arms, place the beverage can with red green graphics and the small soda can with lime graphics inside the blue box with angled edges",
+    "Drop the red green can and the colorful can with lime and orange design into the blue box for storing things with both arms",
+    "Place the drink can with bright colors and the soda can with lime illustration into the blue plasticbox with dual arms",
+    "Place the soda can with lime illustration in the smooth blue hard plasticbox, follow with the drink can with bright colors using each arm.",
+    "Use your arms to set the soda can with lime illustration and the metallic drink can with pull-tab gently into the plasticbox with grooved sides.",
+    "First move the soda can with lime illustration to the smooth blue hard plasticbox, then move the drink can with bright colors into the smooth blue hard plasticbox.",
+    "With both arms, transfer the red green can and the red green beverage can into the plasticbox with grooved sides.",
+    "Lift the metallic drink can with pull-tab and the drink can with bright colors, then set them inside the blue box with angled edges",
+    "Transfer the red green beverage can into the medium box with angled sides, then position the can with red green label within the medium box with angled sides.",
+    "Pick the small soda can with lime graphics and the red green beverage can simultaneously, then place them inside the blue plasticbox.",
+    "Grasp the small soda can with lime graphics and the can with red green label simultaneously, then place both in the deep blue box for storage.",
+    "Pick and drop the red green can and the red green can into the rectangular storage box with grooves.",
+    "Begin with the smooth cylindrical can with lime pattern, place it in the plasticbox with grooved sides, finish with the soda can with lime illustration into the plasticbox with grooved sides.",
+    "Pick the can with red green label and the red green beverage can together, then move both into the blue plastic rectangular storage box.",
+    "Lift the soda can with lime illustration and the colorful can with lime and orange design together, then place each in the rectangular storage box with grooves.",
+    "Use both arms to grab the beverage can with red green graphics and the smooth cylindrical can with lime pattern, place them in the medium box with angled sides.",
+    "Lift the metal can with pull-tab top and the green red metallic soda can, and stick them into the blue plastic rectangular storage box",
+    "Grip the smooth cylindrical can with lime pattern and the red green beverage can simultaneously, then insert both into the plasticbox with grooved sides.",
+    "Both arms lift the green red metallic soda can and the beverage can with red green graphics, then place them in the blue box with angled edges.",
+    "Lift the red green can and the smooth cylindrical can with lime pattern simultaneously, then set them into the blue box with angled edges.",
+    "Lift the red green beverage can and the smooth cylindrical can with lime pattern together, then place both in the blue plasticbox.",
+    "Use both arms to move the red green can and the green red metallic soda can into the blue plastic rectangular storage box.",
+    "First grasp the metallic drink can with pull-tab and the metallic drink can with pull-tab together, then place both in the smooth blue hard plasticbox.",
+    "Use both arms to move the red green beverage can and the small soda can with lime graphics into the blue box with angled edges",
+    "Grab the soda can with lime illustration and the red green beverage can together, then insert each into the blue plastic rectangular storage box.",
+    "Grab the metallic drink can with pull-tab and the smooth cylindrical can with lime pattern together, then transfer them to the blue box for storing things.",
+    "Transfer the red green can to the deep blue plasticbox with grooves, then transfer the smooth cylindrical can with lime pattern to the deep blue plasticbox with grooves.",
+    "Pick the green red metallic soda can and the small soda can with lime graphics together, then move each into the blue box for storing things",
+    "Use both arms to pick the small soda can with lime graphics and the red green can together for the blue plastic rectangular storage box.",
+    "Pick up the red green can and the green red metallic soda can with separate arms, then fill the deep blue box for storage.",
+    "Pick the red green beverage can and the small soda can with lime graphics using both arms and put them in the blue plasticbox",
+    "Use dual arms to pick the small soda can with lime graphics and the soda can with lime illustration, placing both in the blue box for storing things.",
+    "Employ both arms to pick the colorful can with lime and orange design and the metal can with pull-tab top, and place them inside the deep blue plasticbox with grooves.",
