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+    "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/place_bread_basket/episode_0000046/metadata.json b/place_bread_basket/episode_0000046/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcf25bcb7dde1c496ea74b55794e9b17eb71a10d
--- /dev/null
+++ b/place_bread_basket/episode_0000046/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_bread_basket",
+  "episode": "episode_0000046",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_bread_basket/aloha_agilex/data/episode_0000046.hdf5",
+  "num_frames": 252,
+  "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": [
+      252,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      252,
+      14
+    ],
+    "action_shape": [
+      252,
+      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 light golden brown bread and the small loaf with curved top from the table to the breadbasket for small food items.",
+    "Put the soft bread and the bread with split top inside the breadbasket for small food items.",
+    "Collect the bread loaf with bumpy surface and the bread with warm golden color in the synthetic material breadbasket.",
+    "Ensure the hand-sized bread block and the bread with golden-brown crust are both inside the oval basket for bread.",
+    "Lift the bread loaf with uneven edges and the small loaf with curved top and place them in the woven plastic breadbasket.",
+    "Move both breads, the soft bread and the bread with warm golden color, into the oval basket for bread.",
+    "Set the two breads the light golden brown bread and the light brown bread with ridges in the medium oval breadbasket.",
+    "Place both breads the square-shaped bread and the bread with warm golden color into the smooth-textured breadbasket.",
+    "Move every bread, the golden bread loaf and the bread with golden-brown crust, into the light brown breadbasket.",
+    "Place the light golden brown bread and the brown loaf in the oval basket for bread.",
+    "Pick up both the soft bread and the bread with warm golden color for the two-hand-sized breadbasket.",
+    "Deposit the bread with rough texture and the hand-sized oval loaf inside the basket with light brown weaving.",
+    "Grab the light golden brown bread and the golden bread loaf and put them in the synthetic material breadbasket.",
+    "Relocate the bread loaf with bumpy surface and the bread with golden-brown crust into the basket the breadbasket with curved base.",
+    "Transfer both the bread loaf with uneven edges and the golden bread loaf to the breadbasket with curved base.",
+    "Take the bread loaf with uneven edges and the small loaf with curved top from the table to the oval breadbasket.",
+    "Put the soft bread and the hand-sized oval loaf inside the breadbasket with curved base.",
+    "Collect the bread block with light patches and the bread with warm golden color in the breadbasket with curved base.",
+    "Ensure the bread with rough texture and the hand-sized oval loaf are both inside the oval breadbasket.",
+    "Lift the bread with rough texture and the golden bread loaf and place them in the woven plastic breadbasket.",
+    "Move both breads, the light golden brown bread and the bread with split top, into the medium oval breadbasket.",
+    "Set the two breads the soft bread and the smooth loaf with rounded edges in the beige basket for holding bread.",
+    "Place both breads the bread loaf with uneven edges and the bread with golden-brown crust into the breadbasket for small food items.",
+    "Move every bread, the square-shaped bread and the soft brown bread, into the beige basket for holding bread.",
+    "Place the square-shaped bread and the golden bread loaf in the oval basket for bread.",
+    "Pick up both the cuboid bread and the smooth loaf with rounded edges for the medium oval breadbasket.",
+    "Deposit the bread block with light patches and the golden bread loaf inside the beige basket for holding bread.",
+    "Grab the bread loaf with uneven edges and the bread with split top and put them in the medium oval breadbasket.",
+    "Relocate the bread loaf with bumpy surface and the bread with split top into the basket the smooth-textured breadbasket.",
+    "Transfer both the square-shaped bread and the brown loaf to the light brown breadbasket.",
+    "Take the bread block with light patches and the small golden brown bread from the table to the basket with light brown weaving.",
+    "Put the square-shaped bread and the light brown bread with ridges inside the breadbasket for small food items.",
+    "Collect the cuboid bread and the soft brown bread in the beige basket for holding bread.",
+    "Ensure the doughy and soft bread and the small golden brown bread are both inside the light brown breadbasket.",
+    "Lift the bread block with light patches and the brown loaf and place them in the oval basket for bread.",
+    "Move both breads, the bread block with light patches and the brown loaf, into the two-hand-sized breadbasket.",
+    "Set the two breads the golden bread loaf and the soft brown bread in the beige basket for holding bread.",
+    "Place both breads the bread with rough texture and the bread with warm golden color into the medium oval breadbasket.",
+    "Move every bread, the bread loaf with bumpy surface and the brown loaf, into the smooth-textured breadbasket.",
+    "Place the cuboid bread and the golden bread loaf in the basket with light brown weaving.",
+    "Pick up both the square-shaped bread and the bread with split top for the beige basket for holding bread.",
+    "Deposit the soft bread and the smooth loaf with rounded edges inside the synthetic material breadbasket.",
+    "Grab the bread loaf with bumpy surface and the brown loaf and put them in the medium oval breadbasket.",
+    "Relocate the bread block with light patches and the bread with warm golden color into the basket the woven plastic breadbasket.",
+    "Transfer both the bread loaf with bumpy surface and the soft brown bread to the breadbasket with curved base.",
+    "Take the doughy and soft bread and the smooth loaf with rounded edges from the table to the smooth-textured breadbasket.",
