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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    186,
+    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_a2b_left/episode_0000012/TCP_head/metadata.json b/place_a2b_left/episode_0000012/TCP_head/metadata.json
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--- /dev/null
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    146,
+    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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--- /dev/null
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    146,
+    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_a2b_left/episode_0000012/metadata.json b/place_a2b_left/episode_0000012/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_a2b_left",
+  "episode": "episode_0000012",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_a2b_left/aloha_agilex/data/episode_0000012.hdf5",
+  "num_frames": 146,
+  "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": [
+      146,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      146,
+      14
+    ],
+    "action_shape": [
+      146,
+      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": [
+    "Move the rubikscube plastic and smooth to the left of the mini car toy",
+    "With the right arm, position the rubikscube with rotating faces left of the small teal plastic car with windows",
+    "Grab the multicolored puzzle cube using the right arm and move left of the toycar with black tires",
+    "Carefully position the rubikscube with smooth plastic tiles to the left of the compact teal toycar.",
+    "With the right arm, move the rubikscube cube shape to the left side of the light teal toycar with white roof.",
+    "Using the right arm, put the small square rubikscube on left of the light teal toycar with white roof",
+    "Use the right arm to set the rubikscube with smooth plastic tiles left of the small car toy",
+    "Using the right arm, move the yellow-blue rubikscube left of the mini car toy.",
+    "Grab the rubikscube with green center tiles using the right arm and place left of the play car in teal and white.",
+    "Move the rubikscube to the left of the rounded teal car toy.",
+    "Place the rubikscube on the left of the toycar with black tires.",
+    "Set the rubikscube carefully on the left of the miniature teal vehicle toy",
+    "Move the rubikscube colorful and compact to the left of the small teal plastic car with windows.",
+    "Adjust the rubikscube with orange sides to rest on the light teal toycar with white roof's left",
+    "With the right arm, position the rubikscube with smooth plastic tiles left of the toycar with black tires.",
+    "Drop the rubikscube plastic and smooth to the left of the light teal toycar with white roof",
+    "Position the rubikscube cube shape to the left of the compact teal toycar.",
+    "Shift the small square rubikscube leftward to the side of the toycar with black tires",
+    "Put the yellow-blue rubikscube on the left side of the smooth teal car",
+    "Set the rubikscube with rotating faces on the left side of the miniature teal vehicle toy.",
+    "Use the right arm, move the rubikscube left of the small teal plastic car with windows",
+    "Use the right arm to put the rubikscube with orange sides left of the compact teal toycar",
+    "Set the rubikscube with rotating faces directly to the left of the smooth teal car",
+    "Use the right arm to move the colorful rubikscube to the toycar with black tires's left",
+    "Place the colorful rubikscube left of the play car in teal and white using the right arm",
+    "Position the rubikscube with smooth plastic tiles carefully to the left of the smooth teal car.",
+    "Place the rubikscube with rotating faces to rest left of the small teal plastic car with windows using the right arm",
+    "Drop the rubikscube on the left side of the toycar with white roof and teal body",
+    "Using the right arm, set the rubikscube with orange sides to the left of the compact teal toycar.",
+    "Grab the rubikscube plastic and smooth with the right arm and set left of the rounded teal car toy",
+    "Use the right arm to move the rubikscube with green center tiles to the left of the small teal plastic car with windows.",
+    "Place the rubikscube with smooth plastic tiles exactly to the left of the toycar with black tires",
+    "Set the rubikscube with green center tiles to the left of the mini car toy",
+    "Place the rubikscube plastic and smooth left of the toycar with white roof and teal body using the right arm",
+    "Using the right arm, place the rubikscube with green center tiles on the left of the compact teal toycar",
+    "Set the rubikscube plastic and smooth left of the toycar with white roof and teal body.",
+    "Grab the small square rubikscube using the right arm and place it left of the rounded teal car toy.",
+    "With the right arm, stick the rubikscube left of the miniature teal vehicle toy",
+    "With the right arm, set the multicolored puzzle cube on the left of the light teal toycar with white roof.",
+    "Place the rubikscube with smooth plastic tiles directly to the left of the light teal toycar with white roof.",
+    "Move the colorful rubikscube to the left side of the toycar with glossy finish",
+    "Place the rubikscube colorful and compact carefully to the small teal plastic car with windows's left",
+    "Put the rubikscube plastic and smooth to the left of the small car toy",
+    "Use the right arm to position the small square rubikscube left of the play car in teal and white",
