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diff --git a/scan_object/episode_0000027/TCP_head/metadata.json b/scan_object/episode_0000027/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    182,
+    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/scan_object/episode_0000027/TCP_third/metadata.json b/scan_object/episode_0000027/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    182,
+    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/scan_object/episode_0000027/metadata.json b/scan_object/episode_0000027/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "scan_object",
+  "episode": "episode_0000027",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/scan_object/aloha_agilex/data/episode_0000027.hdf5",
+  "num_frames": 182,
+  "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": [
+      182,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      182,
+      14
+    ],
+    "action_shape": [
+      182,
+      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 for the printed tea-box and the left arm for the scanner with gray and black design simultaneously, then scan the printed tea-box.",
+    "Raise both the gold accented tea-box and the scanner with broad top flat area simultaneously and complete the scan.",
+    "Lift the compact rectangular tea-box and the scanner with gray and black design together before scanning the compact rectangular tea-box with the scanner with gray and black design.",
+    "Simultaneously grasp the tea-box with floral design with the right arm and the matte black scanner with the left arm, then scan the tea-box with floral design.",
+    "Grab the smooth black tea-box and the black scanner at the same time and scan the smooth black tea-box with the black scanner.",
+    "Hold the object the rectangle tea-box and scanner the small black handheld scanner in separate arms and scan.",
+    "Hold the black tea-box with gold logo using the right arm and the barcode scanner with gray accents using the left arm, then scan the black tea-box with gold logo.",
+    "Use the right arm and the left arm together to lift the printed tea-box and the black scanner, then scan.",
+    "Pick both items up together and use the scanner with broad top flat area to scan the compact rectangular tea-box.",
+    "Simultaneously lift the tea-box with floral design and the black scanner, then use the black scanner to scan the tea-box with floral design.",
+    "Lift the decorative tea-box with the right arm as the left arm lifts the scanner with pointed bottom tip, then scan the decorative tea-box.",
+    "Take the smooth black tea-box and the scanner with gray and black design together, one per arm, and scan the smooth black tea-box.",
+    "Pick up the tea-box and the matte black scanner in parallel with the right arm and the left arm, then scan.",
+    "Pick up the rectangle tea-box and the scanner with gray and black design simultaneously, then scan the rectangle tea-box with the scanner with gray and black design.",
+    "Pick the black tea-box with turquoise sides using the right arm while the left arm picks the black scanner with gray textured tip, then scan the black tea-box with turquoise sides.",
+    "Grasp both the rectangle tea-box and the curved black scanner with trigger simultaneously, then bring the curved black scanner with trigger to the rectangle tea-box.",
+    "Hold the scanner with curved handle opposite the cardboard tea-box after lifting both at the same time.",
+    "Simultaneously secure the tea-box and the curved black scanner with trigger, then move the curved black scanner with trigger close to scan the tea-box.",
+    "Use separate arms to grasp the cardboard tea-box and the scanner with broad top flat area together, then scan the cardboard tea-box.",
+    "Grasp the rectangle tea-box and the handheld scanner together using the right arm and the left arm; scan the rectangle tea-box with the handheld scanner.",
+    "Pick up the scanner the black scanner with smooth texture and object the black tea-box with gold logo simultaneously, then scan.",
+    "Hold the tea-box with floral design steady in one arm while the other uses the black scanner with smooth texture to scan it.",
+    "Hold the compact rectangular tea-box in one arm and the handheld scanner in the other, then scan the compact rectangular tea-box.",
+    "Use both arms in parallel for the black tea-box with gold logo and the matte black scanner, then perform the scan.",
