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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    155,
+    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_mouse_pad/episode_0000002/metadata.json b/place_mouse_pad/episode_0000002/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_mouse_pad",
+  "episode": "episode_0000002",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_mouse_pad/aloha_agilex/data/episode_0000002.hdf5",
+  "num_frames": 155,
+  "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": [
+      155,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      155,
+      14
+    ],
+    "action_shape": [
+      155,
+      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": [
+    "Take the computer mouse and place it onto the Yellow mat.",
+    "Lift the mouse with two buttons and a scroll wheel and set it down on the Yellow mat.",
+    "Use the left arm to pick the compact matte gray computer mouse and place it on the Yellow mat.",
+    "Take hold of the dark mouse with slight textured sides with the left arm and drop it on the Yellow mat.",
+    "Take the mouse with scroll wheel in center and adjust it to rest on the Yellow mat.",
+    "Take the small mouse with smooth surface and put it on the Yellow mat.",
+    "Hold the small mouse with smooth surface and transfer it to the Yellow mat.",
+    "Take the gray mouse and place it on the Yellow mat.",
+    "Pick up the mouse with scroll wheel in center with the left arm and move it to the Yellow mat.",
+    "Lift the gray mouse and position it on the Yellow mat.",
+    "With the left arm, grab the mouse with two buttons and a scroll wheel and position it on Yellow mat.",
+    "Using the left arm, pick the small mouse with smooth surface and position it on Yellow colored mat.",
+    "Lift the computer mouse using the left arm and stick it on the Yellow mat.",
+    "Pick the dark mouse with slight textured sides with the left arm and move it to the Yellow mat.",
+    "Grab the computer mouse and place it firmly on the Yellow mat.",
+    "Lift the rounded top mouse with glossy logo with the left arm and place it on the Yellow mat.",
+    "Lift the mouse with two buttons and a scroll wheel using the left arm and drop it on the Yellow colored mat.",
+    "Using the left arm, grab the oval-shaped mouse for computer use and place it on Yellow colored mat.",
+    "Use the left arm to grab the mouse with two buttons and a scroll wheel and place it on the Yellow colored mat.",
+    "Use the left arm to grab the mouse with curved ergonomic shape and set it on the Yellow mat.",
+    "Lift the compact matte gray computer mouse and stick it on Yellow mat.",
+    "Pick up the computer mouse with the left arm and place it on the Yellow mat.",
+    "Slide the oval-shaped mouse for computer use onto the Yellow mat gently.",
+    "With the left arm, pick up the rounded top mouse with glossy logo and lay it on Yellow mat.",
+    "Use the left arm to pick the gray mouse up and set it on the Yellow colored mat.",
+    "Lift the mouse with two buttons and a scroll wheel and place it onto Yellow mat.",
+    "Grab the oval-shaped mouse for computer use and move it onto the Yellow mat.",
+    "Lift the compact matte gray computer mouse and put it down onto the Yellow mat.",
+    "Use the left arm to lift the oval-shaped mouse for computer use and set it on the Yellow mat.",
+    "Use the left arm to grab the gray mouse and drop it on the Yellow colored mat.",
+    "Using the left arm, grab the mouse with curved ergonomic shape and set it on the Yellow mat.",
+    "With the left arm, grab the oval-shaped mouse for computer use and position it on the Yellow mat.",
+    "Grip the compact matte gray computer mouse using the left arm and move it to the Yellow mat.",
+    "Grab the rounded top mouse with glossy logo and drop it on Yellow mat.",
+    "Grab the mouse with scroll wheel in center and position it onto the Yellow mat.",
+    "Grab the mouse with two buttons and a scroll wheel using the left arm and place it on the Yellow mat.",
+    "Position the rounded top mouse with glossy logo on the Yellow mat by picking it up.",
+    "Pick up the gray mouse and set it on the Yellow colored mat.",
+    "Lift the gray mouse up with the left arm and stick it onto the Yellow mat.",
+    "Use the left arm to grab the gray mouse and position it onto the Yellow mat.",
+    "Take hold of the mouse with two buttons and a scroll wheel and place it on the Yellow mat.",
+    "Grab the rounded top mouse with glossy logo with the left arm and lay it onto the Yellow colored mat.",
+    "Take the mouse with two buttons and a scroll wheel and put it onto Yellow mat.",
+    "Lift the rounded top mouse with glossy logo using the left arm and move it to the Yellow mat.",
+    "Pick up the dark ergonomic mouse for computer navigation and move it to Yellow mat.",
+    "Take the mouse with two buttons and a scroll wheel and place it on the Yellow colored mat.",
