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@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    707,
+    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/put_bottles_dustbin/episode_0000007/metadata.json b/put_bottles_dustbin/episode_0000007/metadata.json
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+++ b/put_bottles_dustbin/episode_0000007/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "put_bottles_dustbin",
+  "episode": "episode_0000007",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/put_bottles_dustbin/aloha_agilex/data/episode_0000007.hdf5",
+  "num_frames": 707,
+  "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": [
+      707,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      707,
+      14
+    ],
+    "action_shape": [
+      707,
+      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": [
+    "Load the dustbin with white inner bag with the three bottles the bottle with green cap, the medium-sized water bottle, and the black bottle with red label.",
+    "Gather every bottle, including the bottle made of smooth plastic, the bottle with ribbed design, and the smooth plastic bottle, in the smooth black dustbin.",
+    "Clear the table by putting the yellow bottle with smooth texture, the water bottle with textured body, and the bottle with curved body shape into the plastic dustbin.",
+    "Deposit all of the yellow bottle body with tapered neck, the hand-sized bottle, and the hand-sized drinking bottle into the left-hand the black bin with white liner.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the black bottle with red label off the table into the dustbin with white inner bag.",
+    "Use the robot arms to place the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the black and red bottle in the black bin with white liner.",
+    "Place all three bottles, the medium plastic bottle with tapered neck, the clear bottle with blue sections, and the black soda bottle with white top, into the medium black garbage container.",
+    "Place the three bottles the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the red bottle inside the black garbage bin.",
+    "Pick up every bottle, the yellow liquid container with green top, the clear bottle with blue sections, and the drink bottle with slim neck, and put it in the black garbage bin.",
+    "Deposit each of the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the black and red bottle into the dustbin with white inner bag.",
+    "Remove the yellow liquid container with green top, the medium-sized water bottle, and the bottle with curved body shape from the table and place them in the black dustbin.",
+    "Move the complete set of bottles, the yellow bottle with smooth texture, the medium-sized water bottle, and the black bottle with red label, into the rectangular black trash holder.",
+    "Use the arms to clear the bottle made of smooth plastic, the medium-sized water bottle, and the smooth plastic bottle into the black garbage bin.",
+    "Gather the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the black bottle with red label and put all of them in the medium black garbage container.",
+    "Collect the bottles the bottle with small ridged green cap, the hand-sized bottle, and the plastic bottle with red cap in the medium-sized black plastic dustbin.",
+    "Take all of the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the red-labeled soda bottle to the trash bin.",
+    "Put the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the black soda bottle with white top inside the dustbin with lid and bag.",
+    "Transfer the full group the yellow liquid container with green top, the hand-sized bottle, and the bottle with curved body shape into the black garbage bin.",
+    "Put every target bottle, the bottle with green cap, the blue-accented cylindrical bottle, and the smooth plastic bottle, in the rectangular black trash holder.",
+    "Ensure the yellow bottle body with tapered neck, the bottle for holding liquids, and the drink bottle with slim neck are all inside the rectangular black trash holder.",
+    "Move each target bottle, the smooth yellow bottle with ridged cap, the hand-sized bottle, and the red bottle, into the smooth black dustbin.",
+    "Move all three targets the yellow bottle with smooth texture, the hand-sized bottle, and the drink bottle with slim neck to the rectangular black trash holder.",
+    "Relocate the bottle with green cap, the bottle for holding liquids, and the black bottle with red label to the medium black garbage container on the table's left.",
+    "Place the smooth yellow bottle with ridged cap, the water bottle with textured body, and the red bottle within the dustbin the rectangular black trash holder.",
+    "Transfer all bottles, the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the smooth plastic bottle, into the left-side the black bin with white liner.",
+    "Remove the bottles the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, and the smooth plastic bottle by placing them in the black bin with white liner.",
+    "Make sure the dustbin the black bin with white liner contains the bottle with green cap, the smooth transparent plastic bottle, and the red-labeled soda bottle.",
+    "Move the yellow liquid container with green top, the transparent bottle, and the black soda bottle with white top from the table into the black garbage bin.",
+    "Use the arms to transfer every bottle, the medium yellow cylindrical bottle, the bottle for holding liquids, and the rounded bottle with a white neck, to the medium-sized black plastic dustbin.",
+    "Use the available arms to move the yellow liquid container with green top, the bottle for holding liquids, and the black and red bottle into the medium-sized black plastic dustbin.",
+    "Load the black and white trash holder with the three bottles the bottle with green cap, the blue-accented cylindrical bottle, and the black and red bottle.",