+    "Secure the decorative tea-box and the scanner with gray and black design at once, then scan the decorative tea-box using the scanner with gray and black design.",
+    "Use one arm for the tea-box and one for the scanner with curved handle; scan the tea-box with the scanner with curved handle.",
+    "With the right arm, hold the tea-box with floral design; with the left arm, hold the black scanner with gray textured tip; then scan the tea-box with floral design.",
+    "Use the left arm for scanner the scanner with broad top flat area and the right arm for object the decorative tea-box, grasping simultaneously.",
+    "Grasp the cardboard tea-box and the matte black scanner in parallel, then align the matte black scanner with the cardboard tea-box.",
+    "Pick the printed tea-box while picking the matte black scanner with the other arm, then scan the printed tea-box.",
+    "Use the right arm for the printed tea-box and the left arm for the handheld scanner simultaneously, then scan the printed tea-box.",
+    "Raise both the printed tea-box and the scanner with curved handle simultaneously and complete the scan.",
+    "Lift the tea-box with floral design and the handheld scanner together before scanning the tea-box with floral design with the handheld scanner.",
+    "Simultaneously grasp the compact rectangular tea-box with the right arm and the curved black scanner with trigger with the left arm, then scan the compact rectangular tea-box.",
+    "Grab the tea-box with floral design and the scanner with gray and black design at the same time and scan the tea-box with floral design with the scanner with gray and black design.",
+    "Hold the object the black tea-box and scanner the matte black scanner in separate arms and scan.",
+    "Hold the black tea-box with gold logo using the right arm and the handheld scanner using the left arm, then scan the black tea-box with gold logo.",
+    "Use the right arm and the left arm together to lift the compact rectangular tea-box and the curved black scanner with trigger, then scan.",
+    "Pick both items up together and use the black scanner to scan the smooth black tea-box.",
+    "Simultaneously lift the smooth black tea-box and the scanner with broad top flat area, then use the scanner with broad top flat area to scan the smooth black tea-box.",
+    "Lift the decorative tea-box with the right arm as the left arm lifts the scanner with gray and black design, then scan the decorative tea-box.",
+    "Take the black tea-box with gold logo and the curved black scanner with trigger together, one per arm, and scan the black tea-box with gold logo.",
+    "Pick up the black tea-box with turquoise sides and the black scanner with gray textured tip in parallel with the right arm and the left arm, then scan.",
+    "Pick up the rectangle tea-box and the small black handheld scanner simultaneously, then scan the rectangle tea-box with the small black handheld scanner.",
+    "Pick the tea-box using the right arm while the left arm picks the barcode scanner with gray accents, then scan the tea-box.",
+    "Grasp both the tea-box with floral design and the barcode scanner with gray accents simultaneously, then bring the barcode scanner with gray accents to the tea-box with floral design.",
+    "Hold the black scanner opposite the black tea-box with gold logo after lifting both at the same time.",
+    "Simultaneously secure the black tea-box and the scanner with gray and black design, then move the scanner with gray and black design close to scan the black tea-box.",
+    "Use separate arms to grasp the rectangle tea-box and the scanner with gray and black design together, then scan the rectangle tea-box.",
+    "Grasp the smooth black tea-box and the scanner with curved handle together using the right arm and the left arm; scan the smooth black tea-box with the scanner with curved handle.",
+    "Pick up the scanner the black scanner and object the cardboard tea-box simultaneously, then scan.",
+    "Hold the rectangle tea-box steady in one arm while the other uses the black scanner to scan it.",
+    "Hold the compact rectangular tea-box in one arm and the black scanner in the other, then scan the compact rectangular tea-box.",
+    "Use both arms in parallel for the black tea-box with turquoise sides and the curved black scanner with trigger, then perform the scan.",
+    "Secure the cardboard tea-box and the barcode scanner with gray accents at once, then scan the cardboard tea-box using the barcode scanner with gray accents.",