+    "With the left arm, take the rounded top mouse with glossy logo and set it on Yellow mat.",
+    "Grip the mouse with scroll wheel in center and move it onto the Yellow mat.",
+    "Hold the gray mouse and carefully place it on the Yellow mat.",
+    "Pick the plastic mouse with smooth finish and place it on the Yellow colored mat.",
+    "Take the mouse with curved ergonomic shape and place it onto the Yellow mat.",
+    "Lift the gray mouse and set it down on the Yellow mat.",
+    "Use the left arm to pick the dark mouse with slight textured sides and place it on the Yellow mat.",
+    "Take hold of the small mouse with smooth surface with the left arm and drop it on the Yellow mat.",
+    "Take the small mouse with smooth surface and adjust it to rest on the Yellow mat.",
+    "Take the dark mouse with slight textured sides and put it on the Yellow mat.",
+    "Hold the oval-shaped mouse for computer use and transfer it to the Yellow mat.",
+    "Take the compact matte gray computer mouse and place it on the Yellow mat.",
+    "Pick up the rounded top mouse with glossy logo with the left arm and move it to the Yellow mat.",
+    "Lift the small mouse with smooth surface and position it on the Yellow mat.",
+    "With the left arm, grab the computer mouse and position it on Yellow mat.",
+    "Using the left arm, pick the rounded top mouse with glossy logo and position it on Yellow colored mat.",
+    "Lift the mouse with two buttons and a scroll wheel using the left arm and stick it on the Yellow mat.",
+    "Pick the small mouse with smooth surface with the left arm and move it to the Yellow mat.",
+    "Grab the plastic mouse with smooth finish and place it firmly on the Yellow mat.",
+    "Lift the mouse with scroll wheel in center with the left arm and place it on the Yellow mat.",
+    "Lift the dark mouse with slight textured sides using the left arm and drop it on the Yellow colored mat.",
+    "Using the left arm, grab the computer mouse and place it on Yellow colored mat.",
+    "Use the left arm to grab the dark ergonomic mouse for computer navigation and place it on the Yellow colored mat.",
+    "Use the left arm to grab the mouse with curved ergonomic shape and set it on the Yellow mat.",
+    "Lift the dark mouse with slight textured sides and stick it on Yellow mat.",
+    "Pick up the mouse with two buttons and a scroll wheel with the left arm and place it on the Yellow mat.",
+    "Slide the mouse with scroll wheel in center onto the Yellow mat gently.",
+    "With the left arm, pick up the oval-shaped mouse for computer use and lay it on Yellow mat.",
+    "Use the left arm to pick the compact matte gray computer mouse up and set it on the Yellow colored mat.",
+    "Lift the rounded top mouse with glossy logo and place it onto Yellow mat.",
+    "Grab the gray mouse and move it onto the Yellow mat.",
+    "Lift the mouse with two buttons and a scroll wheel and put it down onto the Yellow mat.",
+    "Use the left arm to lift the oval-shaped mouse for computer use and set it on the Yellow mat.",
+    "Use the left arm to grab the mouse with scroll wheel in center and drop it on the Yellow colored mat.",
+    "Using the left arm, grab the plastic mouse with smooth finish and set it on the Yellow mat.",
+    "With the left arm, grab the small mouse with smooth surface and position it on the Yellow mat.",
+    "Grip the computer mouse using the left arm and move it to the Yellow mat.",
+    "Grab the rounded top mouse with glossy logo and drop it on Yellow mat.",
+    "Grab the dark mouse with slight textured sides and position it onto the Yellow mat.",
+    "Grab the mouse with two buttons and a scroll wheel using the left arm and place it on the Yellow mat.",
+    "Position the computer mouse on the Yellow mat by picking it up.",
+    "Pick up the computer mouse and set it on the Yellow colored mat.",
+    "Lift the dark mouse with slight textured sides up with the left arm and stick it onto the Yellow mat.",
+    "Use the left arm to grab the gray mouse and position it onto the Yellow mat.",
+    "Take hold of the mouse with two buttons and a scroll wheel and place it on the Yellow mat.",
+    "Grab the mouse with scroll wheel in center with the left arm and lay it onto the Yellow colored mat.",
+    "Take the computer mouse and put it onto Yellow mat.",
+    "Lift the dark mouse with slight textured sides using the left arm and move it to the Yellow mat.",
+    "Pick up the dark ergonomic mouse for computer navigation and move it to Yellow mat.",
+    "Take the dark mouse with slight textured sides and place it on the Yellow colored mat.",
+    "With the left arm, take the small mouse with smooth surface and set it on Yellow mat.",
+    "Grip the mouse with two buttons and a scroll wheel and move it onto the Yellow mat.",
+    "Hold the mouse with two buttons and a scroll wheel and carefully place it on the Yellow mat.",
+    "Pick the dark ergonomic mouse for computer navigation and place it on the Yellow colored mat."