+    "Gather every bottle, including the medium yellow cylindrical bottle, the bottle for holding liquids, and the drink bottle with slim neck, in the black garbage bin.",
+    "Clear the table by putting the green-striped cap on yellow bottle, the clear bottle with blue sections, and the hand-sized drinking bottle into the trash bin.",
+    "Deposit all of the bottle with green cap, the water bottle with textured body, and the red bottle into the left-hand the black bin with white liner.",
+    "Transfer the bottle with green cap, the hand-sized bottle, and the hand-sized drinking bottle off the table into the dustbin with lid and bag.",
+    "Use the robot arms to place the yellow bottle body with tapered neck, the cylindrical bottle, and the red-labeled soda bottle in the smooth black dustbin.",
+    "Place all three bottles, the medium yellow cylindrical bottle, the bottle for holding liquids, and the black and red bottle, into the black and white trash holder.",
+    "Place the three bottles the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the rounded bottle with a white neck inside the medium black garbage container.",
+    "Pick up every bottle, the bottle with small ridged green cap, the smooth transparent plastic bottle, and the black and red bottle, and put it in the black dustbin.",
+    "Deposit each of the yellow liquid container with green top, the transparent bottle, and the black bottle with red label into the trash bin.",
+    "Remove the bottle with small ridged green cap, the hand-sized bottle, and the drink bottle with slim neck from the table and place them in the medium-sized black plastic dustbin.",
+    "Move the complete set of bottles, the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the hand-sized drinking bottle, into the dustbin with white inner bag.",
+    "Use the arms to clear the yellow bottle with smooth texture, the transparent bottle, and the black soda bottle with white top into the black and white trash holder.",
+    "Gather the yellow bottle with smooth texture, the bottle for holding liquids, and the red bottle and put all of them in the dustbin with white inner bag.",
+    "Collect the bottles the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the bottle with curved body shape in the dustbin with lid and bag.",
+    "Take all of the green-striped cap on yellow bottle, the water bottle with textured body, and the bottle with curved body shape to the dustbin with white inner bag.",
+    "Put the yellow bottle, the clear bottle with blue sections, and the rounded bottle with a white neck inside the plastic dustbin.",
+    "Transfer the full group the yellow bottle with smooth texture, the hand-sized bottle, and the rounded bottle with a white neck into the rectangular black trash holder.",
+    "Put every target bottle, the medium plastic bottle with tapered neck, the bottle with narrow neck, and the rounded bottle with a white neck, in the smooth black dustbin.",
+    "Ensure the smooth yellow bottle with ridged cap, the transparent bottle, and the smooth plastic bottle are all inside the medium-sized black plastic dustbin.",
+    "Move each target bottle, the bottle with green cap, the bottle for holding liquids, and the bottle with curved body shape, into the medium black garbage container.",
+    "Move all three targets the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the red and black beverage bottle to the dustbin with lid and bag.",
+    "Relocate the green-striped cap on yellow bottle, the cylindrical bottle, and the hand-sized drinking bottle to the black garbage bin on the table's left.",
+    "Place the yellow bottle, the water bottle with textured body, and the red bottle within the dustbin the plastic dustbin.",
+    "Transfer all bottles, the bottle with green cap, the hand-sized bottle, and the smooth plastic bottle, into the left-side the rectangular black trash holder.",
+    "Remove the bottles the medium yellow cylindrical bottle, the clear bottle with blue sections, and the plastic bottle with red cap by placing them in the black dustbin.",
+    "Make sure the dustbin the trash bin contains the bottle made of smooth plastic, the smooth transparent plastic bottle, and the smooth plastic bottle.",
+    "Move the bottle with small ridged green cap, the bottle with ribbed design, and the smooth plastic bottle from the table into the black garbage bin.",
+    "Use the arms to transfer every bottle, the bottle with green cap, the water bottle with textured body, and the black and red bottle, to the black bin with white liner.",
+    "Use the available arms to move the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the bottle with curved body shape into the medium-sized black plastic dustbin.",
+    "Load the dustbin with lid and bag with the three bottles the bottle with small ridged green cap, the smooth transparent plastic bottle, and the black and red bottle.",
+    "Gather every bottle, including the bottle with green cap, the bottle with ribbed design, and the black soda bottle with white top, in the dustbin with white inner bag.",
+    "Clear the table by putting the yellow liquid container with green top, the blue-accented cylindrical bottle, and the red and black beverage bottle into the medium-sized black plastic dustbin.",
+    "Deposit all of the bottle with small ridged green cap, the hand-sized bottle, and the black and red bottle into the left-hand the black and white trash holder.",
+    "Transfer the yellow bottle, the clear bottle with blue sections, and the drink bottle with slim neck off the table into the black dustbin.",
+    "Use the robot arms to place the yellow bottle body with tapered neck, the cylindrical bottle, and the black and red bottle in the black garbage bin.",