+    "Use one arm for the rectangle tea-box and one for the small black handheld scanner; scan the rectangle tea-box with the small black handheld scanner.",
+    "With the right arm, hold the printed tea-box; with the left arm, hold the handheld scanner; then scan the printed tea-box.",
+    "Use the left arm for scanner the black scanner with gray textured tip and the right arm for object the tea-box, grasping simultaneously.",
+    "Grasp the tea-box and the matte black scanner in parallel, then align the matte black scanner with the tea-box.",
+    "Pick the cardboard tea-box while picking the scanner with curved handle with the other arm, then scan the cardboard tea-box.",
+    "Use the right arm for the printed tea-box and the left arm for the scanner with gray and black design simultaneously, then scan the printed tea-box.",
+    "Raise both the smooth black tea-box and the scanner with pointed bottom tip simultaneously and complete the scan.",
+    "Lift the rectangle tea-box and the black scanner together before scanning the rectangle tea-box with the black scanner.",
+    "Simultaneously grasp the printed tea-box with the right arm and the handheld scanner with the left arm, then scan the printed tea-box.",
+    "Grab the black tea-box with turquoise sides and the barcode scanner with gray accents at the same time and scan the black tea-box with turquoise sides with the barcode scanner with gray accents.",
+    "Hold the object the smooth black tea-box and scanner the matte black scanner in separate arms and scan.",
+    "Hold the tea-box with floral design using the right arm and the matte black scanner using the left arm, then scan the tea-box with floral design.",
+    "Use the right arm and the left arm together to lift the decorative tea-box and the scanner with pointed bottom tip, then scan.",
+    "Pick both items up together and use the scanner with curved handle to scan the rectangle tea-box.",
+    "Simultaneously lift the gold accented tea-box and the black scanner with smooth texture, then use the black scanner with smooth texture to scan the gold accented tea-box.",
+    "Lift the smooth black tea-box with the right arm as the left arm lifts the curved black scanner with trigger, then scan the smooth black tea-box.",
+    "Take the rectangle tea-box and the scanner with broad top flat area together, one per arm, and scan the rectangle tea-box.",
+    "Pick up the gold accented tea-box and the scanner with gray and black design in parallel with the right arm and the left arm, then scan.",
+    "Pick up the tea-box and the scanner with pointed bottom tip simultaneously, then scan the tea-box with the scanner with pointed bottom tip.",
+    "Pick the cardboard tea-box using the right arm while the left arm picks the curved black scanner with trigger, then scan the cardboard tea-box.",
+    "Grasp both the gold accented tea-box and the scanner with curved handle simultaneously, then bring the scanner with curved handle to the gold accented tea-box.",
+    "Hold the black scanner with smooth texture opposite the compact rectangular tea-box after lifting both at the same time.",
+    "Simultaneously secure the smooth black tea-box and the scanner with curved handle, then move the scanner with curved handle close to scan the smooth black tea-box.",
+    "Use separate arms to grasp the rectangle tea-box and the black scanner together, then scan the rectangle tea-box.",
+    "Grasp the black tea-box and the matte black scanner together using the right arm and the left arm; scan the black tea-box with the matte black scanner.",
+    "Pick up the scanner the curved black scanner with trigger and object the printed tea-box simultaneously, then scan.",
+    "Hold the rectangle tea-box steady in one arm while the other uses the curved black scanner with trigger to scan it.",
+    "Hold the smooth black tea-box in one arm and the scanner with pointed bottom tip in the other, then scan the smooth black tea-box.",
+    "Use both arms in parallel for the tea-box and the handheld scanner, then perform the scan.",
+    "Secure the printed tea-box and the scanner with curved handle at once, then scan the printed tea-box using the scanner with curved handle.",
+    "Use one arm for the printed tea-box and one for the scanner with broad top flat area; scan the printed tea-box with the scanner with broad top flat area.",
+    "With the right arm, hold the rectangle tea-box; with the left arm, hold the curved black scanner with trigger; then scan the rectangle tea-box.",