+  ]
+}
diff --git a/place_mouse_pad/episode_0000045/TCP_head/metadata.json b/place_mouse_pad/episode_0000045/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8791556365a8b717053d10e44e1aa71a514a83
--- /dev/null
+++ b/place_mouse_pad/episode_0000045/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    177,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_mouse_pad/episode_0000045/TCP_third/metadata.json b/place_mouse_pad/episode_0000045/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea4342a8124bc2da75ddfa251204de26e2a4b99
--- /dev/null
+++ b/place_mouse_pad/episode_0000045/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    177,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_mouse_pad/episode_0000045/metadata.json b/place_mouse_pad/episode_0000045/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..407c5e6cfba728efe2c7946ef6f37347c8d71450
--- /dev/null
+++ b/place_mouse_pad/episode_0000045/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_mouse_pad",
+  "episode": "episode_0000045",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_mouse_pad/aloha_agilex/data/episode_0000045.hdf5",
+  "num_frames": 177,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      177,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      177,
+      14
+    ],
+    "action_shape": [
+      177,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick the dark gray palm-sized mouse with the right arm and move it to the Green mat.",
+    "Use the right arm to pick the mouse with curved top and place it on the Green mat.",
+    "Lift the plastic mouse using the right arm and move it to the Green mat.",
+    "Using the right arm, grab the mouse with ergonomic design and set it on the Green mat.",
+    "With the right arm, grab the mouse with curved top and position it on the Green mat.",
+    "Take the smooth dark gray computer mouse and place it onto the Green mat.",
+    "Pick up the mouse with ergonomic design and move it to Green mat.",
+    "Grab the mouse with curved top and drop it on Green mat.",
+    "Lift the dark gray mouse with smooth texture and set it down on the Green mat.",
+    "Lift the oval-shaped mouse with the right arm and place it on the Green mat.",
+    "Use the right arm to grab the mouse with scroll wheel and drop it on the Green colored mat.",
+    "With the right arm, grab the smooth dark gray computer mouse and position it on Green mat.",
+    "Take hold of the rounded computer mouse with the right arm and drop it on the Green mat.",
+    "With the right arm, pick up the mouse with ergonomic design and lay it on Green mat.",
+    "Slide the dark gray mouse onto the Green mat gently.",
+    "Lift the mouse with scroll wheel and place it onto Green mat.",
+    "Lift the wireless dark gray computer mouse using the right arm and stick it on the Green mat.",
+    "Take the smooth dark gray computer mouse and place it on the Green mat.",
+    "Lift the plastic mouse and put it down onto the Green mat.",
+    "Take the dark gray mouse and put it onto Green mat.",
+    "Pick up the wireless dark gray computer mouse with the right arm and place it on the Green mat.",
+    "Grab the smooth dark gray computer mouse and position it onto the Green mat.",
+    "Grip the mouse with scroll wheel and move it onto the Green mat.",
+    "Position the rounded computer mouse on the Green mat by picking it up.",
+    "Lift the wireless dark gray computer mouse and position it on the Green mat.",
+    "Grip the mouse with ergonomic design using the right arm and move it to the Green mat.",
+    "Take the dark gray palm-sized mouse and place it on the Green colored mat.",
+    "Lift the mouse with curved top and stick it on Green mat.",
+    "Pick the mouse with curved top and place it on the Green colored mat.",
+    "Use the right arm to pick the dark gray mouse up and set it on the Green colored mat.",
+    "Pick up the mouse with scroll wheel with the right arm and move it to the Green mat.",
+    "Hold the rounded computer mouse and transfer it to the Green mat.",
+    "Use the right arm to grab the mouse with ergonomic design and place it on the Green colored mat.",
+    "Take the mouse with curved top and adjust it to rest on the Green mat.",
+    "Take the rounded computer mouse and put it on the Green mat.",
+    "Lift the dark gray mouse with smooth texture up with the right arm and stick it onto the Green mat.",
+    "Using the right arm, grab the oval-shaped mouse and place it on Green colored mat.",
+    "Use the right arm to grab the dark gray mouse with smooth texture and set it on the Green mat.",
+    "With the right arm, take the oval-shaped mouse and set it on Green mat.",
+    "Using the right arm, pick the dark gray mouse with smooth texture and position it on Green colored mat.",
+    "Grab the mouse with scroll wheel using the right arm and place it on the Green mat.",
+    "Grab the dark gray palm-sized mouse and place it firmly on the Green mat.",
+    "Use the right arm to lift the rounded computer mouse and set it on the Green mat.",
