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diff --git a/pick_dual_bottles/episode_0000025/TCP_head/metadata.json b/pick_dual_bottles/episode_0000025/TCP_head/metadata.json
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--- /dev/null
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    130,
+    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/pick_dual_bottles/episode_0000025/metadata.json b/pick_dual_bottles/episode_0000025/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000025",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000025.hdf5",
+  "num_frames": 130,
+  "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": [
+      130,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      130,
+      14
+    ],
+    "action_shape": [
+      130,
+      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": [
+    "Raise both the hand-sized soda bottle and the green bottle with indented base simultaneously.",
+    "Lift the bottle with white neck and red top with one arm and the medium green bottle with the other.",
+    "Use one arm for the hand-sized soda bottle and the other for the smooth green bottle.",
+    "Lift the two bottles the dark drink bottle with logo and the plastic bottle together.",
+    "Use each arm to secure one bottle, the bottle with ridges on bottom and the smooth green plastic bottle.",
+    "Each arm should lift one bottle: the smooth bottle with red lid and the green bottle with indented base.",
+    "Pick the dark drink bottle with logo and the medium green bottle with capped neck up in parallel.",
+    "Use separate arms to grasp the bottle with white neck and red top and the medium green bottle simultaneously.",
+    "Catch the narrow-necked bottle and the plastic bottle in parallel.",
+    "Lift the smooth bottle with red lid and the medium green bottle together with both arms.",
+    "Reach for the narrow-necked bottle and the smooth green plastic bottle with both arms simultaneously.",
+    "Use both arms together to pick the brown bottle with red label and the green bottle with indented base.",
+    "Simultaneously grasp and lift the hand-sized soda bottle and the smooth green plastic bottle.",
+    "Secure the long thin bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Pick up the red-capped bottle and the handheld green bottle in one synchronized motion.",
+    "Grasp both bottles, the bottle with ridges on bottom and the medium green bottle, simultaneously.",
+    "Pick the smooth bottle with red lid as the other arm picks the bottle with white printed label.",
+    "Raise both bottles together, the red-capped bottle and the smooth green bottle.",
+    "Grasp the narrow-necked bottle and the medium green bottle at the same time.",
+    "Hold the medium dark brown bottle in one arm and the medium green bottle with capped neck in the other.",
+    "Raise the brown bottle with red label and the bottle with narrow top at the same time.",
+    "Grab both bottles at once: the brown bottle with red label and the medium-sized green bottle.",
+    "Grab the Coca-Cola bottle and the bottle with narrow top together.",
+    "Pick up the medium dark brown bottle and the plastic bottle simultaneously.",
+    "Use both arms to lift the dark drink bottle with logo and the green bottle with indented base together.",
+    "Use each arm to grab one of the medium dark brown bottle and the bottle with ridges near base.",
+    "Pick up both the narrow-necked bottle and the medium green bottle using separate arms.",
+    "Hold both the dark drink bottle with logo and the medium green bottle with capped neck, one in each arm.",
+    "Take the brown bottle with red label and the plastic bottle together, one per arm.",
+    "Take hold of the Coca-Cola bottle and the medium-sized green bottle at once.",
+    "Raise both the hand-sized soda bottle and the medium green bottle with capped neck simultaneously.",
+    "Lift the dark drink bottle with logo with one arm and the green bottle with indented base with the other.",
+    "Use one arm for the medium dark brown bottle and the other for the bottle with ridges near base.",
+    "Lift the two bottles the Coca-Cola bottle and the medium-sized green bottle together.",
+    "Use each arm to secure one bottle, the smooth bottle with red lid and the smooth green bottle.",
+    "Each arm should lift one bottle: the hand-sized soda bottle and the handheld green bottle.",
+    "Pick the plastic drink bottle and the medium green bottle with capped neck up in parallel.",
+    "Use separate arms to grasp the dark drink bottle with logo and the smooth green bottle simultaneously.",
+    "Catch the bottle with white neck and red top and the green bottle with indented base in parallel.",
+    "Lift the narrow-necked bottle and the medium-sized green bottle together with both arms.",
+    "Reach for the bottle with ridges on bottom and the medium green bottle with capped neck with both arms simultaneously.",
+    "Use both arms together to pick the long thin bottle and the plastic bottle.",
+    "Simultaneously grasp and lift the brown bottle with red label and the smooth green bottle.",
+    "Secure the plastic drink bottle and the green bottle with indented base simultaneously with separate arms.",
+    "Pick up the dark drink bottle with logo and the medium green bottle in one synchronized motion.",