+    "Use the left arm for scanner the black scanner with gray textured tip and the right arm for object the tea-box, grasping simultaneously.",
+    "Grasp the printed tea-box and the black scanner in parallel, then align the black scanner with the printed tea-box.",
+    "Pick the smooth black tea-box while picking the curved black scanner with trigger with the other arm, then scan the smooth black tea-box.",
+    "Use the right arm for the tea-box with floral design and the left arm for the scanner with curved handle simultaneously, then scan the tea-box with floral design.",
+    "Raise both the compact rectangular tea-box and the curved black scanner with trigger simultaneously and complete the scan.",
+    "Lift the rectangle tea-box and the scanner with gray and black design together before scanning the rectangle tea-box with the scanner with gray and black design.",
+    "Simultaneously grasp the decorative tea-box with the right arm and the black scanner with gray textured tip with the left arm, then scan the decorative tea-box.",
+    "Grab the black tea-box with gold logo and the matte black scanner at the same time and scan the black tea-box with gold logo with the matte black scanner.",
+    "Hold the object the rectangle tea-box and scanner the curved black scanner with trigger in separate arms and scan.",
+    "Hold the cardboard tea-box using the right arm and the scanner with gray and black design using the left arm, then scan the cardboard tea-box.",
+    "Use the right arm and the left arm together to lift the black tea-box and the small black handheld scanner, then scan.",
+    "Pick both items up together and use the small black handheld scanner to scan the black tea-box with turquoise sides.",
+    "Simultaneously lift the compact rectangular tea-box and the small black handheld scanner, then use the small black handheld scanner to scan the compact rectangular tea-box."
+  ]
+}
diff --git a/scan_object/episode_0000039/TCP_head/metadata.json b/scan_object/episode_0000039/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c73c77d68478ce5de9acb0dd0882417269088a6
--- /dev/null
+++ b/scan_object/episode_0000039/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    180,
+    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/scan_object/episode_0000039/metadata.json b/scan_object/episode_0000039/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9db18ff9facc173e353a84c60e535f191e7146bc
--- /dev/null
+++ b/scan_object/episode_0000039/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "scan_object",
+  "episode": "episode_0000039",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/scan_object/aloha_agilex/data/episode_0000039.hdf5",
+  "num_frames": 180,
+  "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": [
+      180,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      180,
+      14
+    ],
+    "action_shape": [
+      180,
+      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 gold accented tea-box and the black plastic scanner with blue trim together, one per arm, and scan the gold accented tea-box.",
+    "Use the right arm for the smooth black tea-box and the left arm for the scanner with smooth black body simultaneously, then scan the smooth black tea-box.",
+    "Hold the rectangle tea-box steady in one arm while the other uses the black scanner to scan it.",
+    "Grasp the compact rectangular tea-box and the hand scanner with blue lens area together using the right arm and the left arm; scan the compact rectangular tea-box with the hand scanner with blue lens area.",
+    "Use separate arms to grasp the gold accented tea-box and the scanner with curved top and flat bottom together, then scan the gold accented tea-box.",
+    "Use the left arm for scanner the smooth black scanner with blue stripe and the right arm for object the compact rectangular tea-box, grasping simultaneously.",
+    "Pick the printed tea-box using the right arm while the left arm picks the scanner with smooth black body, then scan the printed tea-box.",
+    "Pick up the scanner the black scanner and object the rectangle tea-box simultaneously, then scan.",
+    "Hold the scanner with smooth black body opposite the black tea-box with gold logo after lifting both at the same time.",
+    "Use both arms in parallel for the tea-box and the black scanner, then perform the scan.",
+    "Pick up the tea-box with floral design and the compact black scanner for easy grip simultaneously, then scan the tea-box with floral design with the compact black scanner for easy grip.",
