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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    483,
+    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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+  },
+  "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": [
+      131,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      131,
+      14
+    ],
+    "action_shape": [
+      131,
+      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 two bottles the dark drink bottle with logo and the green bottle with indented base together.",
+    "Raise the bottle with white neck and red top and the bottle with rounded neck at the same time.",
+    "Pick the hand-sized soda bottle as the other arm picks the green bottle with indented base.",
+    "Pick the smooth bottle with red lid and the medium-sized green bottle up in parallel.",
+    "Take the medium dark brown bottle and the bottle with ridges near base together, one per arm.",
+    "Grasp both bottles, the plastic drink bottle and the handheld green bottle, simultaneously.",
+    "Hold both the bottle with ridges on bottom and the bottle with narrow top, one in each arm.",
+    "Take hold of the plastic drink bottle and the medium-sized green bottle at once.",
+    "Each arm should lift one bottle: the bottle with white neck and red top and the bottle with rounded neck.",
+    "Secure the long thin bottle and the medium green bottle simultaneously with separate arms.",
+    "Reach for the bottle with ridges on bottom and the bottle with white printed label with both arms simultaneously.",
+    "Hold the bottle with white neck and red top in one arm and the bottle with rounded neck in the other.",
+    "Use separate arms to grasp the plastic drink bottle and the handheld green bottle simultaneously.",
+    "Pick up both the bottle with ridges on bottom and the medium green bottle using separate arms.",
+    "Use each arm to grab one of the red-capped bottle and the medium-sized green bottle.",
+    "Pick up the medium dark brown bottle and the medium-sized green bottle simultaneously.",
+    "Grab the medium dark brown bottle and the bottle with white printed label together.",
+    "Raise both bottles together, the bottle with white neck and red top and the medium-sized green bottle.",
+    "Use each arm to secure one bottle, the bottle with ridges on bottom and the medium-sized green bottle.",
+    "Grasp the brown bottle with red label and the bottle with narrow top at the same time.",
+    "Use both arms to lift the smooth bottle with red lid and the green bottle with indented base together.",
+    "Use both arms together to pick the plastic drink bottle and the bottle with narrow top.",
+    "Lift the bottle with white neck and red top and the handheld green bottle together with both arms.",
+    "Grab both bottles at once: the Coca-Cola bottle and the bottle with white printed label.",
+    "Raise both the bottle with white neck and red top and the medium green bottle simultaneously.",
+    "Simultaneously grasp and lift the bottle with ridges on bottom and the plastic bottle.",
+    "Use one arm for the red-capped bottle and the other for the bottle with narrow top.",
+    "Pick up the narrow-necked bottle and the medium green bottle in one synchronized motion.",
+    "Lift the dark drink bottle with logo with one arm and the smooth green plastic bottle with the other.",
+    "Catch the bottle with white neck and red top and the bottle with white printed label in parallel.",
+    "Lift the two bottles the long thin bottle and the bottle with narrow top together.",
+    "Raise the hand-sized soda bottle and the medium green bottle at the same time.",
+    "Pick the plastic drink bottle as the other arm picks the smooth green plastic bottle.",
+    "Pick the plastic drink bottle and the bottle with ridges near base up in parallel.",
+    "Take the medium dark brown bottle and the handheld green bottle together, one per arm.",
+    "Grasp both bottles, the hand-sized soda bottle and the handheld green bottle, simultaneously.",
+    "Hold both the Coca-Cola bottle and the bottle with rounded neck, one in each arm.",
+    "Take hold of the long thin bottle and the medium green bottle with capped neck at once.",
+    "Each arm should lift one bottle: the Coca-Cola bottle and the bottle with ridges near base.",
+    "Secure the bottle with ridges on bottom and the bottle with narrow top simultaneously with separate arms.",
+    "Reach for the plastic drink bottle and the bottle with ridges near base with both arms simultaneously.",
+    "Hold the medium dark brown bottle in one arm and the handheld green bottle in the other.",
+    "Use separate arms to grasp the bottle with white neck and red top and the bottle with narrow top simultaneously.",
+    "Pick up both the medium dark brown bottle and the smooth green bottle using separate arms.",
+    "Use each arm to grab one of the bottle with white neck and red top and the bottle with ridges near base.",
+    "Pick up the medium dark brown bottle and the green bottle with indented base simultaneously.",
+    "Grab the red-capped bottle and the green bottle with indented base together.",