+    "With the right arm, place the rubikscube cube shape left of the miniature teal vehicle toy",
+    "Position the rubikscube with rotating faces to the left of the compact teal toycar",
+    "Stick the colorful rubikscube on the left of the play car in teal and white",
+    "Shift the rubikscube with smooth plastic tiles and position it left of the toycar with white roof and teal body.",
+    "Grab the colorful rubikscube with the right arm and shift it left of the light teal toycar with white roof.",
+    "Use the right arm and place the yellow-blue rubikscube left of the play car in teal and white.",
+    "Move the rubikscube cube shape to the left of the miniature teal vehicle toy",
+    "With the right arm, position the rubikscube left of the light teal toycar with white roof",
+    "Grab the rubikscube with smooth plastic tiles using the right arm and move left of the mini car toy",
+    "Carefully position the rubikscube colorful and compact to the left of the toycar with glossy finish.",
+    "With the right arm, move the colorful rubikscube to the left side of the small teal plastic car with windows.",
+    "Using the right arm, put the rubikscube with rotating faces on left of the mini car toy",
+    "Use the right arm to set the rubikscube plastic and smooth left of the small teal plastic car with windows",
+    "Using the right arm, move the multicolored puzzle cube left of the light teal toycar with white roof.",
+    "Grab the rubikscube cube shape using the right arm and place left of the toycar with black tires.",
+    "Move the rubikscube with rotating faces to the left of the toycar with glossy finish.",
+    "Place the rubikscube with rotating faces on the left of the mini car toy.",
+    "Set the rubikscube with orange sides carefully on the left of the smooth teal car",
+    "Move the rubikscube with smooth plastic tiles to the left of the mini car toy.",
+    "Adjust the rubikscube with orange sides to rest on the toycar with glossy finish's left",
+    "With the right arm, position the rubikscube cube shape left of the light teal toycar with white roof.",
+    "Drop the colorful rubikscube to the left of the toycar with white roof and teal body",
+    "Position the yellow-blue rubikscube to the left of the compact teal toycar.",
+    "Shift the rubikscube plastic and smooth leftward to the side of the miniature teal vehicle toy",
+    "Put the rubikscube plastic and smooth on the left side of the play car in teal and white",
+    "Set the yellow-blue rubikscube on the left side of the toycar with white roof and teal body.",
+    "Use the right arm, move the rubikscube with smooth plastic tiles left of the compact teal toycar",
+    "Use the right arm to put the yellow-blue rubikscube left of the toycar with black tires",
+    "Set the rubikscube colorful and compact directly to the left of the play car in teal and white",
+    "Use the right arm to move the rubikscube with rotating faces to the toycar with white roof and teal body's left",
+    "Place the rubikscube with orange sides left of the small car toy using the right arm",
+    "Position the rubikscube plastic and smooth carefully to the left of the small car toy.",
+    "Place the multicolored puzzle cube to rest left of the toycar with black tires using the right arm",
+    "Drop the rubikscube plastic and smooth on the left side of the small teal plastic car with windows",
+    "Using the right arm, set the rubikscube plastic and smooth to the left of the toycar with white roof and teal body.",
+    "Grab the rubikscube with smooth plastic tiles with the right arm and set left of the small teal plastic car with windows",
+    "Use the right arm to move the rubikscube colorful and compact to the left of the small car toy.",
+    "Place the small square rubikscube exactly to the left of the light teal toycar with white roof",
+    "Set the rubikscube colorful and compact to the left of the toycar with black tires",
+    "Place the rubikscube colorful and compact left of the small car toy using the right arm",
+    "Using the right arm, place the rubikscube with orange sides on the left of the toycar with black tires",
+    "Set the small square rubikscube left of the small teal plastic car with windows.",
+    "Grab the rubikscube colorful and compact using the right arm and place it left of the toycar with glossy finish.",
+    "With the right arm, stick the rubikscube plastic and smooth left of the light teal toycar with white roof",
+    "With the right arm, set the colorful rubikscube on the left of the small car toy.",
+    "Place the rubikscube with green center tiles directly to the left of the compact teal toycar.",
+    "Move the rubikscube with smooth plastic tiles to the left side of the small teal plastic car with windows",
+    "Place the small square rubikscube carefully to the miniature teal vehicle toy's left",
+    "Put the colorful rubikscube to the left of the toycar with glossy finish",
+    "Use the right arm to position the colorful rubikscube left of the toycar with white roof and teal body",
+    "With the right arm, place the rubikscube with orange sides left of the rounded teal car toy",
+    "Position the rubikscube colorful and compact to the left of the rounded teal car toy",
+    "Stick the rubikscube with green center tiles on the left of the mini car toy",
+    "Shift the yellow-blue rubikscube and position it left of the toycar with black tires.",
+    "Grab the rubikscube with rotating faces with the right arm and shift it left of the small teal plastic car with windows.",
+    "Use the right arm and place the rubikscube with orange sides left of the light teal toycar with white roof."