+    "Put the light golden brown bread and the brown loaf inside the medium oval breadbasket.",
+    "Collect the cuboid bread and the bread with split top in the breadbasket for small food items.",
+    "Ensure the square-shaped bread and the bread with split top are both inside the two-hand-sized breadbasket.",
+    "Lift the hand-sized bread block and the hand-sized oval loaf and place them in the smooth-textured breadbasket.",
+    "Move both breads, the square-shaped bread and the light brown loaf with smooth sides, into the oval breadbasket.",
+    "Set the two breads the square-shaped bread and the bread with golden-brown crust in the light brown breadbasket.",
+    "Place both breads the light golden brown bread and the bread with warm golden color into the light brown breadbasket.",
+    "Move every bread, the square-shaped bread and the hand-sized oval loaf, into the light brown breadbasket.",
+    "Place the bread with rough texture and the golden bread loaf in the woven plastic breadbasket.",
+    "Pick up both the light golden brown bread and the bread with warm golden color for the woven plastic breadbasket.",
+    "Deposit the bread loaf with bumpy surface and the brown loaf inside the oval basket for bread.",
+    "Grab the cuboid bread and the bread with golden-brown crust and put them in the breadbasket with curved base.",
+    "Relocate the square-shaped bread and the soft brown bread into the basket the two-hand-sized breadbasket.",
+    "Transfer both the hand-sized bread block and the smooth loaf with rounded edges to the smooth-textured breadbasket.",
+    "Take the bread loaf with bumpy surface and the hand-sized oval loaf from the table to the oval basket for bread.",
+    "Put the bread loaf with bumpy surface and the brown loaf inside the breadbasket for small food items.",
+    "Collect the soft bread and the small golden brown bread in the breadbasket for small food items.",
+    "Ensure the soft bread and the brown loaf are both inside the smooth-textured breadbasket.",
+    "Lift the light golden brown bread and the light brown bread with ridges and place them in the woven plastic breadbasket.",
+    "Move both breads, the soft bread and the bread with split top, into the light brown breadbasket.",
+    "Set the two breads the hand-sized bread block and the smooth loaf with rounded edges in the breadbasket with curved base.",
+    "Place both breads the light golden brown bread and the bread with golden-brown crust into the beige basket for holding bread.",
+    "Move every bread, the square-shaped bread and the small golden brown bread, into the breadbasket for small food items.",
+    "Place the cuboid bread and the hand-sized oval loaf in the beige basket for holding bread.",
+    "Pick up both the doughy and soft bread and the smooth loaf with rounded edges for the light brown breadbasket.",
+    "Deposit the cuboid bread and the bread with golden-brown crust inside the oval breadbasket.",
+    "Grab the golden bread and the light brown bread with ridges and put them in the light brown breadbasket.",
+    "Relocate the golden bread and the light brown loaf with smooth sides into the basket the woven plastic breadbasket.",
+    "Transfer both the golden bread loaf and the hand-sized oval loaf to the breadbasket with curved base.",
+    "Take the bread loaf with bumpy surface and the small loaf with curved top from the table to the beige basket for holding bread.",
+    "Put the cuboid bread and the soft brown bread inside the basket with light brown weaving.",
+    "Collect the soft bread and the bread with split top in the woven plastic breadbasket.",
+    "Ensure the hand-sized bread block and the bread with golden-brown crust are both inside the oval breadbasket.",
+    "Lift the soft bread and the small golden brown bread and place them in the basket with light brown weaving.",
+    "Move both breads, the cuboid bread and the brown loaf, into the smooth-textured breadbasket.",
+    "Set the two breads the golden bread loaf and the brown loaf in the breadbasket for small food items.",
+    "Place both breads the light golden brown bread and the bread with golden-brown crust into the light brown breadbasket.",
+    "Move every bread, the golden bread loaf and the soft brown bread, into the light brown breadbasket.",
+    "Place the cuboid bread and the small golden brown bread in the breadbasket for small food items.",
+    "Pick up both the bread loaf with bumpy surface and the light brown loaf with smooth sides for the beige basket for holding bread.",
+    "Deposit the square-shaped bread and the light brown loaf with smooth sides inside the two-hand-sized breadbasket.",
+    "Grab the bread loaf with bumpy surface and the light brown loaf with smooth sides and put them in the smooth-textured breadbasket.",
+    "Relocate the square-shaped bread and the golden bread loaf into the basket the light brown breadbasket.",
+    "Transfer both the hand-sized bread block and the bread with split top to the smooth-textured breadbasket.",
+    "Take the light golden brown bread and the small golden brown bread from the table to the oval breadbasket.",
+    "Put the hand-sized bread block and the brown loaf inside the oval breadbasket.",
+    "Collect the soft bread and the brown loaf in the synthetic material breadbasket.",
+    "Ensure the golden bread and the golden bread loaf are both inside the smooth-textured breadbasket.",
+    "Lift the bread loaf with uneven edges and the light brown bread with ridges and place them in the synthetic material breadbasket.",
+    "Move both breads, the light golden brown bread and the bread with split top, into the smooth-textured breadbasket.",
+    "Set the two breads the bread loaf with bumpy surface and the bread with golden-brown crust in the two-hand-sized breadbasket.",
+    "Place both breads the golden bread and the smooth loaf with rounded edges into the synthetic material breadbasket.",
+    "Move every bread, the bread loaf with bumpy surface and the light brown bread with ridges, into the synthetic material breadbasket.",
+    "Place the bread loaf with uneven edges and the bread with warm golden color in the oval breadbasket."
