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+    "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_0000024/metadata.json b/place_mouse_pad/episode_0000024/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..03d91fc889f91cbf0a9a3acb97556d674e0bc3c6
--- /dev/null
+++ b/place_mouse_pad/episode_0000024/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_mouse_pad",
+  "episode": "episode_0000024",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_mouse_pad/aloha_agilex/data/episode_0000024.hdf5",
+  "num_frames": 157,
+  "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": [
+      157,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      157,
+      14
+    ],
+    "action_shape": [
+      157,
+      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": [
+    "Lift the dark gray mouse and set it down on the Black mat.",
+    "Use the right arm to pick the compact oval-shaped mouse up and set it on the Black colored mat.",
+    "Grab the dark mouse with logo on top using the right arm and place it on the Black mat.",
+    "With the right arm, grab the mouse with sleek design and position it on the Black mat.",
+    "With the right arm, take the dark mouse with logo on top and set it on Black mat.",
+    "Grip the mouse with two buttons and wheel and move it onto the Black mat.",
+    "Slide the mouse with sleek design onto the Black mat gently.",
+    "Take the mouse for cursor control and place it on the Black colored mat.",
+    "Grip the dark mouse with logo on top using the right arm and move it to the Black mat.",
+    "Use the right arm to pick the mouse for cursor control and place it on the Black mat.",
+    "With the right arm, pick up the mouse for cursor control and lay it on Black mat.",
+    "Pick the rounded gray mouse and place it on the Black colored mat.",
+    "Take the small computer mouse and put it onto Black mat.",
+    "Lift the compact oval-shaped mouse and place it onto Black mat.",
+    "Use the right arm to grab the palm-fitting mouse and place it on the Black colored mat.",
+    "Using the right arm, grab the gray mouse with smooth surface and set it on the Black mat.",
+    "Lift the mouse with sleek design using the right arm and drop it on the Black colored mat.",
+    "Hold the smooth plastic mouse and carefully place it on the Black mat.",
+    "Grab the compact oval-shaped mouse and position it onto the Black mat.",
+    "Take the palm-fitting mouse and put it on the Black mat.",
+    "Take the gray mouse with smooth surface and place it onto the Black mat.",
+    "Pick up the small computer mouse with the right arm and move it to the Black mat.",
+    "Pick the mouse with sleek design with the right arm and move it to the Black mat.",
+    "Lift the ergonomic mouse and put it down onto the Black mat.",
+    "Pick up the ergonomic mouse with the right arm and place it on the Black mat.",
+    "Lift the mouse for cursor control up with the right arm and stick it onto the Black mat.",
+    "Hold the mouse for cursor control and transfer it to the Black mat.",
+    "Using the right arm, pick the dark mouse with logo on top and position it on Black colored mat.",
+    "Lift the compact oval-shaped mouse with the right arm and place it on the Black mat.",
+    "Lift the dark mouse with logo on top and position it on the Black mat.",
+    "Use the right arm to grab the mouse for cursor control and set it on the Black mat.",
+    "Grab the ergonomic mouse and move it onto the Black mat.",
+    "Take the ergonomic mouse and adjust it to rest on the Black mat.",
+    "Use the right arm to grab the mouse with two buttons and wheel and position it onto the Black mat.",
+    "Lift the dark mouse with logo on top using the right arm and stick it on the Black mat.",
+    "Grab the ergonomic mouse and drop it on Black mat.",
+    "Lift the palm-fitting mouse using the right arm and move it to the Black mat.",
+    "Position the palm-fitting mouse on the Black mat by picking it up.",
+    "With the right arm, grab the ergonomic mouse and position it on Black mat.",
+    "Take the rounded gray mouse and place it on the Black mat.",
+    "Pick up the smooth plastic mouse and move it to Black mat.",
+    "Lift the ergonomic mouse and stick it on Black mat.",
+    "Take hold of the smooth plastic mouse with the right arm and drop it on the Black mat.",
+    "Take hold of the mouse with two buttons and wheel and place it on the Black mat.",
+    "Use the right arm to lift the small computer mouse and set it on the Black mat.",
+    "Using the right arm, grab the rounded gray mouse and place it on Black colored mat.",