+  ]
+}
diff --git a/place_a2b_left/episode_0000013/TCP_head/metadata.json b/place_a2b_left/episode_0000013/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee8615f12d8082eb24bbff045f366f74995a3de
--- /dev/null
+++ b/place_a2b_left/episode_0000013/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    160,
+    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_a2b_left/episode_0000013/metadata.json b/place_a2b_left/episode_0000013/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c5ace3dc6284e6ec570cd321ac5b96e0c4d2f8
--- /dev/null
+++ b/place_a2b_left/episode_0000013/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_a2b_left",
+  "episode": "episode_0000013",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_a2b_left/aloha_agilex/data/episode_0000013.hdf5",
+  "num_frames": 160,
+  "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": [
+      160,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      160,
+      14
+    ],
+    "action_shape": [
+      160,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
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+        "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": [
+    "Shift the smooth plastic mouse leftward to the side of the thin phone with smooth texture",
+    "Drop the smooth plastic mouse on the left side of the black shiny rectangle phone",
+    "Place the palm-fitting mouse directly to the left of the black phone.",
+    "Grab the compact oval-shaped mouse using the right arm and place it left of the multi-camera black phone.",
+    "Using the right arm, move the compact oval-shaped mouse left of the black phone.",
+    "Use the right arm to move the small computer mouse to the left of the thin phone with smooth texture.",
+    "With the right arm, set the dark gray mouse on the left of the black phone.",
+    "Use the right arm to set the mouse with two buttons and wheel left of the black phone",
+    "Adjust the compact oval-shaped mouse to rest on the glass-front black phone's left",
+    "Use the right arm to position the mouse with sleek design left of the compact rectangular phone",
+    "Set the small computer mouse carefully on the left of the black phone",
+    "With the right arm, move the rounded gray mouse to the left side of the smooth black phone.",
+    "Place the ergonomic mouse left of the compact rectangular phone using the right arm",
+    "Move the mouse with sleek design to the left of the compact rectangular phone",
+    "Shift the smooth plastic mouse and position it left of the multi-camera black phone.",
+    "Use the right arm, move the rounded gray mouse left of the metal and glass black phone",
+    "Place the rounded gray mouse left of the sleek black phone using the right arm",
+    "Set the palm-fitting mouse left of the metal and glass black phone.",
+    "Move the compact oval-shaped mouse to the left side of the sleek black phone",
+    "Position the compact oval-shaped mouse to the left of the black shiny rectangle phone",
+    "Move the dark gray mouse to the left of the metal and glass black phone.",
+    "Place the mouse with two buttons and wheel exactly to the left of the glass-front black phone",
+    "Using the right arm, place the small computer mouse on the left of the thin metallic phone",
+    "Put the mouse with sleek design to the left of the glass-front black phone",
+    "Place the dark mouse with logo on top carefully to the multi-camera black phone's left",
+    "Use the right arm and place the palm-fitting mouse left of the black shiny rectangle phone.",
+    "Place the mouse for cursor control on the left of the black shiny rectangle phone.",
+    "Place the ergonomic mouse to rest left of the black phone using the right arm",
+    "Move the mouse for cursor control to the left of the phone with glass front and back.",
+    "Stick the smooth plastic mouse on the left of the black phone",
+    "Using the right arm, put the dark mouse with logo on top on left of the sleek black phone",
+    "Grab the small computer mouse with the right arm and set left of the glass-front black phone",
+    "Use the right arm to move the mouse for cursor control to the glass-front black phone's left",
+    "Set the gray mouse with smooth surface on the left side of the metal and glass black phone.",
+    "Use the right arm to put the small computer mouse left of the glass-front black phone",
+    "With the right arm, stick the palm-fitting mouse left of the black phone",
+    "Position the smooth plastic mouse carefully to the left of the multi-camera black phone.",
+    "With the right arm, position the palm-fitting mouse left of the glass-front black phone.",
+    "Set the gray mouse with smooth surface directly to the left of the rectangular glossy black phone",
+    "With the right arm, place the compact oval-shaped mouse left of the thin metallic phone",
+    "Grab the compact oval-shaped mouse using the right arm and place left of the smooth black phone.",
+    "Using the right arm, set the smooth plastic mouse to the left of the metal and glass black phone.",
+    "Put the rounded gray mouse on the left side of the smooth black phone",
+    "Carefully position the ergonomic mouse to the left of the phone with glass front and back.",
+    "Grab the gray mouse with smooth surface with the right arm and shift it left of the compact rectangular phone.",
+    "Position the rounded gray mouse to the left of the metal and glass black phone.",
+    "Set the ergonomic mouse to the left of the thin phone with smooth texture",