+  ]
+}
diff --git a/place_bread_skillet/episode_0000014/TCP_head/metadata.json b/place_bread_skillet/episode_0000014/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d4b6c9f02663b1958c190fca851260f9c4eca5
--- /dev/null
+++ b/place_bread_skillet/episode_0000014/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    175,
+    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/place_bread_skillet/episode_0000014/TCP_third/metadata.json b/place_bread_skillet/episode_0000014/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c00f14853d67271de70047710252955b55fee73a
--- /dev/null
+++ b/place_bread_skillet/episode_0000014/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    175,
+    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/place_bread_skillet/episode_0000014/metadata.json b/place_bread_skillet/episode_0000014/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..acfae72c6217582298c1d9d901807c75d4e394b1
--- /dev/null
+++ b/place_bread_skillet/episode_0000014/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_bread_skillet",
+  "episode": "episode_0000014",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_bread_skillet/aloha_agilex/data/episode_0000014.hdf5",
+  "num_frames": 175,
+  "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": [
+      175,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      175,
+      14
+    ],
+    "action_shape": [
+      175,
+      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": [
+    "Keep the medium black pan with handle lifted while putting the light brown loaf with smooth sides into it.",
+    "Hold the flat-bottomed skillet with long handle in the left arm while the other arm transfers the smooth loaf with rounded edges.",
+    "Put the bread with split top into the center of the skillet with extended grip handle.",
+    "Raise the round cooking pan with the left arm; the other arm places the smooth loaf with rounded edges.",
+    "Lift and hold the versatile skillet for stovetop cooking with the left arm while placing the brown loaf inside.",
+    "Grab the light brown bread with ridges and place it in the dark pan with sturdy grip.",
+    "Keep the versatile skillet for stovetop cooking steady with the left arm while placing the bread with golden-brown crust inside.",
+    "Pick up the hand-sized oval loaf and set it inside the held the skillet with extended grip handle.",
+    "Pick up the light brown loaf with smooth sides and put it in the black pan with curved edges.",
+    "Position the small loaf with curved top inside the solid dark-colored round pan.",
+    "Use the left arm for the round pan with hole in handle; the other arm moves the bread with split top.",
+    "Set the hand-sized oval loaf inside the medium black pan with handle.",
+    "Take the light brown bread with ridges from the table to the round cooking pan.",
+    "Lift the small golden brown bread and place it inside the round pan with hole in handle.",
+    "Lift the medium black pan with handle with the left arm while the other arm places the bread with warm golden color.",
+    "Lift the skillet the versatile skillet for stovetop cooking and place the small loaf with curved top inside it.",
+    "Keep the solid dark-colored round pan raised with the left arm; the other arm places the small loaf with curved top.",
+    "Hold the smooth round pan made of iron with the left arm; the other arm places the bread with split top.",
+    "Move the light brown loaf with smooth sides into the black skillet with smooth base while keeping the skillet raised.",
+    "Move the small golden brown bread from the table into the black pan with curved edges.",
+    "Hold the black pan with curved edges in one arm; place the light brown bread with ridges with the other.",
+    "Use the left arm for the solid dark-colored round pan and the other arm for the bread with split top.",
+    "Place the brown loaf inside the solid dark-colored round pan.",
+    "Hold the versatile skillet for stovetop cooking up and transfer the bread with golden-brown crust into it.",
+    "Lift both objects and set the light brown bread with ridges inside the round cooking pan.",
+    "Support the versatile skillet for stovetop cooking with the left arm; the other arm sets the bread with warm golden color inside.",
+    "Raise the heavy black cooking skillet, then place the brown loaf inside with the other arm.",
+    "Place the small golden brown bread from the table into the lifted the smooth round pan made of iron.",
+    "Transfer the smooth loaf with rounded edges into the dark pan with sturdy grip.",
+    "Move and hold the solid dark-colored round pan, then place the hand-sized oval loaf inside.",
+    "Keep the black skillet with smooth base lifted while putting the light brown bread with ridges into it.",
+    "Hold the heavy black cooking skillet in the left arm while the other arm transfers the brown loaf.",
+    "Put the hand-sized oval loaf into the center of the skillet with extended grip handle.",
+    "Raise the heavy black cooking skillet with the left arm; the other arm places the smooth loaf with rounded edges.",
+    "Lift and hold the versatile skillet for stovetop cooking with the left arm while placing the light brown loaf with smooth sides inside.",
+    "Grab the bread with golden-brown crust and place it in the medium black pan with handle.",
+    "Keep the heavy black cooking skillet steady with the left arm while placing the light brown loaf with smooth sides inside.",
+    "Pick up the hand-sized oval loaf and set it inside the held the black skillet with smooth base.",
+    "Pick up the light brown bread with ridges and put it in the black pan with curved edges.",
+    "Position the small golden brown bread inside the heavy black cooking skillet.",
+    "Use the left arm for the black skillet with smooth base; the other arm moves the small loaf with curved top.",
+    "Set the light brown bread with ridges inside the round cooking pan.",
+    "Take the bread with split top from the table to the dark pan with sturdy grip.",