+    "Grasp both bottles, the narrow-necked bottle and the medium-sized green bottle, simultaneously.",
+    "Pick the brown bottle with red label as the other arm picks the medium-sized green bottle.",
+    "Raise both bottles together, the plastic drink bottle and the smooth green bottle.",
+    "Grasp the Coca-Cola bottle and the medium green bottle at the same time.",
+    "Hold the narrow-necked bottle in one arm and the handheld green bottle in the other.",
+    "Raise the long thin bottle and the bottle with rounded neck at the same time.",
+    "Grab both bottles at once: the hand-sized soda bottle and the medium green bottle with capped neck.",
+    "Grab the bottle with white neck and red top and the green bottle with indented base together.",
+    "Pick up the Coca-Cola bottle and the bottle with narrow top simultaneously.",
+    "Use both arms to lift the bottle with ridges on bottom and the bottle with white printed label together.",
+    "Use each arm to grab one of the plastic drink bottle and the medium-sized green bottle.",
+    "Pick up both the long thin bottle and the green bottle with indented base using separate arms.",
+    "Hold both the hand-sized soda bottle and the bottle with white printed label, one in each arm.",
+    "Take the hand-sized soda bottle and the green bottle with indented base together, one per arm.",
+    "Take hold of the narrow-necked bottle and the green bottle with indented base at once.",
+    "Raise both the long thin bottle and the smooth green bottle simultaneously.",
+    "Lift the bottle with white neck and red top with one arm and the handheld green bottle with the other.",
+    "Use one arm for the bottle with white neck and red top and the other for the plastic bottle.",
+    "Lift the two bottles the long thin bottle and the smooth green bottle together.",
+    "Use each arm to secure one bottle, the plastic drink bottle and the smooth green plastic bottle.",
+    "Each arm should lift one bottle: the red-capped bottle and the handheld green bottle.",
+    "Pick the bottle with ridges on bottom and the plastic bottle up in parallel.",
+    "Use separate arms to grasp the narrow-necked bottle and the medium green bottle with capped neck simultaneously.",
+    "Catch the bottle with white neck and red top and the bottle with rounded neck in parallel.",
+    "Lift the bottle with ridges on bottom and the handheld green bottle together with both arms.",
+    "Reach for the bottle with white neck and red top and the medium green bottle with both arms simultaneously.",
+    "Use both arms together to pick the red-capped bottle and the bottle with rounded neck.",
+    "Simultaneously grasp and lift the hand-sized soda bottle and the smooth green bottle.",
+    "Secure the narrow-necked bottle and the smooth green bottle simultaneously with separate arms.",
+    "Pick up the dark drink bottle with logo and the smooth green bottle in one synchronized motion.",
+    "Grasp both bottles, the hand-sized soda bottle and the bottle with rounded neck, simultaneously.",
+    "Pick the hand-sized soda bottle as the other arm picks the bottle with narrow top.",
+    "Raise both bottles together, the bottle with ridges on bottom and the smooth green bottle.",
+    "Grasp the narrow-necked bottle and the plastic bottle at the same time.",
+    "Hold the plastic drink bottle in one arm and the medium-sized green bottle in the other.",
+    "Raise the plastic drink bottle and the green bottle with indented base at the same time.",
+    "Grab both bottles at once: the plastic drink bottle and the medium green bottle with capped neck.",
+    "Grab the brown bottle with red label and the bottle with narrow top together.",
+    "Pick up the smooth bottle with red lid and the medium green bottle with capped neck simultaneously.",
+    "Use both arms to lift the plastic drink bottle and the medium green bottle together.",
+    "Use each arm to grab one of the dark drink bottle with logo and the medium green bottle with capped neck.",
+    "Pick up both the bottle with white neck and red top and the smooth green plastic bottle using separate arms.",
+    "Hold both the medium dark brown bottle and the bottle with rounded neck, one in each arm.",
+    "Take the plastic drink bottle and the green bottle with indented base together, one per arm.",
+    "Take hold of the Coca-Cola bottle and the plastic bottle at once.",
+    "Raise both the medium dark brown bottle and the bottle with rounded neck simultaneously.",
+    "Lift the brown bottle with red label with one arm and the bottle with rounded neck with the other.",
+    "Use one arm for the dark drink bottle with logo and the other for the medium-sized green bottle.",
+    "Lift the two bottles the smooth bottle with red lid and the bottle with white printed label together.",
+    "Use each arm to secure one bottle, the smooth bottle with red lid and the bottle with white printed label.",
+    "Each arm should lift one bottle: the medium dark brown bottle and the smooth green bottle.",
+    "Pick the dark drink bottle with logo and the smooth green plastic bottle up in parallel.",
+    "Use separate arms to grasp the plastic drink bottle and the bottle with ridges near base simultaneously.",
+    "Catch the medium dark brown bottle and the medium green bottle in parallel.",
+    "Lift the long thin bottle and the handheld green bottle together with both arms."