+    "With the right arm, position the smooth plastic mouse left of the multi-camera black phone",
+    "Grab the smooth plastic mouse using the right arm and move left of the sleek black phone",
+    "Drop the dark gray mouse to the left of the black shiny rectangle phone",
+    "Shift the dark gray mouse leftward to the side of the thin metallic phone",
+    "Drop the ergonomic mouse on the left side of the thin phone with smooth texture",
+    "Place the rounded gray mouse directly to the left of the sleek black phone.",
+    "Grab the mouse with two buttons and wheel using the right arm and place it left of the rectangular glossy black phone.",
+    "Using the right arm, move the ergonomic mouse left of the metal and glass black phone.",
+    "Use the right arm to move the mouse with sleek design to the left of the phone with glass front and back.",
+    "With the right arm, set the mouse for cursor control on the left of the black shiny rectangle phone.",
+    "Use the right arm to set the mouse with two buttons and wheel left of the rectangular glossy black phone",
+    "Adjust the ergonomic mouse to rest on the metal and glass black phone's left",
+    "Use the right arm to position the gray mouse with smooth surface left of the metal and glass black phone",
+    "Set the mouse with sleek design carefully on the left of the compact rectangular phone",
+    "With the right arm, move the mouse for cursor control to the left side of the sleek black phone.",
+    "Place the mouse with sleek design left of the thin metallic phone using the right arm",
+    "Move the mouse with sleek design to the left of the multi-camera black phone",
+    "Shift the smooth plastic mouse and position it left of the thin metallic phone.",
+    "Use the right arm, move the dark gray mouse left of the compact rectangular phone",
+    "Place the compact oval-shaped mouse left of the compact rectangular phone using the right arm",
+    "Set the compact oval-shaped mouse left of the black phone.",
+    "Move the palm-fitting mouse to the left side of the thin phone with smooth texture",
+    "Position the compact oval-shaped mouse to the left of the metal and glass black phone",
+    "Move the small computer mouse to the left of the multi-camera black phone.",
+    "Place the mouse with sleek design exactly to the left of the compact rectangular phone",
+    "Using the right arm, place the dark gray mouse on the left of the sleek black phone",
+    "Put the rounded gray mouse to the left of the black phone",
+    "Place the small computer mouse carefully to the phone with glass front and back's left",
+    "Use the right arm and place the smooth plastic mouse left of the glass-front black phone.",
+    "Place the mouse for cursor control on the left of the black shiny rectangle phone.",
+    "Place the dark gray mouse to rest left of the thin metallic phone using the right arm",
+    "Move the mouse with sleek design to the left of the thin metallic phone.",
+    "Stick the ergonomic mouse on the left of the sleek black phone",
+    "Using the right arm, put the mouse for cursor control on left of the sleek black phone",
+    "Grab the dark mouse with logo on top with the right arm and set left of the phone with glass front and back",
+    "Use the right arm to move the dark mouse with logo on top to the thin phone with smooth texture's left",
+    "Set the mouse for cursor control on the left side of the thin phone with smooth texture.",
+    "Use the right arm to put the gray mouse with smooth surface left of the compact rectangular phone",
+    "With the right arm, stick the palm-fitting mouse left of the phone with glass front and back",
+    "Position the smooth plastic mouse carefully to the left of the smooth black phone.",
+    "With the right arm, position the dark gray mouse left of the thin metallic phone.",
+    "Set the smooth plastic mouse directly to the left of the smooth black phone",
+    "With the right arm, place the mouse with sleek design left of the thin phone with smooth texture",
+    "Grab the smooth plastic mouse using the right arm and place left of the thin metallic phone.",
+    "Using the right arm, set the dark mouse with logo on top to the left of the thin metallic phone.",
+    "Put the dark gray mouse on the left side of the sleek black phone",
+    "Carefully position the rounded gray mouse to the left of the thin metallic phone.",
+    "Grab the dark mouse with logo on top with the right arm and shift it left of the thin metallic phone.",
+    "Position the mouse with two buttons and wheel to the left of the smooth black phone.",
+    "Set the gray mouse with smooth surface to the left of the sleek black phone",
+    "With the right arm, position the compact oval-shaped mouse left of the rectangular glossy black phone",
+    "Grab the dark mouse with logo on top using the right arm and move left of the metal and glass black phone",
+    "Drop the mouse with two buttons and wheel to the left of the sleek black phone"
+  ]
+}
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    254,
+    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_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000022",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000022.hdf5",
+  "num_frames": 254,
+  "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": [
+      254,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      254,
+      14
+    ],
+    "action_shape": [
+      254,
+      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": [
+    "Use the right arm to put the gold patterned beverage can in the basket with handle; another arm lifts the basket with handle.",