+    "Lift the brown loaf and place it inside the medium black pan with handle.",
+    "Lift the solid dark-colored round pan with the left arm while the other arm places the bread with split top.",
+    "Lift the skillet the round pan with hole in handle and place the bread with split top inside it.",
+    "Keep the medium black pan with handle raised with the left arm; the other arm places the small loaf with curved top.",
+    "Hold the round pan with hole in handle with the left arm; the other arm places the smooth loaf with rounded edges.",
+    "Move the hand-sized oval loaf into the dark pan with sturdy grip while keeping the skillet raised.",
+    "Move the bread with golden-brown crust from the table into the dark pan with sturdy grip.",
+    "Hold the round pan with hole in handle in one arm; place the small loaf with curved top with the other.",
+    "Use the left arm for the round cooking pan and the other arm for the light brown bread with ridges.",
+    "Place the golden bread loaf inside the dark pan with sturdy grip.",
+    "Hold the medium black pan with handle up and transfer the bread with split top into it.",
+    "Lift both objects and set the light brown loaf with smooth sides inside the flat-bottomed skillet with long handle.",
+    "Support the solid dark-colored round pan with the left arm; the other arm sets the smooth loaf with rounded edges inside.",
+    "Raise the dark pan with sturdy grip, then place the brown loaf inside with the other arm.",
+    "Place the light brown bread with ridges from the table into the lifted the versatile skillet for stovetop cooking.",
+    "Transfer the golden bread loaf into the black pan with curved edges.",
+    "Move and hold the dark pan with sturdy grip, then place the small loaf with curved top inside.",
+    "Keep the heavy black cooking skillet lifted while putting the brown loaf into it.",
+    "Hold the skillet with extended grip handle in the left arm while the other arm transfers the light brown loaf with smooth sides.",
+    "Put the golden bread loaf into the center of the black pan with curved edges.",
+    "Raise the flat-bottomed skillet with long handle with the left arm; the other arm places the golden bread loaf.",
+    "Lift and hold the smooth round pan made of iron with the left arm while placing the bread with warm golden color inside.",
+    "Grab the small loaf with curved top and place it in the round cooking pan.",
+    "Keep the flat-bottomed skillet with long handle steady with the left arm while placing the soft brown bread inside.",
+    "Pick up the brown loaf and set it inside the held the round pan with hole in handle.",
+    "Pick up the bread with warm golden color and put it in the solid dark-colored round pan.",
+    "Position the bread with golden-brown crust inside the black skillet with smooth base.",
+    "Use the left arm for the smooth round pan made of iron; the other arm moves the bread with golden-brown crust.",
+    "Set the soft brown bread inside the medium black pan with handle.",
+    "Take the light brown loaf with smooth sides from the table to the versatile skillet for stovetop cooking.",
+    "Lift the bread with warm golden color and place it inside the black skillet with smooth base.",
+    "Lift the round pan with hole in handle with the left arm while the other arm places the hand-sized oval loaf.",
+    "Lift the skillet the heavy black cooking skillet and place the light brown bread with ridges inside it.",
+    "Keep the medium black pan with handle raised with the left arm; the other arm places the golden bread loaf.",
+    "Hold the medium black pan with handle with the left arm; the other arm places the brown loaf.",
+    "Move the smooth loaf with rounded edges into the smooth round pan made of iron while keeping the skillet raised.",
+    "Move the bread with warm golden color from the table into the black skillet with smooth base.",
+    "Hold the versatile skillet for stovetop cooking in one arm; place the soft brown bread with the other.",
+    "Use the left arm for the medium black pan with handle and the other arm for the golden bread loaf.",
+    "Place the bread with split top inside the flat-bottomed skillet with long handle.",
+    "Hold the heavy black cooking skillet up and transfer the golden bread loaf into it.",
+    "Lift both objects and set the bread with golden-brown crust inside the flat-bottomed skillet with long handle.",
+    "Support the black skillet with smooth base with the left arm; the other arm sets the bread with split top inside.",
+    "Raise the dark pan with sturdy grip, then place the soft brown bread inside with the other arm.",
+    "Place the light brown loaf with smooth sides from the table into the lifted the skillet with extended grip handle.",
+    "Transfer the small golden brown bread into the round cooking pan.",
+    "Move and hold the medium black pan with handle, then place the golden bread loaf inside.",
+    "Keep the solid dark-colored round pan lifted while putting the light brown loaf with smooth sides into it.",
+    "Hold the versatile skillet for stovetop cooking in the left arm while the other arm transfers the light brown bread with ridges.",
+    "Put the brown loaf into the center of the black pan with curved edges.",
+    "Raise the medium black pan with handle with the left arm; the other arm places the light brown loaf with smooth sides.",
+    "Lift and hold the skillet with extended grip handle with the left arm while placing the light brown loaf with smooth sides inside.",
+    "Grab the smooth loaf with rounded edges and place it in the skillet with extended grip handle.",
+    "Keep the skillet with extended grip handle steady with the left arm while placing the light brown loaf with smooth sides inside.",
+    "Pick up the smooth loaf with rounded edges and set it inside the held the skillet with extended grip handle.",
+    "Pick up the small golden brown bread and put it in the smooth round pan made of iron.",
+    "Position the golden bread loaf inside the solid dark-colored round pan."