+    "Hold the oval-shaped mouse and carefully place it on the Green mat.",
+    "Lift the mouse with curved top using the right arm and drop it on the Green colored mat.",
+    "Use the right arm to grab the dark gray palm-sized mouse and position it onto the Green mat.",
+    "Pick up the mouse with curved top and set it on the Green colored mat.",
+    "Grab the wireless dark gray computer mouse with the right arm and lay it onto the Green colored mat.",
+    "Grab the mouse with scroll wheel and move it onto the Green mat.",
+    "Take hold of the mouse with curved top and place it on the Green mat.",
+    "Pick the mouse with curved top with the right arm and move it to the Green mat.",
+    "Use the right arm to pick the wireless dark gray computer mouse and place it on the Green mat.",
+    "Lift the dark gray mouse using the right arm and move it to the Green mat.",
+    "Using the right arm, grab the mouse with buttons and wheel and set it on the Green mat.",
+    "With the right arm, grab the dark gray mouse and position it on the Green mat.",
+    "Take the mouse with ergonomic design and place it onto the Green mat.",
+    "Pick up the dark gray mouse with smooth texture and move it to Green mat.",
+    "Grab the dark gray mouse and drop it on Green mat.",
+    "Lift the mouse with scroll wheel and set it down on the Green mat.",
+    "Lift the wireless dark gray computer mouse with the right arm and place it on the Green mat.",
+    "Use the right arm to grab the rounded computer mouse and drop it on the Green colored mat.",
+    "With the right arm, grab the mouse with curved top and position it on Green mat.",
+    "Take hold of the oval-shaped mouse with the right arm and drop it on the Green mat.",
+    "With the right arm, pick up the dark gray mouse with smooth texture and lay it on Green mat.",
+    "Slide the wireless dark gray computer mouse onto the Green mat gently.",
+    "Lift the wireless dark gray computer mouse and place it onto Green mat.",
+    "Lift the rounded computer mouse using the right arm and stick it on the Green mat.",
+    "Take the smooth dark gray computer mouse and place it on the Green mat.",
+    "Lift the mouse with ergonomic design and put it down onto the Green mat.",
+    "Take the smooth dark gray computer mouse and put it onto Green mat.",
+    "Pick up the dark gray palm-sized mouse with the right arm and place it on the Green mat.",
+    "Grab the dark gray palm-sized mouse and position it onto the Green mat.",
+    "Grip the oval-shaped mouse and move it onto the Green mat.",
+    "Position the smooth dark gray computer mouse on the Green mat by picking it up.",
+    "Lift the dark gray palm-sized mouse and position it on the Green mat.",
+    "Grip the wireless dark gray computer mouse using the right arm and move it to the Green mat.",
+    "Take the plastic mouse and place it on the Green colored mat.",
+    "Lift the mouse with ergonomic design and stick it on Green mat.",
+    "Pick the dark gray mouse with smooth texture and place it on the Green colored mat.",
+    "Use the right arm to pick the oval-shaped mouse up and set it on the Green colored mat.",
+    "Pick up the dark gray mouse with smooth texture with the right arm and move it to the Green mat.",
+    "Hold the dark gray mouse and transfer it to the Green mat.",
+    "Use the right arm to grab the mouse with scroll wheel and place it on the Green colored mat.",
+    "Take the mouse with ergonomic design and adjust it to rest on the Green mat.",
+    "Take the oval-shaped mouse and put it on the Green mat.",
+    "Lift the mouse with curved top up with the right arm and stick it onto the Green mat.",
+    "Using the right arm, grab the mouse with buttons and wheel and place it on Green colored mat.",
+    "Use the right arm to grab the mouse with buttons and wheel and set it on the Green mat.",
+    "With the right arm, take the mouse with ergonomic design and set it on Green mat.",
+    "Using the right arm, pick the mouse with ergonomic design and position it on Green colored mat.",
+    "Grab the dark gray palm-sized mouse using the right arm and place it on the Green mat.",
+    "Grab the oval-shaped mouse and place it firmly on the Green mat.",
+    "Use the right arm to lift the plastic mouse and set it on the Green mat.",
+    "Hold the mouse with buttons and wheel and carefully place it on the Green mat.",
+    "Lift the dark gray mouse using the right arm and drop it on the Green colored mat.",
+    "Use the right arm to grab the dark gray mouse and position it onto the Green mat.",
+    "Pick up the mouse with ergonomic design and set it on the Green colored mat.",
+    "Grab the smooth dark gray computer mouse with the right arm and lay it onto the Green colored mat.",
+    "Grab the dark gray mouse and move it onto the Green mat.",
+    "Take hold of the mouse with buttons and wheel and place it on the Green mat."
+  ]
+}
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