+  ]
+}
diff --git a/pick_dual_bottles/episode_0000030/TCP_head/metadata.json b/pick_dual_bottles/episode_0000030/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41dd24ee820a017f28963d9d49395b0bb56a5393
--- /dev/null
+++ b/pick_dual_bottles/episode_0000030/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    130,
+    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/pick_dual_bottles/episode_0000030/TCP_third/metadata.json b/pick_dual_bottles/episode_0000030/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc9602bffa595a286f1fe952eef7eaba0a1838be
--- /dev/null
+++ b/pick_dual_bottles/episode_0000030/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    130,
+    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/pick_dual_bottles/episode_0000030/metadata.json b/pick_dual_bottles/episode_0000030/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6d8b58bdaad7ad8a01b1fd5230158a38d27620
--- /dev/null
+++ b/pick_dual_bottles/episode_0000030/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "pick_dual_bottles",
+  "episode": "episode_0000030",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/pick_dual_bottles/aloha_agilex/data/episode_0000030.hdf5",
+  "num_frames": 130,
+  "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": [
+      130,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      130,
+      14
+    ],
+    "action_shape": [
+      130,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use both arms together to pick the bottle with white neck and red top and the handheld green bottle.",
+    "Hold the narrow-necked bottle in one arm and the bottle with narrow top in the other.",
+    "Grasp the bottle with white neck and red top and the bottle with narrow top at the same time.",
+    "Secure the dark drink bottle with logo and the smooth green bottle simultaneously with separate arms.",
+    "Each arm should lift one bottle: the narrow-necked bottle and the green bottle with indented base.",
+    "Use both arms to lift the bottle with white neck and red top and the smooth green bottle together.",
+    "Reach for the smooth bottle with red lid and the green bottle with indented base with both arms simultaneously.",
+    "Use one arm for the smooth bottle with red lid and the other for the medium green bottle.",
+    "Use separate arms to grasp the bottle with ridges on bottom and the bottle with ridges near base simultaneously.",
+    "Pick up the bottle with white neck and red top and the bottle with white printed label in one synchronized motion.",
+    "Take the hand-sized soda bottle and the handheld green bottle together, one per arm.",
+    "Pick up the hand-sized soda bottle and the medium green bottle simultaneously.",
+    "Pick the Coca-Cola bottle as the other arm picks the bottle with white printed label.",
+    "Grasp both bottles, the bottle with white neck and red top and the smooth green bottle, simultaneously.",
+    "Simultaneously grasp and lift the long thin bottle and the medium green bottle with capped neck.",
+    "Take hold of the bottle with ridges on bottom and the smooth green bottle at once.",
+    "Raise both the brown bottle with red label and the bottle with white printed label simultaneously.",
+    "Lift the two bottles the plastic drink bottle and the smooth green plastic bottle together.",
+    "Use each arm to secure one bottle, the medium dark brown bottle and the bottle with rounded neck.",
+    "Pick the brown bottle with red label and the bottle with ridges near base up in parallel.",
+    "Hold both the Coca-Cola bottle and the green bottle with indented base, one in each arm.",
+    "Grab the Coca-Cola bottle and the smooth green plastic bottle together.",
+    "Lift the hand-sized soda bottle with one arm and the plastic bottle with the other.",
+    "Pick up both the dark drink bottle with logo and the bottle with narrow top using separate arms.",
+    "Use each arm to grab one of the medium dark brown bottle and the smooth green bottle.",
+    "Lift the brown bottle with red label and the medium-sized green bottle together with both arms.",
+    "Catch the bottle with ridges on bottom and the medium green bottle with capped neck in parallel.",
+    "Grab both bottles at once: the brown bottle with red label and the smooth green bottle.",
+    "Raise both bottles together, the long thin bottle and the smooth green plastic bottle.",
+    "Raise the smooth bottle with red lid and the smooth green plastic bottle at the same time.",
+    "Use both arms together to pick the dark drink bottle with logo and the medium green bottle with capped neck.",
+    "Hold the narrow-necked bottle in one arm and the bottle with ridges near base in the other.",
+    "Grasp the bottle with ridges on bottom and the bottle with white printed label at the same time.",
+    "Secure the bottle with white neck and red top and the plastic bottle simultaneously with separate arms.",
+    "Each arm should lift one bottle: the narrow-necked bottle and the smooth green bottle.",
+    "Use both arms to lift the bottle with white neck and red top and the smooth green bottle together.",
+    "Reach for the bottle with ridges on bottom and the medium-sized green bottle with both arms simultaneously.",
+    "Use one arm for the red-capped bottle and the other for the bottle with narrow top.",
+    "Use separate arms to grasp the plastic drink bottle and the smooth green plastic bottle simultaneously.",
+    "Pick up the plastic drink bottle and the smooth green plastic bottle in one synchronized motion.",
+    "Take the dark drink bottle with logo and the smooth green bottle together, one per arm.",
+    "Pick up the brown bottle with red label and the medium-sized green bottle simultaneously.",