+  ]
+}
diff --git a/place_bread_skillet/episode_0000031/TCP_third/metadata.json b/place_bread_skillet/episode_0000031/TCP_third/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    174,
+    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": "robotwin_tcp_v1",
+  "shape": [
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+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
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+  "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"
+}
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+  "format_version": "robotwin_4d_v1",
+  "task": "place_container_plate",
+  "episode": "episode_0000042",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_container_plate/aloha_agilex/data/episode_0000042.hdf5",
+  "num_frames": 165,
+  "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
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+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
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+      3,
+      4
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+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
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+    "dtype": "float32",
+    "columns": [
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+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+      {
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+        "start": 6,
+        "end": 7
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+      {
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+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
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+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Lift the ceramic bowl with the right arm and set it on the smooth ceramic plate.",
+    "Transfer the gray ceramic bowl with open top to the top of the round plate.",
+    "Move the smooth light gray bowl onto the medium round ceramic plate.",
+    "Place the rounded bowl with open top squarely on top of the smooth ceramic plate.",
+    "Relocate the light gray medium-sized bowl from the table onto the dish plate.",
+    "Use the right arm to position the rounded bowl with open top on the flat round greenish plate.",
+    "Use the right arm to move the medium-sized bowl onto the greenish-gray flat dinner plate.",
+    "Center the light gray medium-sized bowl on top of the medium plate for food.",
+    "Set the gray bowl with rounded edges on top of the dish plate.",
+    "Use the right arm to place the gray bowl with polished surface onto the round plate.",
+    "Grab the smooth light gray bowl with the right arm and place it on the medium plate for food.",
+    "Pick up the light gray medium-sized bowl and place it on the food plate.",
+    "Position the gray bowl securely on the medium plate for food.",
+    "Carry the smooth light gray bowl to the flat ceramic plate with smooth texture and set it down.",
+    "Place the rounded bowl with open top onto the flat ceramic plate with smooth texture.",
+    "Put the gray bowl with polished surface on the center of the medium round ceramic plate.",
+    "Lift the gray bowl with rounded edges with the right arm and set it on the medium round flat plate.",
+    "Transfer the gray ceramic bowl with open top to the top of the dish plate.",
+    "Move the medium-sized bowl onto the ceramic plate with smooth surface.",
+    "Place the gray ceramic bowl with open top squarely on top of the round plate.",
+    "Relocate the smooth light gray bowl from the table onto the ceramic plate with smooth surface.",
+    "Use the right arm to position the gray bowl with polished surface on the medium plate for food.",
+    "Use the right arm to move the smooth gray bowl onto the ceramic plate with smooth surface.",
+    "Center the gray bowl with polished surface on top of the medium plate for food.",
+    "Set the light gray ceramic bowl on top of the medium round flat plate.",
+    "Use the right arm to place the gray bowl with rounded edges onto the medium plate for food.",
+    "Grab the ceramic bowl with the right arm and place it on the flat round greenish plate.",
+    "Pick up the gray bowl with rounded edges and place it on the ceramic plate with smooth surface.",
+    "Position the gray bowl with rounded edges securely on the round plate.",
+    "Carry the gray bowl to the flat ceramic plate with smooth texture and set it down.",
+    "Place the gray bowl onto the food plate.",
+    "Put the gray ceramic bowl with open top on the center of the medium plate for food.",
+    "Lift the light gray medium-sized bowl with the right arm and set it on the smooth greenish table plate.",
+    "Transfer the medium-sized bowl to the top of the smooth greenish table plate.",
+    "Move the light gray medium-sized bowl onto the ceramic plate with smooth surface.",
+    "Place the medium-sized bowl squarely on top of the smooth ceramic plate.",
+    "Relocate the rounded bowl with open top from the table onto the smooth greenish table plate.",
+    "Use the right arm to position the light gray ceramic bowl on the medium round ceramic plate.",
+    "Use the right arm to move the gray bowl with rounded edges onto the round plate.",
+    "Center the smooth light gray bowl on top of the smooth greenish table plate.",
+    "Set the medium-sized bowl on top of the dish plate.",
+    "Use the right arm to place the smooth gray bowl onto the food plate.",
+    "Grab the ceramic bowl with the right arm and place it on the medium round flat plate.",
+    "Pick up the bowl and place it on the food plate.",
+    "Position the gray bowl securely on the round plate.",
+    "Carry the bowl to the medium plate for food and set it down.",
+    "Place the gray bowl with polished surface onto the flat round greenish plate.",
+    "Put the ceramic bowl on the center of the medium round ceramic plate.",
+    "Lift the light gray medium-sized bowl with the right arm and set it on the greenish-gray flat dinner plate.",
+    "Transfer the light gray medium-sized bowl to the top of the ceramic plate with smooth surface.",
+    "Move the ceramic bowl onto the round plate.",
+    "Place the smooth light gray bowl squarely on top of the greenish-gray flat dinner plate.",
+    "Relocate the rounded bowl with open top from the table onto the medium round flat plate.",
+    "Use the right arm to position the gray bowl with rounded edges on the greenish-gray flat dinner plate.",
+    "Use the right arm to move the gray bowl with rounded edges onto the ceramic plate with smooth surface.",
+    "Center the rounded bowl with open top on top of the ceramic plate with smooth surface.",
+    "Set the light gray ceramic bowl on top of the ceramic plate with smooth surface.",
+    "Use the right arm to place the rounded bowl with open top onto the dish plate.",
+    "Grab the gray ceramic bowl with open top with the right arm and place it on the food plate.",
+    "Pick up the light gray ceramic bowl and place it on the smooth ceramic plate.",
+    "Position the ceramic bowl securely on the flat round greenish plate.",
+    "Carry the medium-sized bowl to the flat ceramic plate with smooth texture and set it down.",
+    "Place the bowl onto the food plate.",
+    "Put the bowl on the center of the greenish-gray flat dinner plate.",
+    "Lift the rounded bowl with open top with the right arm and set it on the smooth greenish table plate.",