+    "Grab the mouse for cursor control with the right arm and lay it onto the Black colored mat.",
+    "Pick up the dark gray mouse and set it on the Black colored mat.",
+    "Use the right arm to grab the smooth plastic mouse and drop it on the Black colored mat.",
+    "Grab the small computer mouse and place it firmly on the Black mat.",
+    "Lift the palm-fitting mouse and set it down on the Black mat.",
+    "Use the right arm to pick the dark mouse with logo on top up and set it on the Black colored mat.",
+    "Grab the rounded gray mouse using the right arm and place it on the Black mat.",
+    "With the right arm, grab the compact oval-shaped mouse and position it on the Black mat.",
+    "With the right arm, take the ergonomic mouse and set it on Black mat.",
+    "Grip the rounded gray mouse and move it onto the Black mat.",
+    "Slide the dark mouse with logo on top onto the Black mat gently.",
+    "Take the mouse with sleek design and place it on the Black colored mat.",
+    "Grip the mouse with sleek design using the right arm and move it to the Black mat.",
+    "Use the right arm to pick the dark mouse with logo on top and place it on the Black mat.",
+    "With the right arm, pick up the rounded gray mouse and lay it on Black mat.",
+    "Pick the small computer mouse and place it on the Black colored mat.",
+    "Take the small computer mouse and put it onto Black mat.",
+    "Lift the palm-fitting mouse and place it onto Black mat.",
+    "Use the right arm to grab the small computer mouse and place it on the Black colored mat.",
+    "Using the right arm, grab the gray mouse with smooth surface and set it on the Black mat.",
+    "Lift the dark gray mouse using the right arm and drop it on the Black colored mat.",
+    "Hold the dark gray mouse and carefully place it on the Black mat.",
+    "Grab the dark mouse with logo on top and position it onto the Black mat.",
+    "Take the rounded gray mouse and put it on the Black mat.",
+    "Take the compact oval-shaped mouse and place it onto the Black mat.",
+    "Pick up the rounded gray mouse with the right arm and move it to the Black mat.",
+    "Pick the mouse with two buttons and wheel with the right arm and move it to the Black mat.",
+    "Lift the ergonomic mouse and put it down onto the Black mat.",
+    "Pick up the smooth plastic mouse with the right arm and place it on the Black mat.",
+    "Lift the mouse with sleek design up with the right arm and stick it onto the Black mat.",
+    "Hold the compact oval-shaped mouse and transfer it to the Black mat.",
+    "Using the right arm, pick the ergonomic mouse and position it on Black colored mat.",
+    "Lift the compact oval-shaped mouse with the right arm and place it on the Black mat.",
+    "Lift the ergonomic mouse and position it on the Black mat.",
+    "Use the right arm to grab the dark gray mouse and set it on the Black mat.",
+    "Grab the compact oval-shaped mouse and move it onto the Black mat.",
+    "Take the dark mouse with logo on top and adjust it to rest on the Black mat.",
+    "Use the right arm to grab the small computer mouse and position it onto the Black mat.",
+    "Lift the gray mouse with smooth surface using the right arm and stick it on the Black mat.",
+    "Grab the dark gray mouse and drop it on Black mat.",
+    "Lift the compact oval-shaped mouse using the right arm and move it to the Black mat.",
+    "Position the mouse for cursor control on the Black mat by picking it up.",
+    "With the right arm, grab the rounded gray mouse and position it on Black mat.",
+    "Take the dark mouse with logo on top and place it on the Black mat.",
+    "Pick up the ergonomic mouse and move it to Black mat.",
+    "Lift the dark mouse with logo on top and stick it on Black mat.",
+    "Take hold of the small computer mouse with the right arm and drop it on the Black mat.",
+    "Take hold of the smooth plastic mouse and place it on the Black mat.",
+    "Use the right arm to lift the mouse for cursor control and set it on the Black mat.",
+    "Using the right arm, grab the rounded gray mouse and place it on Black colored mat.",
+    "Grab the gray mouse with smooth surface with the right arm and lay it onto the Black colored mat.",
+    "Pick up the dark mouse with logo on top and set it on the Black colored mat.",
+    "Use the right arm to grab the mouse for cursor control and drop it on the Black colored mat.",
+    "Grab the palm-fitting mouse and place it firmly on the Black mat."
+  ]
+}
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    328,
+    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"
+}