+    "Pick the bottle with white neck and red top as the other arm picks the smooth green plastic bottle.",
+    "Grasp both bottles, the Coca-Cola bottle and the bottle with narrow top, simultaneously.",
+    "Simultaneously grasp and lift the brown bottle with red label and the bottle with ridges near base.",
+    "Take hold of the Coca-Cola bottle and the bottle with rounded neck at once.",
+    "Raise both the bottle with white neck and red top and the smooth green plastic bottle simultaneously.",
+    "Lift the two bottles the smooth bottle with red lid and the smooth green bottle together.",
+    "Use each arm to secure one bottle, the Coca-Cola bottle and the smooth green plastic bottle.",
+    "Pick the red-capped bottle and the green bottle with indented base up in parallel.",
+    "Hold both the long thin bottle and the bottle with rounded neck, one in each arm.",
+    "Grab the bottle with white neck and red top and the smooth green plastic bottle together.",
+    "Lift the smooth bottle with red lid with one arm and the plastic bottle with the other.",
+    "Pick up both the brown bottle with red label and the smooth green bottle using separate arms.",
+    "Use each arm to grab one of the long thin bottle and the handheld green bottle.",
+    "Lift the hand-sized soda bottle and the plastic bottle together with both arms.",
+    "Catch the hand-sized soda bottle and the medium green bottle in parallel.",
+    "Grab both bottles at once: the narrow-necked bottle and the bottle with ridges near base.",
+    "Raise both bottles together, the medium dark brown bottle and the medium green bottle with capped neck.",
+    "Raise the dark drink bottle with logo and the smooth green plastic bottle at the same time.",
+    "Use both arms together to pick the smooth bottle with red lid and the handheld green bottle.",
+    "Hold the long thin bottle in one arm and the bottle with white printed label in the other.",
+    "Grasp the brown bottle with red label and the bottle with ridges near base at the same time.",
+    "Secure the bottle with ridges on bottom and the bottle with narrow top simultaneously with separate arms.",
+    "Each arm should lift one bottle: the narrow-necked bottle and the handheld green bottle.",
+    "Use both arms to lift the bottle with white neck and red top and the medium green bottle with capped neck together.",
+    "Reach for the plastic drink bottle and the smooth green plastic bottle with both arms simultaneously.",
+    "Use one arm for the plastic drink bottle and the other for the medium green bottle.",
+    "Use separate arms to grasp the plastic drink bottle and the smooth green bottle simultaneously.",
+    "Pick up the brown bottle with red label and the medium green bottle with capped neck in one synchronized motion.",
+    "Take the medium dark brown bottle and the medium green bottle together, one per arm.",
+    "Pick up the bottle with ridges on bottom and the green bottle with indented base simultaneously.",
+    "Pick the bottle with ridges on bottom as the other arm picks the medium green bottle with capped neck.",
+    "Grasp both bottles, the long thin bottle and the bottle with ridges near base, simultaneously.",
+    "Simultaneously grasp and lift the red-capped bottle and the plastic bottle.",
+    "Take hold of the narrow-necked bottle and the smooth green bottle at once.",
+    "Raise both the plastic drink bottle and the green bottle with indented base simultaneously.",
+    "Lift the two bottles the narrow-necked bottle and the bottle with rounded neck together.",
+    "Use each arm to secure one bottle, the smooth bottle with red lid and the medium green bottle.",
+    "Pick the long thin bottle and the medium green bottle up in parallel.",
+    "Hold both the brown bottle with red label and the bottle with rounded neck, one in each arm.",
+    "Grab the smooth bottle with red lid and the plastic bottle together.",
+    "Lift the red-capped bottle with one arm and the bottle with narrow top with the other.",
+    "Pick up both the dark drink bottle with logo and the medium green bottle using separate arms.",
+    "Use each arm to grab one of the narrow-necked bottle and the bottle with white printed label.",
+    "Lift the bottle with white neck and red top and the bottle with ridges near base together with both arms.",
+    "Catch the dark drink bottle with logo and the bottle with ridges near base in parallel.",
+    "Grab both bottles at once: the bottle with ridges on bottom and the smooth green bottle.",
+    "Raise both bottles together, the smooth bottle with red lid and the plastic bottle.",
+    "Raise the red-capped bottle and the bottle with ridges near base at the same time.",
+    "Use both arms together to pick the narrow-necked bottle and the bottle with ridges near base.",
+    "Hold the bottle with ridges on bottom in one arm and the bottle with narrow top in the other.",
+    "Grasp the dark drink bottle with logo and the medium green bottle with capped neck at the same time.",
+    "Secure the red-capped bottle and the green bottle with indented base simultaneously with separate arms.",
+    "Each arm should lift one bottle: the bottle with white neck and red top and the bottle with rounded neck.",
+    "Use both arms to lift the bottle with ridges on bottom and the bottle with ridges near base together.",
+    "Reach for the bottle with ridges on bottom and the bottle with rounded neck with both arms simultaneously.",
+    "Use one arm for the red-capped bottle and the other for the bottle with ridges near base.",
+    "Use separate arms to grasp the medium dark brown bottle and the green bottle with indented base simultaneously.",
+    "Pick up the hand-sized soda bottle and the smooth green bottle in one synchronized motion."