+    "Raise both bottles together, the long thin bottle and the medium green bottle.",
+    "Use each arm to secure one bottle, the hand-sized soda bottle and the green bottle with indented base.",
+    "Grasp the long thin bottle and the smooth green bottle at the same time.",
+    "Use both arms to lift the bottle with ridges on bottom and the plastic bottle together.",
+    "Use both arms together to pick the hand-sized soda bottle and the medium green bottle with capped neck.",
+    "Lift the bottle with white neck and red top and the smooth green bottle together with both arms.",
+    "Grab both bottles at once: the dark drink bottle with logo and the bottle with ridges near base.",
+    "Raise both the bottle with ridges on bottom and the smooth green bottle simultaneously.",
+    "Simultaneously grasp and lift the brown bottle with red label and the green bottle with indented base.",
+    "Use one arm for the long thin bottle and the other for the bottle with ridges near base.",
+    "Pick up the long thin bottle and the medium green bottle in one synchronized motion.",
+    "Lift the bottle with white neck and red top with one arm and the plastic bottle with the other.",
+    "Catch the Coca-Cola bottle and the bottle with white printed label in parallel.",
+    "Lift the two bottles the bottle with white neck and red top and the handheld green bottle together.",
+    "Raise the dark drink bottle with logo and the handheld green bottle at the same time.",
+    "Pick the bottle with white neck and red top as the other arm picks the medium-sized green bottle.",
+    "Pick the bottle with white neck and red top and the bottle with white printed label up in parallel.",
+    "Take the bottle with white neck and red top and the bottle with white printed label together, one per arm.",
+    "Grasp both bottles, the bottle with ridges on bottom and the handheld green bottle, simultaneously.",
+    "Hold both the plastic drink bottle and the bottle with narrow top, one in each arm.",
+    "Take hold of the bottle with ridges on bottom and the bottle with white printed label at once.",
+    "Each arm should lift one bottle: the plastic drink bottle and the bottle with ridges near base.",
+    "Secure the dark drink bottle with logo and the smooth green bottle simultaneously with separate arms.",
+    "Reach for the hand-sized soda bottle and the medium green bottle with both arms simultaneously.",
+    "Hold the bottle with ridges on bottom in one arm and the handheld green bottle in the other.",
+    "Use separate arms to grasp the red-capped bottle and the medium-sized green bottle simultaneously.",
+    "Pick up both the smooth bottle with red lid and the bottle with rounded neck using separate arms.",
+    "Use each arm to grab one of the brown bottle with red label and the green bottle with indented base.",
+    "Pick up the narrow-necked bottle and the smooth green bottle simultaneously.",
+    "Grab the bottle with ridges on bottom and the smooth green plastic bottle together.",
+    "Raise both bottles together, the medium dark brown bottle and the medium-sized green bottle.",
+    "Use each arm to secure one bottle, the dark drink bottle with logo and the handheld green bottle.",
+    "Grasp the hand-sized soda bottle and the green bottle with indented base at the same time.",
+    "Use both arms to lift the Coca-Cola bottle and the bottle with white printed label together.",
+    "Use both arms together to pick the plastic drink bottle and the smooth green bottle.",
+    "Lift the long thin bottle and the plastic bottle together with both arms.",
+    "Grab both bottles at once: the medium dark brown bottle and the smooth green bottle.",
+    "Raise both the smooth bottle with red lid and the green bottle with indented base simultaneously.",
+    "Simultaneously grasp and lift the plastic drink bottle and the medium green bottle.",
+    "Use one arm for the brown bottle with red label and the other for the bottle with rounded neck.",
+    "Pick up the brown bottle with red label and the medium green bottle in one synchronized motion.",
+    "Lift the Coca-Cola bottle with one arm and the green bottle with indented base with the other.",
+    "Catch the Coca-Cola bottle and the handheld green bottle in parallel.",
+    "Lift the two bottles the red-capped bottle and the green bottle with indented base together.",
+    "Raise the medium dark brown bottle and the plastic bottle at the same time.",
+    "Pick the plastic drink bottle as the other arm picks the bottle with narrow top.",
+    "Pick the brown bottle with red label and the bottle with rounded neck up in parallel.",
+    "Take the dark drink bottle with logo and the plastic bottle together, one per arm.",
+    "Grasp both bottles, the medium dark brown bottle and the medium green bottle, simultaneously.",
+    "Hold both the red-capped bottle and the medium green bottle, one in each arm.",
+    "Take hold of the medium dark brown bottle and the medium green bottle at once.",
+    "Each arm should lift one bottle: the bottle with ridges on bottom and the bottle with narrow top.",
+    "Secure the long thin bottle and the bottle with ridges near base simultaneously with separate arms."