+    "Grab the black tea-box with gold logo and the barcode scanner at the same time and scan the black tea-box with gold logo with the barcode scanner.",
+    "Use one arm for the gold accented tea-box and one for the L-shaped scanner for barcode reading; scan the gold accented tea-box with the L-shaped scanner for barcode reading.",
+    "Simultaneously secure the compact rectangular tea-box and the scanner with curved top and flat bottom, then move the scanner with curved top and flat bottom close to scan the compact rectangular tea-box.",
+    "With the right arm, hold the black tea-box with gold logo; with the left arm, hold the scanner with smooth black body; then scan the black tea-box with gold logo.",
+    "Secure the black tea-box with gold logo and the black plastic scanner with blue trim at once, then scan the black tea-box with gold logo using the black plastic scanner with blue trim.",
+    "Lift the black tea-box with turquoise sides with the right arm as the left arm lifts the scanner with blue scanning area, then scan the black tea-box with turquoise sides.",
+    "Pick up the compact rectangular tea-box and the scanner for reading barcodes in parallel with the right arm and the left arm, then scan.",
+    "Lift the black tea-box and the compact black scanner for easy grip together before scanning the black tea-box with the compact black scanner for easy grip.",
+    "Simultaneously lift the gold accented tea-box and the compact black scanner for easy grip, then use the compact black scanner for easy grip to scan the gold accented tea-box.",
+    "Raise both the black tea-box with turquoise sides and the scanner with smooth black body simultaneously and complete the scan.",
+    "Use the right arm and the left arm together to lift the tea-box with floral design and the scanner for reading barcodes, then scan.",
+    "Pick the tea-box while picking the scanner with curved top and flat bottom with the other arm, then scan the tea-box.",
+    "Pick both items up together and use the L-shaped scanner for barcode reading to scan the tea-box with floral design.",
+    "Hold the tea-box using the right arm and the barcode scanner using the left arm, then scan the tea-box.",
+    "Grasp the rectangle tea-box and the barcode scanner in parallel, then align the barcode scanner with the rectangle tea-box.",
+    "Hold the object the black tea-box with gold logo and scanner the hand scanner with blue lens area in separate arms and scan.",
+    "Simultaneously grasp the rectangle tea-box with the right arm and the L-shaped scanner for barcode reading with the left arm, then scan the rectangle tea-box.",
+    "Grasp both the gold accented tea-box and the barcode scanner simultaneously, then bring the barcode scanner to the gold accented tea-box.",
+    "Hold the rectangle tea-box in one arm and the scanner with blue scanning area in the other, then scan the rectangle tea-box.",
+    "Take the black tea-box with gold logo and the hand scanner with blue lens area together, one per arm, and scan the black tea-box with gold logo.",
+    "Use the right arm for the black tea-box with turquoise sides and the left arm for the black scanner simultaneously, then scan the black tea-box with turquoise sides.",
+    "Hold the compact rectangular tea-box steady in one arm while the other uses the barcode scanner to scan it.",
+    "Grasp the smooth black tea-box and the compact black scanner for easy grip together using the right arm and the left arm; scan the smooth black tea-box with the compact black scanner for easy grip.",
+    "Use separate arms to grasp the black tea-box and the black plastic scanner with blue trim together, then scan the black tea-box.",
+    "Use the left arm for scanner the smooth black scanner with blue stripe and the right arm for object the tea-box with floral design, grasping simultaneously.",
+    "Pick the smooth black tea-box using the right arm while the left arm picks the scanner with curved top and flat bottom, then scan the smooth black tea-box.",
+    "Pick up the scanner the hand scanner with blue lens area and object the printed tea-box simultaneously, then scan.",
+    "Hold the scanner with smooth black body opposite the gold accented tea-box after lifting both at the same time.",
+    "Use both arms in parallel for the tea-box with floral design and the barcode scanner, then perform the scan.",
+    "Pick up the cardboard tea-box and the scanner with blue scanning area simultaneously, then scan the cardboard tea-box with the scanner with blue scanning area.",
