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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    580,
+    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/open_microwave/episode_0000011/TCP_third/metadata.json b/open_microwave/episode_0000011/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    580,
+    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_version": "robotwin_4d_v1",
+  "task": "open_microwave",
+  "episode": "episode_0000011",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/open_microwave/aloha_agilex/data/episode_0000011.hdf5",
+  "num_frames": 580,
+  "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": [
+      580,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
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+      14
+    ],
+    "action_shape": [
+      580,
+      14
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+    "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 left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the dark gray slanted microwave box's handle using the left arm.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the handle of the microwave to open it.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Handle the microwave and open it with the left arm.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull the gray and glass microwave for cooking's handle using the left arm.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Access the inside by opening the microwave with glass top.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Get the microwave open.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull to open the microwave.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Handle the microwave and open it with the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the microwave's handle using the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Engage the medium microwave with slanted sides using the left arm to open."
+  ]
+}