+  ]
+}
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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": "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": "robotwin_tcp_v1",
+  "shape": [
+    268,
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+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000006",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000006.hdf5",
+  "num_frames": 268,
+  "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": [
+      268,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      268,
+      14
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+    "action_shape": [
+      268,
+      14
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+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the left arm to lower the hand-sized red can for drinks into the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Grab the Coca-Cola can, drop it into the basket with loop handle, and raise the basket with loop handle.",
+    "Pick the red can with white Coca-Cola logo, set it in the basket for holding items, and lift the basket for holding items upward.",
+    "Use the left arm to put the cylindrical red drink can with logo in the brown basket; another arm lifts the brown basket.",
+    "Take the red can with smooth metallic texture, place it into the basket for holding items, then lift the basket for holding items.",
+    "Pick up the Coca-Cola can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the Coca-Cola soda can, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to place the red can with smooth metallic texture in the light brown oval basket; the other arm lifts the light brown oval basket.",
+    "Grab the metallic red beverage can, drop it into the wooden basket with curved handle, then use another arm for the wooden basket with curved handle.",
+    "Drop the red cylindrical can with silver top into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Pick the cylindrical red drink can with logo using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Grab and drop the small aluminum red drink can in the light brown oval basket, lift the light brown oval basket.",
+    "Pick the red can with white lettering with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Take the Coca-Cola can in the left arm, place it into the oval-shaped basket with woven body, another arm lifts the oval-shaped basket with woven body.",
+    "Pick up the red cylindrical can with silver top, place it in the woven basket, and then lift the woven basket.",
+    "Place the rounded red Coca-Cola soda container in the woven basket and then use another arm to lift the woven basket.",
+    "Take the red can with smooth metallic texture and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to put the Coca-Cola soda can in the basket made of woven wood; the other arm raises the basket made of woven wood.",
+    "Use the left arm to grab the smooth red can with silver bottom, put it into the woven basket, and lift the woven basket with another arm.",
+    "Grab the metallic red beverage can, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Pick the red can with smooth metallic texture with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Grab the metallic red beverage can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Pick up the red can with white lettering, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Use one arm for the red can with smooth metallic texture, then the other arm lifts the oval-shaped basket with woven body.",
+    "Grab the metallic red beverage can, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Lift the red can with white lettering, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Use the left arm to place the rounded red Coca-Cola soda container in the basket for holding items; another arm lifts the basket for holding items.",
+    "Pick up the cylindrical red drink can with logo with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.",
+    "Pick up the cylindrical red drink can with logo, put it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to set the Coca-Cola can in the basket made of woven wood; another arm lifts the basket made of woven wood.",
+    "Take the rounded red Coca-Cola soda container, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Use the left arm to put the metallic red beverage can in the wooden basket with curved handle; the other arm lifts the wooden basket with curved handle.",
+    "Place the smooth red can with silver bottom in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Take the red can with white Coca-Cola logo with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab the red cylindrical can with silver top, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Use the left arm to set the rounded red Coca-Cola soda container in the oval-shaped basket with woven body; the other arm lifts the oval-shaped basket with woven body.",
+    "Place the Coca-Cola soda can inside the basket for holding items, then lift the basket for holding items.",
+    "Grab the red can with white lettering, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Lift the small aluminum red drink can, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Pick the metallic red beverage can with the left arm, drop it in the basket for holding items, lift the basket for holding items with another arm.",
+    "Lift the red can with smooth metallic texture, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Grab the red can with smooth metallic texture, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Use the left arm to insert the red cylindrical can with silver top in the basket for holding items; the other arm lifts the basket for holding items.",
+    "Lift the hand-sized red can for drinks, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Use the left arm to grab the red can with white lettering and place in the woven basket, lift the woven basket with another arm.",
+    "Lift the red can with white lettering, put it in the woven basket, and carry the woven basket afterward.",
+    "Grab the small aluminum red drink can with the left arm, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Pick the Coca-Cola soda can, set it in the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Lift the cylindrical red drink can with logo, drop it into the basket with handle, then carry the basket with handle.",
+    "Use the left arm to drop the small aluminum red drink can in the woven basket; the other arm lifts the woven basket.",
+    "Use the left arm to lower the red can with smooth metallic texture into the basket made of woven wood; the other arm lifts the basket made of woven wood.",
+    "Grab the metallic red beverage can, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick the red cylindrical can with silver top, set it in the woven basket, and lift the woven basket upward.",
+    "Use the left arm to put the Coca-Cola can in the basket for carrying things; another arm lifts the basket for carrying things.",
+    "Take the red can with white lettering, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the red cylindrical can with silver top, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the red can with white lettering, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to place the Coca-Cola soda can in the basket for holding items; the other arm lifts the basket for holding items.",