+  ]
+}
diff --git a/pick_dual_bottles/episode_0000009/TCP_third/metadata.json b/pick_dual_bottles/episode_0000009/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bee72fe7f3960d22a292c09d9399b1a5c6e41f9d
--- /dev/null
+++ b/pick_dual_bottles/episode_0000009/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    137,
+    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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diff --git a/shake_bottle/episode_0000016/TCP_third/metadata.json b/shake_bottle/episode_0000016/TCP_third/metadata.json
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--- /dev/null
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    268,
+    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/shake_bottle_horizontally/episode_0000034/TCP_head/metadata.json b/shake_bottle_horizontally/episode_0000034/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8ba17c103d358e91cf474a99170c9068fc3dc5
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000034/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    299,
+    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/shake_bottle_horizontally/episode_0000034/metadata.json b/shake_bottle_horizontally/episode_0000034/metadata.json
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--- /dev/null
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle_horizontally",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle_horizontally/aloha_agilex/data/episode_0000034.hdf5",
+  "num_frames": 299,
+  "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": [
+      299,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      299,
+      14
+    ],
+    "action_shape": [
+      299,
+      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 yellow capped drink bottle using the right arm and move it horizontally.",
+    "Shake the drink bottle with rounded yellow lid side-to-side after grabbing it.",
+    "Use the right arm to grab the smooth black bottle with ridges and shake horizontally.",
+    "Hold the black plastic bottle with Pepsi logo with the right arm and move it left and right.",
+    "Utilize the right arm to grab the bottle with blue and yellow print and shake sideways.",
+    "Hold the smooth black bottle with ridges and move it side to side.",
+    "Shake the black bottle side-to-side after grabbing it.",
+    "Lift the black plastic bottle with Pepsi logo using the right arm and shake horizontally.",
+    "Shake the beverage bottle with black body horizontally.",
+    "Pick up the black plastic bottle with Pepsi logo and shake it horizontally.",
+    "Pick up the bottle with blue and yellow print with the right arm, shake it sideways.",
+    "With the right arm, grab the yellow-capped cylindrical bottle and shake it horizontally.",
+    "Shake the smooth black bottle with ridges horizontally after lifting with the right arm.",
+    "Grab the bottle with blue and yellow print and shake in a horizontal motion.",
+    "Lift the medium bottle with yellow cap and move it side-to-side.",
+    "Shake the yellow-capped cylindrical bottle smoothly without using the right arm reference.",
+    "Use the right arm to hold the black cylindrical bottle with ridges and shake it sideways.",
+    "Hold the plastic bottle with colorful label and move it side to side.",
+    "Grab the black cylindrical bottle with ridges and move it side-to-side repeatedly.",
+    "Hold the black cylindrical bottle with ridges steady and shake it horizontally.",
+    "Grab and shake the black cylindrical bottle with ridges horizontally.",
+    "Hold the black cylindrical bottle with ridges and shake it side to side.",
+    "Pick the black cylindrical bottle with ridges up and shake it horizontally.",
+    "Grab the smooth black bottle with ridges using the right arm and move it side-to-side.",
+    "Hold the black bottle using the right arm and shake it horizontally.",
+    "Pick up the black plastic bottle with Pepsi logo using the right arm, shake it horizontally.",
+    "Simply shake the yellow capped drink bottle horizontally without the right arm details.",
+    "Hold the drink bottle with rounded yellow lid with the right arm and shake horizontally.",
+    "Using the right arm, shake the black bottle horizontally.",
+    "Using the right arm, pick up the yellow capped drink bottle and shake sideways.",
+    "Lift the beverage bottle with black body using the right arm and shake it sideways.",
+    "Secure the medium black bottle with printed label with the right arm, shake in horizontal motion.",
+    "Move the yellow-capped cylindrical bottle side-to-side after grabbing it.",
+    "Pick up the yellow capped drink bottle using the right arm and shake sideways.",
+    "Pick up the plastic bottle with colorful label and shake it side to side.",
+    "Lift the yellow-capped cylindrical bottle with the right arm, then shake it side to side.",
+    "Grip the smooth black bottle with ridges, then shake it back and forth.",
+    "Pick the yellow-capped cylindrical bottle, then shake it horizontally.",
+    "Take the beverage bottle with black body in the right arm and shake it back and forth.",
+    "Shake the plastic bottle with colorful label from side to side.",
+    "Lift the black cylindrical bottle with ridges and move it back and forth.",