+    "Place all three bottles, the bottle with green cap, the bottle with ribbed design, and the drink bottle with slim neck, into the medium black garbage container.",
+    "Place the three bottles the yellow bottle, the medium-sized water bottle, and the hand-sized drinking bottle inside the dustbin with white inner bag.",
+    "Pick up every bottle, the bottle with green cap, the smooth transparent plastic bottle, and the black bottle with red label, and put it in the dustbin with lid and bag.",
+    "Deposit each of the yellow bottle, the blue-accented cylindrical bottle, and the hand-sized drinking bottle into the medium-sized black plastic dustbin.",
+    "Remove the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the drink bottle with slim neck from the table and place them in the trash bin.",
+    "Move the complete set of bottles, the yellow bottle with smooth texture, the clear bottle with blue sections, and the bottle with curved body shape, into the black bin with white liner.",
+    "Use the arms to clear the bottle made of smooth plastic, the bottle with ribbed design, and the black and red bottle into the black dustbin.",
+    "Gather the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the black bottle with red label and put all of them in the dustbin with white inner bag.",
+    "Collect the bottles the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the drink bottle with slim neck in the rectangular black trash holder.",
+    "Take all of the yellow bottle with smooth texture, the bottle with narrow neck, and the drink bottle with slim neck to the medium-sized black plastic dustbin.",
+    "Put the yellow bottle with smooth texture, the cylindrical bottle, and the black and red bottle inside the black bin with white liner.",
+    "Transfer the full group the medium plastic bottle with tapered neck, the cylindrical bottle, and the bottle with curved body shape into the plastic dustbin.",
+    "Put every target bottle, the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the drink bottle with slim neck, in the trash bin.",
+    "Ensure the yellow bottle, the bottle with narrow neck, and the red and black beverage bottle are all inside the rectangular black trash holder.",
+    "Move each target bottle, the medium yellow cylindrical bottle, the clear bottle with blue sections, and the bottle with curved body shape, into the black and white trash holder.",
+    "Move all three targets the medium yellow cylindrical bottle, the hand-sized bottle, and the black bottle with red label to the dustbin with white inner bag.",
+    "Relocate the bottle made of smooth plastic, the transparent bottle, and the black soda bottle with white top to the trash bin on the table's left.",
+    "Place the medium plastic bottle with tapered neck, the cylindrical bottle, and the hand-sized drinking bottle within the dustbin the black and white trash holder.",
+    "Transfer all bottles, the bottle made of smooth plastic, the hand-sized bottle, and the black and red bottle, into the left-side the medium black garbage container.",
+    "Remove the bottles the smooth yellow bottle with ridged cap, the water bottle with textured body, and the rounded bottle with a white neck by placing them in the dustbin with white inner bag.",
+    "Make sure the dustbin the trash bin contains the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the bottle with curved body shape.",
+    "Move the bottle made of smooth plastic, the cylindrical bottle, and the red bottle from the table into the dustbin with lid and bag.",
+    "Use the arms to transfer every bottle, the smooth yellow bottle with ridged cap, the hand-sized bottle, and the red-labeled soda bottle, to the medium-sized black plastic dustbin.",
+    "Use the available arms to move the smooth yellow bottle with ridged cap, the cylindrical bottle, and the red bottle into the rectangular black trash holder.",
+    "Load the medium-sized black plastic dustbin with the three bottles the yellow liquid container with green top, the cylindrical bottle, and the bottle with curved body shape.",
+    "Gather every bottle, including the green-striped cap on yellow bottle, the bottle with turquoise cap, and the smooth plastic bottle, in the dustbin with lid and bag.",
+    "Clear the table by putting the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the hand-sized drinking bottle into the black dustbin.",
+    "Deposit all of the bottle with small ridged green cap, the clear bottle with blue sections, and the red bottle into the left-hand the medium black garbage container.",
+    "Transfer the bottle with green cap, the medium-sized water bottle, and the red bottle off the table into the smooth black dustbin.",
+    "Use the robot arms to place the medium yellow cylindrical bottle, the clear bottle with blue sections, and the black and red bottle in the black bin with white liner.",
+    "Place all three bottles, the yellow bottle with smooth texture, the bottle for holding liquids, and the plastic bottle with red cap, into the dustbin with lid and bag.",
+    "Place the three bottles the yellow bottle body with tapered neck, the medium-sized water bottle, and the smooth plastic bottle inside the medium black garbage container.",
+    "Pick up every bottle, the bottle made of smooth plastic, the medium-sized water bottle, and the red bottle, and put it in the black dustbin.",
+    "Deposit each of the medium plastic bottle with tapered neck, the bottle with ribbed design, and the black soda bottle with white top into the rectangular black trash holder."
+  ]
+}
diff --git a/put_bottles_dustbin/episode_0000038/TCP_third/metadata.json b/put_bottles_dustbin/episode_0000038/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..565b2ab7e148ad29a02b9994547c3033a42e05ac
--- /dev/null
+++ b/put_bottles_dustbin/episode_0000038/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    698,
+    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"
+}