+    "Grab the red can with smooth metallic texture, drop it into the basket for carrying things, then use another arm for the basket for carrying things.",
+    "Drop the small aluminum red drink can into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Pick the metallic red beverage can using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Grab and drop the cylindrical red drink can with logo in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body.",
+    "Pick the red can with white Coca-Cola logo with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Take the cylindrical red drink can with logo in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Pick up the cylindrical red drink can with logo, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Place the cylindrical red drink can with logo in the basket with handle and then use another arm to lift the basket with handle.",
+    "Take the rounded red Coca-Cola soda container and put it in the basket with handle, then lift the basket with handle.",
+    "Use the left arm to put the small aluminum red drink can in the light brown oval basket; the other arm raises the light brown oval basket.",
+    "Use the left arm to grab the rounded red Coca-Cola soda container, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Grab the red cylindrical can with silver top, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Pick the hand-sized red can for drinks with the left arm, set it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Grab the cylindrical red drink can with logo, place it in the woven basket, and raise the woven basket using the other arm.",
+    "Pick up the small aluminum red drink can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use one arm for the Coca-Cola soda can, then the other arm lifts the brown basket.",
+    "Grab the Coca-Cola soda can, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Lift the hand-sized red can for drinks, place it in the basket with loop handle, and raise the basket with loop handle.",
+    "Use the left arm to place the red can with smooth metallic texture in the basket made of woven wood; another arm lifts the basket made of woven wood.",
+    "Pick up the Coca-Cola can with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.",
+    "Pick up the Coca-Cola soda can, put it in the basket for holding items, and lift the basket for holding items.",
+    "Use the left arm to set the small aluminum red drink can in the woven basket; another arm lifts the woven basket.",
+    "Take the red can with white lettering, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Use the left arm to put the metallic red beverage can in the smooth ribbed light brown basket; the other arm lifts the smooth ribbed light brown basket.",
+    "Place the red can with white Coca-Cola logo in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Take the red can with white lettering with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the red cylindrical can with silver top, place it in the woven basket, and lift the woven basket upwards.",
+    "Use the left arm to set the cylindrical red drink can with logo in the basket for holding items; the other arm lifts the basket for holding items.",
+    "Place the Coca-Cola soda can inside the woven basket, then lift the woven basket.",
+    "Grab the hand-sized red can for drinks, drop it into the basket with loop handle, and raise the basket with loop handle with the other arm.",
+    "Lift the small aluminum red drink can, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Pick the hand-sized red can for drinks with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Lift the red can with smooth metallic texture, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Grab the small aluminum red drink can, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Use the left arm to insert the cylindrical red drink can with logo in the basket with loop handle; the other arm lifts the basket with loop handle.",
+    "Lift the red can with white lettering, set it in the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Use the left arm to grab the Coca-Cola soda can and place in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Lift the smooth red can with silver bottom, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.",
+    "Grab the Coca-Cola can with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick the small aluminum red drink can, set it in the basket for holding items, then lift the basket for holding items.",
+    "Lift the small aluminum red drink can, drop it into the basket for carrying things, then carry the basket for carrying things.",
+    "Use the left arm to drop the hand-sized red can for drinks in the basket with loop handle; the other arm lifts the basket with loop handle."
+  ]
+}
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index 0000000000000000000000000000000000000000..cfb46789a8908687c532221251d4d59654b77270
--- /dev/null
+++ b/stack_bowls_three/episode_0000030/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    494,
+    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_three/episode_0000030/metadata.json b/stack_bowls_three/episode_0000030/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f29e4213e97862e2801f0da47e2637ead521dd7
--- /dev/null
+++ b/stack_bowls_three/episode_0000030/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_three",
+  "episode": "episode_0000030",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_three/aloha_agilex/data/episode_0000030.hdf5",
+  "num_frames": 494,
+  "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": [
+      494,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      494,
+      14
+    ],
+    "action_shape": [
+      494,
+      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": [
+    "Form a tower with bowls the ceramic bowl, placing smallest last.",
+    "Position the first the curved bowl light blue shade, and sequentially add the two above it.",
+    "Place the ceramic bowl in a stack with the largest at the foundation.",
+    "Align the second the blue bowl with slightly rounded base atop the first, then add the third above.",
+    "Pick each the blue bowl and stack them in order one on top of another.",
+    "Stack all three the medium-sized bowl for holding food directly on top of each other.",
+    "Place the first the blue bowl with slightly rounded base down, then stack the next two above it.",
+    "Place the first the ceramic bowl with earthy brown trim, then align the others on top using the arm.",
+    "Sequentially stack the small bowl with brown edge using arms to align them.",
+    "Lift each the ceramic bowl with earthy brown trim and stack them together neatly.",
+    "Stack all the ceramic bowl sequentially while handling one at a time.",
+    "Pick up the blue bowl with slightly rounded base and stack them from biggest to smallest.",
+    "Place one the medium-sized bowl for holding food down and carefully stack the others above it.",
+    "Take the bottom the blue bowl and sequentially pile the other two above.",