+    "Pick the red can, set it in the brown basket, then lift the brown basket.",
+    "Take the compact metal drink can and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Lift the compact metal drink can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Lift the metallic soda can, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Use the right arm to grab the red and gold cylindrical can and place in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Pick up the red can, put it in the woven basket, and lift the woven basket.",
+    "Use the right arm to insert the gold patterned beverage can in the smooth ribbed light brown basket; the other arm lifts the smooth ribbed light brown basket.",
+    "Take the red beverage can with curved top in the right arm, place it into the basket for carrying things, another arm lifts the basket for carrying things.",
+    "Use the right arm to put the palm-sized drink can in the basket made of woven wood; the other arm lifts the basket made of woven wood.",
+    "Take the metallic can with rounded edges with the right arm, drop it into the basket with handle, and lift the basket with handle using another arm.",
+    "Pick up the bright red drink container can, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Grab the smooth red soda can with the right arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Grab the red beverage can with curved top, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges with the other arm.",
+    "Grab the bright red drink container can, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Pick the red and gold cylindrical can with the right arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Place the red beverage can with curved top inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the red can with gold illustrations, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the right arm to drop the bright red drink container can in the brown basket; the other arm lifts the brown basket.",
+    "Pick the gold-decorated aluminum can with the right arm, drop it in the woven basket, lift the woven basket with another arm.",
+    "Use the right arm to set the metallic can with rounded edges in the smooth ribbed light brown basket; another arm lifts the smooth ribbed light brown basket.",
+    "Pick up the bright red drink container can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the gold-decorated aluminum can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Place the red can in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Grab the metallic soda can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Use the right arm to place the palm-sized drink can in the basket for holding items; another arm lifts the basket for holding items.",
+    "Grab and drop the red beverage can with curved top in the woven basket, lift the woven basket.",
+    "Drop the red beverage can with curved top into the basket with loop handle using the right arm, then lift the basket with loop handle with another arm.",
+    "Lift the metallic can with rounded edges, place it inside the woven basket, and elevate the woven basket.",
+    "Take the red and gold cylindrical can, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the metallic soda can, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Pick up the bright red drink container can, set it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Pick up the red can with gold illustrations with the right arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Lift the gold patterned beverage can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick the metallic can with rounded edges, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Pick the bright red drink container can using the right arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Lift the metallic can with rounded edges, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick the bright red drink container can with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Use one arm for the gold-decorated aluminum can, then the other arm lifts the basket for holding items.",
+    "Pick up the metallic soda can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the right arm to set the bright red drink container can in the oval-shaped basket with woven body; the other arm lifts the oval-shaped basket with woven body.",
+    "Place the red can with gold illustrations in the basket for holding items and then use another arm to lift the basket for holding items.",
+    "Use the right arm to place the red can with gold illustrations in the basket with handle; the other arm lifts the basket with handle.",
+    "Grab the palm-sized drink can, drop it into the woven basket, and raise the woven basket.",
+    "Use the right arm to lower the smooth red soda can into the basket for carrying things; the other arm lifts the basket for carrying things.",
+    "Use the right arm to grab the metallic soda can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Use the right arm to put the red and gold cylindrical can in the basket made of woven wood; the other arm raises the basket made of woven wood.",
+    "Grab the red can with gold illustrations, put it in the basket for carrying things, then raise the basket for carrying things.",
+    "Take the red and gold cylindrical can, set it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Lift the bright red drink container can, put it in the basket for holding items, and carry the basket for holding items afterward.",