+    "Transfer the medium-sized bowl to the top of the smooth ceramic plate.",
+    "Move the gray bowl onto the dish plate.",
+    "Place the medium-sized bowl squarely on top of the medium plate for food.",
+    "Relocate the medium-sized bowl from the table onto the flat ceramic plate with smooth texture.",
+    "Use the right arm to position the ceramic bowl on the medium round ceramic plate.",
+    "Use the right arm to move the bowl onto the smooth greenish table plate.",
+    "Center the bowl on top of the flat ceramic plate with smooth texture.",
+    "Set the gray bowl with polished surface on top of the medium round ceramic plate.",
+    "Use the right arm to place the gray bowl with rounded edges onto the flat ceramic plate with smooth texture.",
+    "Grab the light gray medium-sized bowl with the right arm and place it on the flat round greenish plate.",
+    "Pick up the gray ceramic bowl with open top and place it on the medium round flat plate.",
+    "Position the smooth light gray bowl securely on the medium round ceramic plate.",
+    "Carry the smooth gray bowl to the flat round greenish plate and set it down.",
+    "Place the rounded bowl with open top onto the ceramic plate with smooth surface.",
+    "Put the light gray ceramic bowl on the center of the round plate.",
+    "Lift the light gray medium-sized bowl with the right arm and set it on the flat round greenish plate.",
+    "Transfer the gray bowl to the top of the food plate.",
+    "Move the light gray ceramic bowl onto the dish plate.",
+    "Place the medium-sized bowl squarely on top of the medium round flat plate.",
+    "Relocate the gray bowl from the table onto the round plate.",
+    "Use the right arm to position the gray bowl with rounded edges on the smooth greenish table plate.",
+    "Use the right arm to move the gray bowl onto the ceramic plate with smooth surface.",
+    "Center the smooth gray bowl on top of the medium round ceramic plate.",
+    "Set the rounded bowl with open top on top of the medium round ceramic plate.",
+    "Use the right arm to place the smooth gray bowl onto the greenish-gray flat dinner plate.",
+    "Grab the light gray medium-sized bowl with the right arm and place it on the smooth greenish table plate.",
+    "Pick up the smooth light gray bowl and place it on the flat round greenish plate.",
+    "Position the bowl securely on the greenish-gray flat dinner plate.",
+    "Carry the rounded bowl with open top to the ceramic plate with smooth surface and set it down.",
+    "Place the gray ceramic bowl with open top onto the greenish-gray flat dinner plate.",
+    "Put the gray bowl on the center of the flat ceramic plate with smooth texture.",
+    "Lift the medium-sized bowl with the right arm and set it on the round plate.",
+    "Transfer the rounded bowl with open top to the top of the smooth ceramic plate.",
+    "Move the gray bowl with polished surface onto the dish plate.",
+    "Place the smooth light gray bowl squarely on top of the food plate."
+  ]
+}
diff --git a/place_empty_cup/episode_0000034/TCP_head/metadata.json b/place_empty_cup/episode_0000034/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..940d5fec831e87c3305ed540c50c29c3049f2ba9
--- /dev/null
+++ b/place_empty_cup/episode_0000034/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    172,
+    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/place_empty_cup/episode_0000034/metadata.json b/place_empty_cup/episode_0000034/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..51c494f8fe7b94feb25d3683cc9992cdd43da5ca
--- /dev/null
+++ b/place_empty_cup/episode_0000034/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_empty_cup",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_empty_cup/aloha_agilex/data/episode_0000034.hdf5",
+  "num_frames": 172,
+  "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": [
+      172,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      172,
+      14
+    ],
+    "action_shape": [
+      172,
+      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 cup with smooth plastic surface and place it over the wooden coaster",
+    "Grab the cup with light blue color and place it on the coaster made of smooth wood.",
+    "Use an arm to drop the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Relocate the cup with smooth plastic surface precisely onto the light gray streaked wooden coaster with arm",
+    "Slide the rounded base blue cup onto the flat surface gray wooden coaster with the arm.",
+    "Use an arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Move the rounded base blue cup to the light gray streaked wooden coaster using the arm.",
+    "Grab the medium-sized plastic blue cup and set it onto the round coaster with light streaks.",
+    "Direct the light blue plastic cup to the round coaster and let it rest.",
+    "Make sure the cup for holding liquids ends up on the wooden coaster.",
+    "Using the arm, slide the rounded base blue cup onto the wooden coaster.",
+    "Set the medium-sized plastic blue cup securely on the wooden coaster using the arm.",
+    "Position the rounded base blue cup squarely on top of the wooden coaster.",
+    "Stick the light blue plastic cup onto the smooth round palm-sized coaster using the arm",
+    "Position the light blue plastic cup carefully on the round coaster with light streaks",
+    "Use the arm to put the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Using the arm, align the cup with light blue color over the coaster made of smooth wood",
+    "Slide the cup with smooth plastic surface gently onto the flat surface gray wooden coaster via the arm.",
+    "Use the arm to set the cylindrical light blue cup on the grainy texture coaster",
+    "Grab the light blue plastic cup and place it over the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup onto the coaster with circular shape with the arm",
+    "Set the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm.",
+    "Place the smooth blue cup for liquids on top of the grainy texture coaster",
+    "Lift the light blue plastic cup and stick it onto the light gray streaked wooden coaster.",
+    "Use the arm to position the plastic cup for drinks on the small coaster with grain texture.",
+    "Drop the cup for holding liquids on top of the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids using the arm onto the coaster with circular shape.",
+    "Using the arm, drop the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Pick the smooth blue drinking cup up and drop it on the small coaster with grain texture.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the wooden coaster.",
+    "Align the light blue plastic cup and set it down on the grainy texture coaster",
+    "Use the arm to position the rounded base blue cup onto the round coaster.",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster.",
+    "Position the light blue plastic cup above and drop it on the round coaster with light streaks",
+    "Slide the light blue plastic cup onto the wooden coaster",
+    "Stick the cylindrical light blue cup onto the round coaster with light streaks carefully.",
+    "Lift the plastic cup for drinks and place it onto the round coaster.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster",
+    "Set the cup with light blue color on the flat round wooden coaster using the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the light gray round grainy coaster",