+    "Start with the first the bowl with shiny texture, adding the next two in sequence.",
+    "Stack the blue bowl with slightly rounded base from the base up to the top.",
+    "Place three the bowl with brown outer rim on top of each other.",
+    "Place each the blue bowl on top of the previous one.",
+    "Stack the medium-sized bowl for holding food, starting with the largest bowl at the bottom.",
+    "Arrange the rounded bowl with light blue color with the largest bowl at the base.",
+    "Grab the ceramic bowl, stack from largest at the base to the smallest.",
+    "Place the first the bowl with shiny texture down, then stack the remaining two.",
+    "Carefully stack the blue bowl with slightly rounded base piece by piece.",
+    "Arrange all three the bowl with shiny texture into a vertical stack.",
+    "Align bowls the glazed bowl with curved sides in descending size, forming a stack.",
+    "Pick up each the ceramic bowl and set them one over another.",
+    "Grab the bowl with shiny texture, arrange them vertically.",
+    "Position the second the medium-sized bowl for holding food over the first, then the third on top.",
+    "Stack the blue bowl without arms in a vertical sequence.",
+    "Organize bowls the dark inside bowl light blue outside by stacking them in size order.",
+    "Grab the first the blue bowl, position the second, then add the third.",
+    "Use arms to stack each the ceramic bowl carefully.",
+    "Arrange the small bowl with brown edge one on top of another.",
+    "Start with the bottom the ceramic bowl with earthy brown trim and finish stacking.",
+    "Lift each the ceramic bowl with earthy brown trim and stack it over the previous one.",
+    "Use the arm to stack the small bowl with brown edge one by one.",
+    "Place the bowls the ceramic bowl in a stacking order.",
+    "Stack the ceramic bowl with earthy brown trim by arranging them sequentially.",
+    "Stack all three the blue bowl with slightly rounded base by placing one on top of another.",
+    "Stack the small bowl with brown edge sequentially using your arms.",
+    "Grab a the glazed bowl with curved sides, set it down, and stack the rest on it.",
+    "Place the bottom the dark inside bowl light blue outside, then add the other two on top.",
+    "Start with one the blue bowl with slightly rounded base, and stack the other two on top.",
+    "Take each the ceramic bowl with earthy brown trim and place them one by one on top.",
+    "Position the bowl with shiny texture one on top of the other largest to smallest.",
+    "Use arms to place each the bowl with brown outer rim atop the previous one.",
+    "Hold the medium-sized bowl for holding food, place them one after another.",
+    "Align and stack the ceramic bowl step by step using arms.",
+    "Arrange the three the small bowl with brown edge by stacking them one over the other.",
+    "Take the glazed bowl with curved sides, stack them from bottom to top.",
+    "Form a tower with bowls the glazed bowl with curved sides, placing smallest last.",
+    "Position the first the ceramic bowl, and sequentially add the two above it.",
+    "Place the blue bowl with slightly rounded base in a stack with the largest at the foundation.",
+    "Align the second the blue bowl atop the first, then add the third above.",
+    "Pick each the glazed bowl with curved sides and stack them in order one on top of another.",
+    "Stack all three the rounded bowl with light blue color directly on top of each other.",
+    "Place the first the medium-sized bowl for holding food down, then stack the next two above it.",
+    "Place the first the small bowl with brown edge, then align the others on top using the arm.",
+    "Sequentially stack the small bowl with brown edge using arms to align them.",
+    "Lift each the glazed bowl with curved sides and stack them together neatly.",
+    "Stack all the ceramic bowl with earthy brown trim sequentially while handling one at a time.",
+    "Pick up the dark inside bowl light blue outside and stack them from biggest to smallest.",
+    "Place one the medium-sized bowl for holding food down and carefully stack the others above it.",
+    "Take the bottom the rounded bowl with light blue color and sequentially pile the other two above.",
+    "Start with the first the bowl with shiny texture, adding the next two in sequence.",
+    "Stack the ceramic bowl from the base up to the top.",
+    "Place three the dark inside bowl light blue outside on top of each other.",
+    "Place each the rounded bowl with light blue color on top of the previous one.",
+    "Stack the ceramic bowl with earthy brown trim, starting with the largest bowl at the bottom.",
+    "Arrange the ceramic bowl with earthy brown trim with the largest bowl at the base.",
+    "Grab the medium-sized bowl for holding food, stack from largest at the base to the smallest.",
+    "Place the first the medium-sized bowl for holding food down, then stack the remaining two.",
+    "Carefully stack the glazed bowl with curved sides piece by piece.",
+    "Arrange all three the blue bowl into a vertical stack.",
+    "Align bowls the ceramic bowl with earthy brown trim in descending size, forming a stack.",
+    "Pick up each the glazed bowl with curved sides and set them one over another.",
+    "Grab the bowl with brown outer rim, arrange them vertically.",
+    "Position the second the dark inside bowl light blue outside over the first, then the third on top.",
+    "Stack the curved bowl light blue shade without arms in a vertical sequence.",
+    "Organize bowls the small bowl with brown edge by stacking them in size order.",
+    "Grab the first the bowl with brown outer rim, position the second, then add the third.",
+    "Use arms to stack each the curved bowl light blue shade carefully.",
+    "Arrange the ceramic bowl one on top of another.",
+    "Start with the bottom the bowl with shiny texture and finish stacking.",
+    "Lift each the glazed bowl with curved sides and stack it over the previous one.",
+    "Use the arm to stack the small bowl with brown edge one by one.",
+    "Place the bowls the ceramic bowl in a stacking order.",
+    "Stack the medium-sized bowl for holding food by arranging them sequentially.",
+    "Stack all three the ceramic bowl by placing one on top of another.",
+    "Stack the blue bowl with slightly rounded base sequentially using your arms.",
+    "Grab a the glazed bowl with curved sides, set it down, and stack the rest on it.",
+    "Place the bottom the blue bowl, then add the other two on top.",
+    "Start with one the bowl with brown outer rim, and stack the other two on top.",
+    "Take each the dark inside bowl light blue outside and place them one by one on top.",
+    "Position the small bowl with brown edge one on top of the other largest to smallest.",
+    "Use arms to place each the rounded bowl with light blue color atop the previous one.",
+    "Hold the rounded bowl with light blue color, place them one after another.",
+    "Align and stack the rounded bowl with light blue color step by step using arms.",
+    "Arrange the three the curved bowl light blue shade by stacking them one over the other.",
+    "Take the rounded bowl with light blue color, stack them from bottom to top."