+    "Grab the tea-box with floral design and the hand scanner with blue lens area at the same time and scan the tea-box with floral design with the hand scanner with blue lens area.",
+    "Use one arm for the black tea-box with gold logo and one for the hand scanner with blue lens area; scan the black tea-box with gold logo with the hand scanner with blue lens area.",
+    "Simultaneously secure the gold accented tea-box and the barcode scanner, then move the barcode scanner close to scan the gold accented tea-box.",
+    "With the right arm, hold the compact rectangular tea-box; with the left arm, hold the L-shaped scanner for barcode reading; then scan the compact rectangular tea-box.",
+    "Secure the smooth black tea-box and the L-shaped scanner for barcode reading at once, then scan the smooth black tea-box using the L-shaped scanner for barcode reading.",
+    "Lift the rectangle tea-box with the right arm as the left arm lifts the compact black scanner for easy grip, then scan the rectangle tea-box.",
+    "Pick up the black tea-box with gold logo and the L-shaped scanner for barcode reading in parallel with the right arm and the left arm, then scan.",
+    "Lift the decorative tea-box and the barcode scanner together before scanning the decorative tea-box with the barcode scanner.",
+    "Simultaneously lift the tea-box with floral design and the black scanner, then use the black scanner to scan the tea-box with floral design.",
+    "Raise both the gold accented tea-box and the black plastic scanner with blue trim simultaneously and complete the scan.",
+    "Use the right arm and the left arm together to lift the black tea-box with turquoise sides and the scanner with blue scanning area, then scan.",
+    "Pick the compact rectangular tea-box while picking the compact black scanner for easy grip with the other arm, then scan the compact rectangular tea-box.",
+    "Pick both items up together and use the compact black scanner for easy grip to scan the compact rectangular tea-box.",
+    "Hold the decorative tea-box using the right arm and the compact black scanner for easy grip using the left arm, then scan the decorative tea-box.",
+    "Grasp the rectangle tea-box and the compact black scanner for easy grip in parallel, then align the compact black scanner for easy grip with the rectangle tea-box.",
+    "Hold the object the black tea-box with turquoise sides and scanner the scanner with curved top and flat bottom in separate arms and scan.",
+    "Simultaneously grasp the black tea-box with turquoise sides with the right arm and the scanner with blue scanning area with the left arm, then scan the black tea-box with turquoise sides.",
+    "Grasp both the printed tea-box and the black plastic scanner with blue trim simultaneously, then bring the black plastic scanner with blue trim to the printed tea-box.",
+    "Hold the compact rectangular tea-box in one arm and the scanner for reading barcodes in the other, then scan the compact rectangular tea-box.",
+    "Take the tea-box with floral design and the scanner with curved top and flat bottom together, one per arm, and scan the tea-box with floral design.",
+    "Use the right arm for the rectangle tea-box and the left arm for the scanner with curved top and flat bottom simultaneously, then scan the rectangle tea-box.",
+    "Hold the decorative tea-box steady in one arm while the other uses the barcode scanner to scan it.",
+    "Grasp the gold accented tea-box and the scanner with smooth black body together using the right arm and the left arm; scan the gold accented tea-box with the scanner with smooth black body.",
+    "Use separate arms to grasp the tea-box with floral design and the hand scanner with blue lens area together, then scan the tea-box with floral design.",
+    "Use the left arm for scanner the L-shaped scanner for barcode reading and the right arm for object the decorative tea-box, grasping simultaneously.",
+    "Pick the tea-box using the right arm while the left arm picks the smooth black scanner with blue stripe, then scan the tea-box.",
+    "Pick up the scanner the hand scanner with blue lens area and object the gold accented tea-box simultaneously, then scan.",
+    "Hold the scanner with smooth black body opposite the black tea-box with gold logo after lifting both at the same time.",
+    "Use both arms in parallel for the rectangle tea-box and the black scanner, then perform the scan.",