+    "Carefully place the cup for holding liquids onto the round coaster with light streaks without arm",
+    "Use an arm to drop the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Set the cup with smooth plastic surface down on the flat surface gray wooden coaster",
+    "Position the medium-sized plastic blue cup on the coaster made of smooth wood with the arm.",
+    "Use arm to place the cup with light blue color on the coaster with circular shape",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster using the arm.",
+    "Move the rounded base blue cup to the light gray round grainy coaster and set it down.",
+    "Grab the cup for holding liquids and lower it onto the round coaster with light streaks",
+    "Grab the cylindrical light blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Drop the smooth blue cup for liquids firmly on the flat surface gray wooden coaster using arm",
+    "Lift the medium blue cylindrical cup and place it over the round coaster with light streaks",
+    "Grab the blue rounded-bottom cup and place it on the flat surface gray wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the round coaster.",
+    "Relocate the cup for holding liquids precisely onto the round coaster with arm",
+    "Slide the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the grainy texture coaster",
+    "Move the cup with smooth plastic surface to the small coaster with grain texture using the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the light gray streaked wooden coaster.",
+    "Direct the cylindrical light blue cup to the coaster with circular shape and let it rest.",
+    "Make sure the cup for holding liquids ends up on the grainy texture coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface securely on the smooth round palm-sized coaster using the arm.",
+    "Position the light blue plastic cup squarely on top of the flat round wooden coaster.",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm",
+    "Position the smooth blue cup for liquids carefully on the coaster made of smooth wood",
+    "Use the arm to put the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Using the arm, align the light blue plastic cup over the light gray round grainy coaster",
+    "Slide the plastic cup for drinks gently onto the flat round wooden coaster via the arm.",
+    "Use the arm to set the cup with light blue color on the wooden coaster",
+    "Grab the medium-sized plastic blue cup and place it over the grainy texture coaster.",
+    "Move the rounded base blue cup onto the coaster with circular shape with the arm",
+    "Set the cup for holding liquids onto the coaster with circular shape using the arm.",
+    "Place the rounded base blue cup on top of the wooden coaster",
+    "Lift the rounded base blue cup and stick it onto the light gray round grainy coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Drop the medium-sized plastic blue cup on top of the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup using the arm onto the light gray streaked wooden coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the small coaster with grain texture.",
+    "Use the arm to slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Align the medium-sized plastic blue cup and set it down on the flat round wooden coaster",
+    "Use the arm to position the cup for holding liquids onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the light gray round grainy coaster.",
+    "Position the cup for holding liquids above and drop it on the coaster made of smooth wood",
+    "Slide the cylindrical light blue cup onto the grainy texture coaster",
+    "Stick the medium blue cylindrical cup onto the wooden coaster carefully.",
+    "Lift the plastic cup for drinks and place it onto the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster",
+    "Set the smooth blue cup for liquids on the flat round wooden coaster using the arm.",
+    "Set the plastic cup for drinks carefully onto the coaster with circular shape",
+    "Carefully place the blue rounded-bottom cup onto the smooth round palm-sized coaster without arm",
+    "Use an arm to drop the medium blue cylindrical cup on the coaster with circular shape",
+    "Set the cup with smooth plastic surface down on the grainy texture coaster",
+    "Position the light blue plastic cup on the flat round wooden coaster with the arm.",
+    "Use arm to place the medium-sized plastic blue cup on the small coaster with grain texture",
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm.",
+    "Move the cup with light blue color to the round coaster with light streaks and set it down.",
+    "Grab the cup with smooth plastic surface and lower it onto the round coaster with light streaks",
+    "Grab the rounded base blue cup, then place it onto the grainy texture coaster.",
+    "Drop the medium blue cylindrical cup firmly on the round coaster with light streaks using arm"
+  ]
+}
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diff --git a/shake_bottle/episode_0000038/TCP_head/metadata.json b/shake_bottle/episode_0000038/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    262,
+    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/episode_0000038/metadata.json b/shake_bottle/episode_0000038/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle",
+  "episode": "episode_0000038",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle/aloha_agilex/data/episode_0000038.hdf5",
+  "num_frames": 262,
+  "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": [
+      262,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      262,
+      14
+    ],
+    "action_shape": [
+      262,
+      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": [
+    "Grab the bottle for liquids using the left arm, then shake.",
+    "Lift the cylindrical orange bottle with yellow top and shake it gently.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Pick the bottle for liquids up with the left arm and shake.",
+    "Grab the plastic bottle carefully and shake.",
+    "Lift the orange bottle with the left arm and shake.",
+    "Hold and shake the orange cylindrical bottle carefully.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the bottle with narrow neck.",
+    "Shake the bottle with narrow neck firmly after grabbing.",
+    "Pick up the plastic bottle and shake it.",
+    "Grab the medium-sized orange bottle firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Shake the yellow-capped plastic bottle after lifting it.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Using the left arm, shake the bottle with printed label and then place it back.",
+    "Hold the bottle for liquids with the left arm and shake lightly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Take the medium-sized orange bottle using the left arm and give it a shake.",
+    "Utilize the left arm to hold the bottle with printed label and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the bottle with yellow cap up using the left arm and shake it.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Shake the bottle with yellow cap after holding it firmly.",
+    "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "Shake the plastic bottle with sealed yellow cap properly after lifting.",
+    "Grab the orange bottle and move it to shake.",
+    "Lift up the bottle for liquids using the left arm, then shake.",