+    "Use both arms to place the soda can with lime illustration and the red green beverage can inside the plasticbox with grooved sides.",
+    "Pick the green red metallic soda can and the soda can with lime illustration together; place the green red metallic soda can, then the soda can with lime illustration, in the deep blue plasticbox with grooves.",
+    "Pick the red green can and the beverage can with red green graphics together, then drop each into the deep blue plasticbox with grooves",
+    "Move the colorful can with lime and orange design to the blue box with angled edges and repeat with the smooth cylindrical can with lime pattern.",
+    "Use both arms, position the beverage can with red green graphics and the soda can with lime illustration within the deep blue box for storage.",
+    "Move the colorful can with lime and orange design and the small soda can with lime graphics into the medium blue plasticbox using separate arms.",
+    "Utilize the arms to deposit both the small soda can with lime graphics and the red green beverage can into the blue plastic rectangular storage box.",
+    "Transfer the beverage can with red green graphics and the green red metallic soda can into the medium blue plasticbox using dual arms",
+    "After grasping the beverage can with red green graphics and the metallic drink can with pull-tab together, place each into the blue box with angled edges.",
+    "Use the arms to transfer the metal can with pull-tab top and the green red metallic soda can into the blue plastic rectangular storage box.",
+    "Place the red green can into the medium storage plasticbox, then place the metal can with pull-tab top into the medium storage plasticbox.",
+    "Grasp the green red metallic soda can and the soda can with lime illustration together; transfer the green red metallic soda can, then the soda can with lime illustration, to the smooth blue hard plasticbox.",
+    "Place the drink can with bright colors and the drink can with bright colors into the blue plasticbox using both arms.",
+    "Pick the green red metallic soda can and the smooth cylindrical can with lime pattern together, then put both inside the blue plasticbox."
+  ]
+}
diff --git a/place_empty_cup/episode_0000025/TCP_head/metadata.json b/place_empty_cup/episode_0000025/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff3e97aa42922ee21e4aee0ca20f11441f6d45d
--- /dev/null
+++ b/place_empty_cup/episode_0000025/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    176,
+    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_empty_cup/episode_0000025/metadata.json b/place_empty_cup/episode_0000025/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8055af52b48fca52c04429540fac4ff602378dba
--- /dev/null
+++ b/place_empty_cup/episode_0000025/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_empty_cup",
+  "episode": "episode_0000025",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_empty_cup/aloha_agilex/data/episode_0000025.hdf5",
+  "num_frames": 176,
+  "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": [
+      176,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      176,
+      14
+    ],
+    "action_shape": [
+      176,
+      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": [
+    "Drop the smooth blue cup for liquids firmly on the coaster made of smooth wood using arm",
+    "Position the rounded base blue cup carefully on the grainy texture coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the round coaster.",
+    "Lift the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the wooden coaster.",
+    "Set the cup with light blue color onto the flat round wooden coaster using the arm.",
+    "Use the arm to put the light blue plastic cup onto the coaster made of smooth wood.",
+    "Grab the plastic cup for drinks and place it over the wooden coaster.",
+    "Lift the blue rounded-bottom cup and stick it onto the coaster with circular shape.",
+    "Pick the cup with smooth plastic surface up and drop it on the coaster with circular shape.",
+    "Move the plastic cup for drinks onto the small coaster with grain texture with the arm",
+    "Grab the smooth blue cup for liquids and place it on the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup and place it over the light gray streaked wooden coaster",
+    "Position the smooth blue cup for liquids squarely on top of the flat round wooden coaster.",
+    "Move the light blue plastic cup to the grainy texture coaster and set it down.",
+    "Drop the cylindrical light blue cup on top of the round coaster.",
+    "Lift the cup for holding liquids and place it onto the small coaster with grain texture.",
+    "Carefully place the cup with light blue color onto the grainy texture coaster without arm",
+    "Use an arm to place the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Move the plastic cup for drinks to the coaster made of smooth wood",