+    "Pick up the black tea-box and the L-shaped scanner for barcode reading simultaneously, then scan the black tea-box with the L-shaped scanner for barcode reading.",
+    "Grab the black tea-box with turquoise sides and the scanner with blue scanning area at the same time and scan the black tea-box with turquoise sides with the scanner with blue scanning area.",
+    "Use one arm for the compact rectangular tea-box and one for the scanner with smooth black body; scan the compact rectangular tea-box with the scanner with smooth black body.",
+    "Simultaneously secure the gold accented tea-box and the scanner with blue scanning area, then move the scanner with blue scanning area close to scan the gold accented tea-box.",
+    "With the right arm, hold the tea-box with floral design; with the left arm, hold the handheld scanner; then scan the tea-box with floral design.",
+    "Secure the tea-box with floral design and the barcode scanner at once, then scan the tea-box with floral design using the barcode scanner.",
+    "Lift the black tea-box with gold logo with the right arm as the left arm lifts the black scanner, then scan the black tea-box with gold logo.",
+    "Pick up the compact rectangular tea-box and the scanner with curved top and flat bottom in parallel with the right arm and the left arm, then scan.",
+    "Lift the cardboard tea-box and the L-shaped scanner for barcode reading together before scanning the cardboard tea-box with the L-shaped scanner for barcode reading.",
+    "Simultaneously lift the black tea-box with gold logo and the barcode scanner, then use the barcode scanner to scan the black tea-box with gold logo.",
+    "Raise both the rectangle tea-box and the smooth black scanner with blue stripe simultaneously and complete the scan.",
+    "Use the right arm and the left arm together to lift the cardboard tea-box and the scanner with curved top and flat bottom, then scan.",
+    "Pick the rectangle tea-box while picking the scanner with blue scanning area with the other arm, then scan the rectangle tea-box.",
+    "Pick both items up together and use the compact black scanner for easy grip to scan the tea-box with floral design.",
+    "Hold the printed tea-box using the right arm and the hand scanner with blue lens area using the left arm, then scan the printed tea-box.",
+    "Grasp the tea-box with floral design and the handheld scanner in parallel, then align the handheld scanner with the tea-box with floral design.",
+    "Hold the object the black tea-box and scanner the handheld scanner in separate arms and scan.",
+    "Simultaneously grasp the black tea-box with turquoise sides with the right arm and the scanner with smooth black body with the left arm, then scan the black tea-box with turquoise sides.",
+    "Grasp both the compact rectangular tea-box and the smooth black scanner with blue stripe simultaneously, then bring the smooth black scanner with blue stripe to the compact rectangular tea-box.",
+    "Hold the smooth black tea-box in one arm and the handheld scanner in the other, then scan the smooth black tea-box.",
+    "Take the tea-box with floral design and the L-shaped scanner for barcode reading together, one per arm, and scan the tea-box with floral design.",
+    "Use the right arm for the compact rectangular tea-box and the left arm for the handheld scanner simultaneously, then scan the compact rectangular tea-box.",
+    "Hold the cardboard tea-box steady in one arm while the other uses the black scanner to scan it.",
+    "Grasp the rectangle tea-box and the scanner with curved top and flat bottom together using the right arm and the left arm; scan the rectangle tea-box with the scanner with curved top and flat bottom.",
+    "Use separate arms to grasp the compact rectangular tea-box and the handheld scanner together, then scan the compact rectangular tea-box.",
+    "Use the left arm for scanner the scanner with smooth black body and the right arm for object the decorative tea-box, grasping simultaneously.",
+    "Pick the compact rectangular tea-box using the right arm while the left arm picks the barcode scanner, then scan the compact rectangular tea-box.",
+    "Pick up the scanner the black plastic scanner with blue trim and object the decorative tea-box simultaneously, then scan.",
+    "Hold the L-shaped scanner for barcode reading opposite the black tea-box after lifting both at the same time.",
+    "Use both arms in parallel for the rectangle tea-box and the scanner with curved top and flat bottom, then perform the scan."
+  ]
+}