+    "Grab the bottle with printed label with the left arm and shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Use the left arm to grab the orange bottle and shake it.",
+    "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Lift the bottle with yellow cap with the left arm and shake it.",
+    "Grab and shake the smooth plastic bottle using the left arm.",
+    "With the left arm, pick the bottle with yellow cap and shake properly.",
+    "Pick up the bottle with printed label and shake it well.",
+    "Hold the orange bottle, shake it briefly.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Use the left arm to hold the smooth plastic bottle and shake it.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Shake the yellow-capped plastic bottle using the left arm after grabbing.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Pick the plastic bottle with sealed yellow cap and perform shaking motion.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Grab the orange bottle and shake it steadily.",
+    "Grab the medium-sized orange bottle using the left arm, then shake.",
+    "Lift the cylindrical orange bottle with yellow top and shake it gently.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Pick the bottle for liquids up with the left arm and shake.",
+    "Grab the orange cylindrical bottle carefully and shake.",
+    "Lift the bottle with narrow neck with the left arm and shake.",
+    "Hold and shake the plastic bottle with sealed yellow cap carefully.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the bottle with yellow cap.",
+    "Shake the orange cylindrical bottle firmly after grabbing.",
+    "Pick up the orange cylindrical bottle and shake it.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Shake the cylindrical orange bottle with yellow top after lifting it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Hold the bottle with printed label with the left arm and shake lightly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Take the bottle for liquids using the left arm and give it a shake.",
+    "Utilize the left arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Grip the bottle with narrow neck using the left arm and shake.",
+    "Shake the medium-sized orange bottle after holding it firmly.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Catch the orange cylindrical bottle and shake it instantly.",
+    "Shake the orange cylindrical bottle properly after lifting.",
+    "Grab the bottle with narrow neck and move it to shake.",
+    "Lift up the medium-sized orange bottle using the left arm, then shake.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Use the left arm to grab the bottle with narrow neck and shake it.",
+    "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Lift the yellow-capped plastic bottle with the left arm and shake it.",
+    "Grab and shake the bottle for liquids using the left arm.",
+    "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Hold the orange cylindrical bottle, shake it briefly.",
+    "Secure the orange bottle and perform a shake.",
+    "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Lift the bottle with printed label with the left arm and give it a shake.",
+    "Shake the bottle for liquids using the left arm after grabbing.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Pick the orange bottle, shake it with the left arm.",
+    "Grab the orange cylindrical bottle and shake it steadily."
+  ]
+}
diff --git a/shake_bottle_horizontally/episode_0000018/TCP_third/metadata.json b/shake_bottle_horizontally/episode_0000018/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1047943d4c084818fbd71e3f4df30b32560bba16
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000018/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    302,
+    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/stack_blocks_two/episode_0000040/TCP_head/metadata.json b/stack_blocks_two/episode_0000040/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3618cc028df0ffb9af7136e9e14e662ec8a34c74
--- /dev/null
+++ b/stack_blocks_two/episode_0000040/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    336,
+    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_blocks_two/episode_0000040/TCP_third/metadata.json b/stack_blocks_two/episode_0000040/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b9298f57c9b5e2e7bba72ed79598379ee847ca
--- /dev/null
+++ b/stack_blocks_two/episode_0000040/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    336,
+    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/stack_blocks_two/episode_0000040/metadata.json b/stack_blocks_two/episode_0000040/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc088fb29d2b7118e7a090017faf5a2a700c21da
--- /dev/null
+++ b/stack_blocks_two/episode_0000040/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_blocks_two",
+  "episode": "episode_0000040",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_two/aloha_agilex/data/episode_0000040.hdf5",
+  "num_frames": 336,
+  "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": [
+      336,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      336,
+      14
+    ],
+    "action_shape": [
+      336,
+      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": [
+    "Relocate red block to the middle and place green block on it.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "Position red block at the center and stack green block above it.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Shift red block to the center and place green block on top.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Set red block in the center, then position green block on top of it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Use the right arm to move red block and the left arm to position green block.",
+    "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "Put red block in the center, then add green block above it.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Relocate red block to the middle and place green block on it.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "Position red block at the center and stack green block above it.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Shift red block to the center and place green block on top.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Set red block in the center, then position green block on top of it.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Use the right arm to move red block and the left arm to position green block.",
+    "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "Put red block in the center, then add green block above it.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Relocate red block to the middle and place green block on it.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "Position red block at the center and stack green block above it.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Shift red block to the center and place green block on top.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Center red block and green block on the table and stack green block on top of red block."
+  ]
+}
diff --git a/stack_bowls_three/episode_0000026/TCP_third/metadata.json b/stack_bowls_three/episode_0000026/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc1caf2c993b615fd7b28205712fda0276de9668
--- /dev/null
+++ b/stack_bowls_three/episode_0000026/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    491,
+    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"
+}