+    "Stick the blue rounded-bottom cup onto the small coaster with grain texture carefully.",
+    "Direct the medium-sized plastic blue cup to the light gray round grainy coaster and let it rest.",
+    "Stick the rounded base blue cup onto the round coaster with light streaks using the arm.",
+    "Align the cup for holding liquids and set it down on the round coaster",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture",
+    "Position the smooth blue drinking cup above and drop it on the round coaster",
+    "Move the smooth blue cup for liquids to the grainy texture coaster using the arm.",
+    "Position the rounded base blue cup on the grainy texture coaster with the arm.",
+    "Stick the cup for holding liquids onto the flat round wooden coaster using the arm",
+    "Set the medium blue cylindrical cup securely on the grainy texture coaster using the arm.",
+    "Slide the plastic cup for drinks gently onto the coaster made of smooth wood via the arm.",
+    "Use the arm to slide the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Set the cup for holding liquids on the flat round wooden coaster using the arm.",
+    "Using the arm, align the medium blue cylindrical cup over the small coaster with grain texture",
+    "Use arm to place the smooth blue drinking cup on the flat round wooden coaster",
+    "Using the arm, drop the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Set the light blue plastic cup carefully onto the coaster with circular shape",
+    "Slide the smooth blue cup for liquids onto the flat surface gray wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Slide the cup for holding liquids onto the grainy texture coaster with the arm.",
+    "Grab the light blue plastic cup and lower it onto the light gray streaked wooden coaster",
+    "Use the arm to position the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Make sure the smooth blue drinking cup ends up on the flat round wooden coaster.",
+    "Place the cylindrical light blue cup on top of the light gray round grainy coaster",
+    "Move the smooth blue cup for liquids using the arm onto the flat surface gray wooden coaster.",
+    "Grab the medium blue cylindrical cup and set it onto the light gray round grainy coaster.",
+    "Use the arm to position the smooth blue drinking cup onto the coaster with circular shape.",
+    "Use the arm to set the smooth blue drinking cup on the coaster made of smooth wood",
+    "Set the rounded base blue cup down on the coaster made of smooth wood",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with light streaks with arm",
+    "Drop the plastic cup for drinks firmly on the round coaster using arm",
+    "Position the cup for holding liquids carefully on the flat surface gray wooden coaster",
+    "Using the arm, slide the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Lift the medium-sized plastic blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Grab the cup for holding liquids, then place it onto the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids onto the flat round wooden coaster using the arm.",
+    "Use the arm to put the rounded base blue cup onto the round coaster with light streaks.",
+    "Grab the cup with smooth plastic surface and place it over the grainy texture coaster.",
+    "Lift the cup with smooth plastic surface and stick it onto the grainy texture coaster.",
+    "Pick the light blue plastic cup up and drop it on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the smooth round palm-sized coaster with the arm",
+    "Grab the cup with light blue color and place it on the wooden coaster.",
+    "Lift the smooth blue drinking cup and place it over the light gray round grainy coaster",
+    "Position the cup with light blue color squarely on top of the grainy texture coaster.",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster and set it down.",
+    "Drop the light blue plastic cup on top of the coaster with circular shape.",
+    "Lift the plastic cup for drinks and place it onto the light gray streaked wooden coaster.",
+    "Carefully place the medium blue cylindrical cup onto the flat surface gray wooden coaster without arm",
+    "Use an arm to place the blue rounded-bottom cup on the small coaster with grain texture",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster",
+    "Stick the cup with light blue color onto the coaster with circular shape carefully.",
+    "Direct the medium blue cylindrical cup to the flat surface gray wooden coaster and let it rest.",
+    "Stick the cylindrical light blue cup onto the grainy texture coaster using the arm.",
+    "Align the smooth blue drinking cup and set it down on the coaster made of smooth wood",
+    "Use an arm to drop the cylindrical light blue cup on the coaster made of smooth wood",
+    "Position the rounded base blue cup above and drop it on the round coaster with light streaks",