+    "Pick up the yellow-capped cylindrical bottle and shake it from side to side.",
+    "Take hold of the yellow-capped cylindrical bottle using the right arm and move horizontally.",
+    "Using the right arm, grab the bottle with blue and yellow print and shake it sideways.",
+    "Grab the medium black bottle with printed label with the right arm and shake horizontally.",
+    "Grab the bottle with blue and yellow print, shake it horizontally, then release.",
+    "Use the right arm to pick the black cylindrical bottle with ridges and shake it horizontally.",
+    "Use the right arm to hold the medium bottle with yellow cap firmly and shake horizontally.",
+    "Lift the beverage bottle with black body and shake it horizontally.",
+    "Use the right arm to grab the bottle with blue and yellow print and move it horizontally.",
+    "Pick the bottle with blue and yellow print using the right arm and move it horizontally.",
+    "Shake the black cylindrical bottle with ridges side-to-side after grabbing it.",
+    "Use the right arm to grab the drink bottle with rounded yellow lid and shake horizontally.",
+    "Hold the yellow capped drink bottle with the right arm and move it left and right.",
+    "Utilize the right arm to grab the black cylindrical bottle with ridges and shake sideways.",
+    "Hold the medium black bottle with printed label and move it side to side.",
+    "Shake the smooth black bottle with ridges side-to-side after grabbing it.",
+    "Lift the yellow-capped cylindrical bottle using the right arm and shake horizontally.",
+    "Shake the yellow capped drink bottle horizontally.",
+    "Pick up the plastic bottle with colorful label and shake it horizontally.",
+    "Pick up the bottle with blue and yellow print with the right arm, shake it sideways.",
+    "With the right arm, grab the beverage bottle with black body and shake it horizontally.",
+    "Shake the yellow capped drink bottle horizontally after lifting with the right arm.",
+    "Grab the black plastic bottle with Pepsi logo and shake in a horizontal motion.",
+    "Lift the yellow capped drink bottle and move it side-to-side.",
+    "Shake the drink bottle with rounded yellow lid smoothly without using the right arm reference.",
+    "Use the right arm to hold the plastic bottle with colorful label and shake it sideways.",
+    "Hold the black plastic bottle with Pepsi logo and move it side to side.",
+    "Grab the yellow-capped cylindrical bottle and move it side-to-side repeatedly.",
+    "Hold the plastic bottle with colorful label steady and shake it horizontally.",
+    "Grab and shake the black bottle horizontally.",
+    "Hold the yellow capped drink bottle and shake it side to side.",
+    "Pick the drink bottle with rounded yellow lid up and shake it horizontally.",
+    "Grab the beverage bottle with black body using the right arm and move it side-to-side.",
+    "Hold the medium black bottle with printed label using the right arm and shake it horizontally.",
+    "Pick up the yellow-capped cylindrical bottle using the right arm, shake it horizontally.",
+    "Simply shake the medium bottle with yellow cap horizontally without the right arm details.",
+    "Hold the yellow-capped cylindrical bottle with the right arm and shake horizontally.",
+    "Using the right arm, shake the yellow capped drink bottle horizontally.",
+    "Using the right arm, pick up the bottle with blue and yellow print and shake sideways.",
+    "Lift the black plastic bottle with Pepsi logo using the right arm and shake it sideways.",
+    "Secure the yellow capped drink bottle with the right arm, shake in horizontal motion.",
+    "Move the bottle with blue and yellow print side-to-side after grabbing it.",
+    "Pick up the yellow capped drink bottle using the right arm and shake sideways.",
+    "Pick up the yellow-capped cylindrical bottle and shake it side to side.",
+    "Lift the black cylindrical bottle with ridges with the right arm, then shake it side to side.",
+    "Grip the yellow-capped cylindrical bottle, then shake it back and forth.",
+    "Pick the yellow capped drink bottle, then shake it horizontally.",
+    "Take the black plastic bottle with Pepsi logo in the right arm and shake it back and forth.",
+    "Shake the smooth black bottle with ridges from side to side.",
+    "Lift the bottle with blue and yellow print and move it back and forth.",
+    "Pick up the black bottle and shake it from side to side.",
+    "Take hold of the medium bottle with yellow cap using the right arm and move horizontally.",
+    "Using the right arm, grab the plastic bottle with colorful label and shake it sideways.",
+    "Grab the yellow-capped cylindrical bottle with the right arm and shake horizontally.",
+    "Grab the medium black bottle with printed label, shake it horizontally, then release.",
+    "Use the right arm to pick the black cylindrical bottle with ridges and shake it horizontally.",
+    "Use the right arm to hold the black plastic bottle with Pepsi logo firmly and shake horizontally.",
+    "Lift the plastic bottle with colorful label and shake it horizontally.",
+    "Use the right arm to grab the medium bottle with yellow cap and move it horizontally."