+  ]
+}
diff --git a/stack_bowls_two/episode_0000028/TCP_third/metadata.json b/stack_bowls_two/episode_0000028/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15adad8f7819f04416c76ed378595d2053b9aa1
--- /dev/null
+++ b/stack_bowls_two/episode_0000028/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    317,
+    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_bowls_two/episode_0000034/TCP_head/metadata.json b/stack_bowls_two/episode_0000034/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..08e4f7e09bb06543b397c2a97ed0687c304c14fa
--- /dev/null
+++ b/stack_bowls_two/episode_0000034/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_0000034/metadata.json b/stack_bowls_two/episode_0000034/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6965d49456321463ebfa1965e39b2063b58327c2
--- /dev/null
+++ b/stack_bowls_two/episode_0000034/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_bowls_two",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_bowls_two/aloha_agilex/data/episode_0000034.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": [
+    "Position the blue bowl with slightly rounded base carefully on the rounded bowl with light blue color.",
+    "Pick the ceramic bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Align the glazed bowl with curved sides and the bowl with brown outer rim, then stack the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "Stack the glazed bowl with curved sides securely on top of the rounded bowl with light blue color.",
+    "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.",
+    "Take the blue bowl, position it, then stack the ceramic bowl directly above.",
+    "Set down the curved bowl light blue shade and drop the medium-sized bowl for holding food on top.",
+    "Pick up the ceramic bowl and set the ceramic bowl on it.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade on top of the medium-sized bowl for holding food.",
+    "Take the medium-sized bowl for holding food, place the ceramic bowl above, and let go.",
+    "Set the dark inside bowl light blue outside over the glazed bowl with curved sides to create the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Take the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Put the rounded bowl with light blue color first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl on it.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl, and stack them.",
+    "the ceramic bowl goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl over it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the bowl with shiny texture and stack the bowl with shiny texture securely onto it.",
+    "Align the bowl with shiny texture over the dark inside bowl light blue outside, then complete the stack.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Stack the ceramic bowl carefully over the small bowl with brown edge.",
+    "Pick up the curved bowl light blue shade, place it down, then position the dark inside bowl light blue outside on top.",
+    "Set the dark inside bowl light blue outside down, then add the dark inside bowl light blue outside over it.",
+    "Pick up the curved bowl light blue shade, grab the bowl with shiny texture, and stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Grab the small bowl with brown edge, then carefully place the bowl with shiny texture on top.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the curved bowl light blue shade on top.",
+    "Hold the glazed bowl with curved sides and stack the rounded bowl with light blue color neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick the rounded bowl with light blue color, position the bowl with brown outer rim, and place it over the rounded bowl with light blue color.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge with the left arm.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture above it.",
+    "Place the bowl with brown outer rim down and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the curved bowl light blue shade, lift it up, position the small bowl with brown edge, and stack them.",
+    "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the curved bowl light blue shade.",
+    "Position the ceramic bowl with earthy brown trim carefully on the blue bowl.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Align the ceramic bowl and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Grab the blue bowl, then stack the bowl with shiny texture on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with shiny texture.",
+    "Position the curved bowl light blue shade, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Take the blue bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Pick up the rounded bowl with light blue color and set the small bowl with brown edge on it.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color on top of the blue bowl with slightly rounded base.",
+    "Take the dark inside bowl light blue outside, place the curved bowl light blue shade above, and let go.",
+    "Set the dark inside bowl light blue outside over the blue bowl to create the stack.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "With the right arm, lift the ceramic bowl and stack the glazed bowl with curved sides using the left arm.",
+    "Take the ceramic bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl to stack above.",
+    "Grab the small bowl with brown edge, position it, and place the medium-sized bowl for holding food on top.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on it.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl, and set the ceramic bowl on the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the glazed bowl with curved sides, align the medium-sized bowl for holding food, and stack them.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with shiny texture rests above.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the ceramic bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Align the blue bowl with slightly rounded base over the blue bowl, then complete the stack.",
+    "Position the bowl with shiny texture with the arm, then set the curved bowl light blue shade above it.",
+    "Stack the ceramic bowl carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the ceramic bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "Set the blue bowl down, then add the medium-sized bowl for holding food over it.",
+    "Pick up the ceramic bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "Lift the blue bowl, lay it down, and stack the bowl with shiny texture on top.",
+    "Hold the curved bowl light blue shade and stack the small bowl with brown edge neatly atop.",
+    "Pick up the blue bowl using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick the curved bowl light blue shade, position the curved bowl light blue shade, and place it over the curved bowl light blue shade.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the ceramic bowl with the left arm.",
+    "Arrange the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge above it.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Lift the rounded bowl with light blue color, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Hold the bowl with shiny texture steady and slide the rounded bowl with light blue color on.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.",
+    "Position the rounded bowl with light blue color carefully on the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl, position on the table, and place the dark inside bowl light blue outside over it."
+  ]
+}