+    "Move the blue rounded-bottom cup to the round coaster using the arm.",
+    "Position the light blue plastic cup on the coaster made of smooth wood with the arm.",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm",
+    "Set the cup with smooth plastic surface securely on the light gray round grainy coaster using the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids on the grainy texture coaster using the arm.",
+    "Using the arm, align the medium-sized plastic blue cup over the round coaster with light streaks",
+    "Use arm to place the cup for holding liquids on the flat surface gray wooden coaster",
+    "Using the arm, drop the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Set the plastic cup for drinks carefully onto the small coaster with grain texture",
+    "Slide the rounded base blue cup onto the light gray round grainy coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Slide the smooth blue cup for liquids onto the round coaster with the arm.",
+    "Grab the plastic cup for drinks and lower it onto the light gray round grainy coaster",
+    "Use the arm to position the blue rounded-bottom cup on the round coaster.",
+    "Make sure the rounded base blue cup ends up on the light gray streaked wooden coaster.",
+    "Place the cup with light blue color on top of the coaster with circular shape",
+    "Move the medium-sized plastic blue cup using the arm onto the coaster with circular shape.",
+    "Grab the smooth blue cup for liquids and set it onto the small coaster with grain texture.",
+    "Use the arm to position the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Use the arm to set the cup for holding liquids on the wooden coaster",
+    "Set the rounded base blue cup down on the flat surface gray wooden coaster",
+    "Relocate the medium-sized plastic blue cup precisely onto the light gray streaked wooden coaster with arm"
+  ]
+}
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diff --git a/shake_bottle/episode_0000048/TCP_head/metadata.json b/shake_bottle/episode_0000048/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9085e553c67daa720ce6a138e89426a2ef1fb557
--- /dev/null
+++ b/shake_bottle/episode_0000048/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    266,
+    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/shake_bottle/episode_0000048/TCP_third/metadata.json b/shake_bottle/episode_0000048/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6036c3f846ded22aa71fc51b3e4573abc99cf36e
--- /dev/null
+++ b/shake_bottle/episode_0000048/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    266,
+    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/shake_bottle/episode_0000048/metadata.json b/shake_bottle/episode_0000048/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9792eda4484e9e3668b1ca0447e2fa6b2b2c762b
--- /dev/null
+++ b/shake_bottle/episode_0000048/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle",
+  "episode": "episode_0000048",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle/aloha_agilex/data/episode_0000048.hdf5",
+  "num_frames": 266,
+  "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": [
+      266,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      266,
+      14
+    ],
+    "action_shape": [
+      266,
+      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 the right arm to hold the yellow bottle with green label and shake it.",
+    "Use the right arm to pick and shake the bottle for liquids.",
+    "Using the right arm, shake the bottle with white cap and then place it back.",
+    "Grab the yellow bottle with green label and shake it steadily.",
+    "Shake the yellow bottle with green label after lifting it.",
+    "Shake the yellow bottle using the right arm after grabbing.",
+    "Grab and shake the yellow bottle with green label using the right arm.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Hold the yellow bottle with flower design and shake it properly.",
+    "Pick the yellow bottle with flower design and perform shaking motion.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Secure the yellow body bottle and perform a shake.",
+    "Shake the yellow bottle with cylindrical cap thoroughly after grabbing it.",
+    "Lift the handheld bottle with the right arm and shake it.",
+    "Shake the handheld bottle after grabbing it.",
+    "Use the right arm to lift and shake the yellow bottle with green label.",
+    "Pick up the yellow bottle with flower design and shake it.",
+    "Lift the yellow body bottle with the right arm and give it a shake.",
+    "Use the right arm to grab the bottle with white cap and shake properly.",
+    "Grab the yellow bottle and move it to shake.",
+    "Grip the yellow bottle with cylindrical cap using the right arm and shake.",
+    "With the right arm, pick the yellow body bottle and shake properly.",