+  ]
+}
diff --git a/stack_bowls_two/episode_0000039/TCP_head/metadata.json b/stack_bowls_two/episode_0000039/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..08e4f7e09bb06543b397c2a97ed0687c304c14fa
--- /dev/null
+++ b/stack_bowls_two/episode_0000039/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    324,
+    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/stack_bowls_two/episode_0000039/metadata.json b/stack_bowls_two/episode_0000039/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..778f764eabf4d32957ea180bd548ce9d881d44ea
--- /dev/null
+++ b/stack_bowls_two/episode_0000039/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_two",
+  "episode": "episode_0000039",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_two/aloha_agilex/data/episode_0000039.hdf5",
+  "num_frames": 324,
+  "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": [
+      324,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      324,
+      14
+    ],
+    "action_shape": [
+      324,
+      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 up the dark inside bowl light blue outside and set the glazed bowl with curved sides on it.",
+    "Place the ceramic bowl down and stack the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Stack the ceramic bowl carefully over the curved bowl light blue shade.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl, and stack the blue bowl on the rounded bowl with light blue color.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base above it.",
+    "Align the small bowl with brown edge and the blue bowl, then stack the blue bowl on the small bowl with brown edge.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with shiny texture on top.",
+    "Stack the blue bowl securely on top of the blue bowl.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl, then complete the stack.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Set the medium-sized bowl for holding food over the small bowl with brown edge to create the stack.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base on top of the bowl with brown outer rim.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl on top.",
+    "Lift the blue bowl, position the bowl with brown outer rim above it, and stack.",
+    "Lift the curved bowl light blue shade, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with shiny texture on top.",
+    "Arrange the ceramic bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with shiny texture.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick the small bowl with brown edge, position the glazed bowl with curved sides, and place it over the small bowl with brown edge.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Pick the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on it.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the curved bowl light blue shade above it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the bowl with shiny texture above it.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl over it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the curved bowl light blue shade on top.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl, and stack them.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl with slightly rounded base on.",
+    "Position the dark inside bowl light blue outside and stack the ceramic bowl securely onto it.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl.",
+    "With the left arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl using the right arm.",
+    "Take the glazed bowl with curved sides, place the blue bowl above, and let go.",
+    "Take the bowl with shiny texture, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the small bowl with brown edge to stack above.",
+    "Pick up the rounded bowl with light blue color and set the medium-sized bowl for holding food on it.",
+    "Place the small bowl with brown edge down and stack the small bowl with brown edge on top.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl, and place the ceramic bowl on the medium-sized bowl for holding food.",
+    "Stack the ceramic bowl carefully over the bowl with shiny texture.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl.",
+    "Pick up the small bowl with brown edge, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl over it.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base above it.",
+    "Align the curved bowl light blue shade and the bowl with shiny texture, then stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Stack the small bowl with brown edge securely on top of the dark inside bowl light blue outside.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Align the blue bowl over the medium-sized bowl for holding food, then complete the stack.",
+    "Lift the blue bowl using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Set the small bowl with brown edge over the bowl with shiny texture to create the stack.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick the blue bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides on top of the small bowl with brown edge.",
+    "Set down the glazed bowl with curved sides and drop the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the bowl with shiny texture, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the curved bowl light blue shade on top.",
+    "Arrange the bowl with brown outer rim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the blue bowl and position it neatly over the small bowl with brown edge.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick the dark inside bowl light blue outside, position the dark inside bowl light blue outside, and place it over the dark inside bowl light blue outside.",
+    "Use the arm to place the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl on it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the curved bowl light blue shade on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Position the curved bowl light blue shade carefully on the bowl with shiny texture.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl above it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with shiny texture over it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl with slightly rounded base, and stack them.",
+    "Hold the small bowl with brown edge steady and slide the small bowl with brown edge on.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with shiny texture.",
+    "With the left arm, lift the blue bowl and stack the blue bowl using the right arm.",
+    "Hold the blue bowl and stack the bowl with brown outer rim neatly atop.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Take the blue bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Take the medium-sized bowl for holding food, position it, then stack the ceramic bowl directly above.",
+    "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.",
+    "Pick up the ceramic bowl and set the bowl with shiny texture on it.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top."
+  ]
+}