+    "Take the smooth yellow plastic bottle using the right arm and give it a shake.",
+    "Pick up the yellow bottle with green label and shake it well.",
+    "Shake the yellow bottle with green label firmly after grabbing.",
+    "Use the right arm to lift and shake the smooth yellow plastic bottle.",
+    "Shake the bottle with green and white label after grabbing it.",
+    "Grab the yellow bottle with cylindrical cap with the right arm and shake.",
+    "Utilize the right arm to hold the yellow body bottle and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "Lift the yellow bottle with green label with the right arm and shake.",
+    "Shake the yellow bottle properly after lifting.",
+    "Shake the yellow bottle with cylindrical cap after holding it firmly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Catch the yellow bottle with flower design and shake it instantly.",
+    "Hold the bottle with green and white label with the right arm and shake lightly.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift up the yellow bottle with green label using the right arm, then shake.",
+    "Secure the handheld bottle, shake it, and place it down.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Hold and shake the yellow bottle carefully.",
+    "Grasp the handheld bottle with the right arm and shake it.",
+    "Pick the yellow bottle with flower design up with the right arm and shake.",
+    "Pick the yellow bottle with green label, shake it with the right arm.",
+    "Pick the yellow body bottle up using the right arm and shake it.",
+    "Hold the bottle with green and white label steady, then shake it.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Grab the yellow bottle with cylindrical cap carefully and shake.",
+    "Grab the yellow bottle with flower design using the right arm, then shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to hold the yellow bottle and shake it.",
+    "Use the right arm to pick and shake the bottle with green and white label.",
+    "Using the right arm, shake the smooth yellow plastic bottle and then place it back.",
+    "Grab the yellow bottle with flower design and shake it steadily.",
+    "Shake the bottle with white cap after lifting it.",
+    "Shake the yellow bottle with green label using the right arm after grabbing.",
+    "Grab and shake the rectangular bottle using the right arm.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Pick the yellow bottle and perform shaking motion.",
+    "Grab the yellow bottle with flower design firmly, shake it, and put it down.",
+    "Secure the yellow body bottle and perform a shake.",
+    "Shake the yellow body bottle thoroughly after grabbing it.",
+    "Lift the yellow bottle with green label with the right arm and shake it.",
+    "Shake the handheld bottle after grabbing it.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Pick up the bottle for liquids and shake it.",
+    "Lift the smooth yellow plastic bottle with the right arm and give it a shake.",
+    "Use the right arm to grab the bottle with white cap and shake properly.",
+    "Grab the handheld bottle and move it to shake.",
+    "Grip the yellow body bottle using the right arm and shake.",
+    "With the right arm, pick the yellow bottle with green label and shake properly.",
+    "Take the yellow bottle with flower design using the right arm and give it a shake.",
+    "Pick up the yellow bottle and shake it well.",
+    "Shake the yellow bottle with cylindrical cap firmly after grabbing.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Shake the handheld bottle after grabbing it.",
+    "Grab the smooth yellow plastic bottle with the right arm and shake.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with green and white label and shake it.",
+    "Lift the yellow bottle with the right arm and shake.",
+    "Shake the bottle with white cap properly after lifting.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Lift the handheld bottle and shake it gently.",
+    "Catch the bottle with white cap and shake it instantly.",
+    "Hold the bottle with white cap with the right arm and shake lightly.",
+    "Hold the smooth yellow plastic bottle, shake it briefly.",
+    "Lift up the yellow bottle using the right arm, then shake.",
+    "Secure the smooth yellow plastic bottle, shake it, and place it down.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Hold and shake the handheld bottle carefully.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Pick the bottle with white cap up with the right arm and shake.",
+    "Pick the smooth yellow plastic bottle, shake it with the right arm.",
+    "Pick the yellow bottle with cylindrical cap up using the right arm and shake it.",
+    "Hold the handheld bottle steady, then shake it.",
+    "Lift the bottle for liquids and shake it thoroughly.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow bottle with cylindrical cap."
+  ]
+}
diff --git a/stack_bowls_three/episode_0000046/TCP_head/metadata.json b/stack_bowls_three/episode_0000046/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc7519ff921079d84840d87f0f96ee0e7b41bc4
--- /dev/null
+++ b/stack_bowls_three/episode_0000046/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    504,
+    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/stack_bowls_three/episode_0000046/metadata.json b/stack_bowls_three/episode_0000046/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3517305dd6005877dd1ad49fae76e0c8ac0744
--- /dev/null
+++ b/stack_bowls_three/episode_0000046/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_three",
+  "episode": "episode_0000046",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_three/aloha_agilex/data/episode_0000046.hdf5",
+  "num_frames": 504,
+  "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": [
+      504,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      504,
+      14
+    ],
+    "action_shape": [
+      504,
+      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": [
+    "Place the first the blue bowl with slightly rounded base down, then stack the next two above it.",
+    "Use arms to place each the glazed bowl with curved sides atop the previous one.",
+    "Use arms to stack each the blue bowl with slightly rounded base carefully.",
+    "Take the blue bowl, stack them from bottom to top.",
+    "Hold the ceramic bowl with earthy brown trim, place them one after another.",
+    "Form a tower with bowls the bowl with brown outer rim, placing smallest last.",
+    "Lift each the blue bowl and stack it over the previous one.",
+    "Stack the bowl with brown outer rim without arms in a vertical sequence.",
+    "Pick up the dark inside bowl light blue outside and stack them from biggest to smallest.",
+    "Place one the ceramic bowl with earthy brown trim down and carefully stack the others above it.",
+    "Stack the bowl with shiny texture, starting with the largest bowl at the bottom.",
+    "Arrange the blue bowl one on top of another.",
+    "Start with the bottom the ceramic bowl with earthy brown trim and finish stacking.",
+    "Lift each the medium-sized bowl for holding food and stack them together neatly.",
+    "Place the first the medium-sized bowl for holding food, then align the others on top using the arm.",
+    "Stack all the blue bowl with slightly rounded base sequentially while handling one at a time.",
+    "Organize bowls the rounded bowl with light blue color by stacking them in size order.",
+    "Position the first the dark inside bowl light blue outside, and sequentially add the two above it.",
+    "Take each the glazed bowl with curved sides and place them one by one on top.",
+    "Carefully stack the ceramic bowl with earthy brown trim piece by piece.",
+    "Place the first the blue bowl with slightly rounded base down, then stack the remaining two.",
+    "Arrange the three the ceramic bowl by stacking them one over the other.",
+    "Start with the first the blue bowl, adding the next two in sequence.",
+    "Stack the blue bowl with slightly rounded base from the base up to the top.",
+    "Use the arm to stack the small bowl with brown edge one by one.",
+    "Start with one the glazed bowl with curved sides, and stack the other two on top.",
+    "Grab the first the ceramic bowl, position the second, then add the third.",
+    "Stack the curved bowl light blue shade sequentially using your arms.",
+    "Position the medium-sized bowl for holding food one on top of the other largest to smallest.",
+    "Place the rounded bowl with light blue color in a stack with the largest at the foundation.",
+    "Position the second the ceramic bowl over the first, then the third on top.",
+    "Place the bowls the blue bowl in a stacking order.",
+    "Place three the rounded bowl with light blue color on top of each other.",
+    "Align bowls the bowl with brown outer rim in descending size, forming a stack.",
+    "Arrange all three the ceramic bowl into a vertical stack.",
+    "Arrange the dark inside bowl light blue outside with the largest bowl at the base.",
+    "Sequentially stack the bowl with shiny texture using arms to align them.",
+    "Grab the small bowl with brown edge, arrange them vertically.",
+    "Stack all three the bowl with shiny texture directly on top of each other.",
+    "Align and stack the dark inside bowl light blue outside step by step using arms.",
+    "Place each the blue bowl with slightly rounded base on top of the previous one.",
+    "Take the bottom the curved bowl light blue shade and sequentially pile the other two above.",
+    "Pick up each the bowl with shiny texture and set them one over another.",
+    "Stack all three the medium-sized bowl for holding food by placing one on top of another.",
+    "Stack the curved bowl light blue shade by arranging them sequentially.",
+    "Align the second the blue bowl atop the first, then add the third above.",
+    "Place the bottom the ceramic bowl, then add the other two on top.",
+    "Grab the bowl with brown outer rim, stack from largest at the base to the smallest.",
+    "Grab a the medium-sized bowl for holding food, set it down, and stack the rest on it.",
+    "Pick each the blue bowl and stack them in order one on top of another.",
+    "Place the first the bowl with brown outer rim down, then stack the next two above it.",
+    "Use arms to place each the small bowl with brown edge atop the previous one.",
+    "Use arms to stack each the rounded bowl with light blue color carefully.",
+    "Take the medium-sized bowl for holding food, stack them from bottom to top.",
+    "Hold the blue bowl, place them one after another.",
+    "Form a tower with bowls the bowl with brown outer rim, placing smallest last.",
+    "Lift each the bowl with brown outer rim and stack it over the previous one.",
+    "Stack the medium-sized bowl for holding food without arms in a vertical sequence.",
+    "Pick up the ceramic bowl with earthy brown trim and stack them from biggest to smallest.",
+    "Place one the small bowl with brown edge down and carefully stack the others above it.",
+    "Stack the small bowl with brown edge, starting with the largest bowl at the bottom.",
+    "Arrange the medium-sized bowl for holding food one on top of another.",
+    "Start with the bottom the ceramic bowl with earthy brown trim and finish stacking.",
+    "Lift each the dark inside bowl light blue outside and stack them together neatly.",
+    "Place the first the ceramic bowl, then align the others on top using the arm.",
+    "Stack all the ceramic bowl sequentially while handling one at a time.",
+    "Organize bowls the ceramic bowl by stacking them in size order.",
+    "Position the first the blue bowl, and sequentially add the two above it.",
+    "Take each the dark inside bowl light blue outside and place them one by one on top.",
+    "Carefully stack the ceramic bowl piece by piece.",
+    "Place the first the small bowl with brown edge down, then stack the remaining two.",
+    "Arrange the three the small bowl with brown edge by stacking them one over the other.",
+    "Start with the first the bowl with brown outer rim, adding the next two in sequence.",
+    "Stack the ceramic bowl from the base up to the top.",
+    "Use the arm to stack the rounded bowl with light blue color one by one.",
+    "Start with one the ceramic bowl, and stack the other two on top.",
+    "Grab the first the curved bowl light blue shade, position the second, then add the third.",
+    "Stack the bowl with brown outer rim sequentially using your arms.",
+    "Position the curved bowl light blue shade one on top of the other largest to smallest.",
+    "Place the curved bowl light blue shade in a stack with the largest at the foundation.",
+    "Position the second the ceramic bowl over the first, then the third on top.",
+    "Place the bowls the rounded bowl with light blue color in a stacking order.",
+    "Place three the bowl with brown outer rim on top of each other.",
+    "Align bowls the bowl with shiny texture in descending size, forming a stack.",
+    "Arrange all three the blue bowl with slightly rounded base into a vertical stack.",
+    "Arrange the bowl with brown outer rim with the largest bowl at the base.",
+    "Sequentially stack the bowl with brown outer rim using arms to align them.",
+    "Grab the curved bowl light blue shade, arrange them vertically.",
+    "Stack all three the rounded bowl with light blue color directly on top of each other.",
+    "Align and stack the glazed bowl with curved sides step by step using arms.",
+    "Place each the curved bowl light blue shade on top of the previous one.",
+    "Take the bottom the glazed bowl with curved sides and sequentially pile the other two above.",
+    "Pick up each the ceramic bowl and set them one over another.",
+    "Stack all three the medium-sized bowl for holding food by placing one on top of another.",
+    "Stack the bowl with brown outer rim by arranging them sequentially.",
+    "Align the second the curved bowl light blue shade atop the first, then add the third above.",
+    "Place the bottom the bowl with brown outer rim, then add the other two on top.",
+    "Grab the ceramic bowl, stack from largest at the base to the smallest.",
+    "Grab a the blue bowl, set it down, and stack the rest on it.",
+    "Pick each the ceramic bowl and stack them in order one on top of another."
+  ]
+}