+    "Use the right arm to put the metallic soda can in the basket with handle; another arm lifts the basket with handle.",
+    "Pick the metallic soda can, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Take the red can and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the metallic soda can, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.",
+    "Lift the palm-sized drink can, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Use the right arm to grab the red can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Pick up the palm-sized drink can, put it in the basket with loop handle, and lift the basket with loop handle.",
+    "Use the right arm to insert the red beverage can with curved top in the oval-shaped basket with woven body; the other arm lifts the oval-shaped basket with woven body.",
+    "Take the metallic soda can in the right arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Use the right arm to put the compact metal drink can in the basket for holding items; the other arm lifts the basket for holding items.",
+    "Take the gold-decorated aluminum can with the right arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Pick up the palm-sized drink can, place it in the basket with handle, and then lift the basket with handle.",
+    "Grab the gold-decorated aluminum can with the right arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Grab the metallic can with rounded edges, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Grab the metallic can with rounded edges, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body using the other arm.",
+    "Pick the red can with gold illustrations with the right arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Place the red can with gold illustrations inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the metallic soda can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Use the right arm to drop the compact metal drink can in the woven basket; the other arm lifts the woven basket.",
+    "Pick the gold patterned beverage can with the right arm, drop it in the wooden basket with curved handle, lift the wooden basket with curved handle with another arm.",
+    "Use the right arm to set the bright red drink container can in the brown basket with woven ridges; another arm lifts the brown basket with woven ridges.",
+    "Pick up the metallic soda can, place it into the brown basket, then lift the brown basket.",
+    "Grab the smooth red soda can, set it into the wooden basket with curved handle, then raise the wooden basket with curved handle.",
+    "Place the palm-sized drink can in the wooden basket with curved handle and then lift the wooden basket with curved handle.",
+    "Grab the red beverage can with curved top, place it in the basket made of woven wood, and lift the basket made of woven wood upwards.",
+    "Use the right arm to place the red can with gold illustrations in the light brown oval basket; another arm lifts the light brown oval basket.",
+    "Grab and drop the palm-sized drink can in the basket with handle, lift the basket with handle.",
+    "Drop the metallic can with rounded edges into the oval-shaped basket with woven body using the right arm, then lift the oval-shaped basket with woven body with another arm.",
+    "Lift the bright red drink container can, place it inside the brown basket, and elevate the brown basket.",
+    "Take the metallic soda can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the red can, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Pick up the metallic can with rounded edges, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Pick up the metallic soda can with the right arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket.",
+    "Lift the red can with gold illustrations, set it in the brown basket, and elevate the brown basket.",
+    "Pick the red can with gold illustrations, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Pick the palm-sized drink can using the right arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Lift the gold-decorated aluminum can, place it in the basket with handle, and raise the basket with handle.",
+    "Pick the metallic soda can with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Use one arm for the metallic can with rounded edges, then the other arm lifts the basket with loop handle.",
+    "Pick up the red can with gold illustrations, put it into the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the right arm to set the red and gold cylindrical can in the brown basket; the other arm lifts the brown basket.",
+    "Place the bright red drink container can in the light brown oval basket and then use another arm to lift the light brown oval basket.",
+    "Use the right arm to place the metallic can with rounded edges in the basket with handle; the other arm lifts the basket with handle.",
+    "Grab the red can with gold illustrations, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Use the right arm to lower the metallic can with rounded edges into the basket made of woven wood; the other arm lifts the basket made of woven wood.",
+    "Use the right arm to grab the compact metal drink can, put it into the basket with loop handle, and lift the basket with loop handle with another arm.",
+    "Use the right arm to put the bright red drink container can in the smooth ribbed light brown basket; the other arm raises the smooth ribbed light brown basket.",
+    "Grab the gold patterned beverage can, put it in the light brown oval basket, then raise the light brown oval basket.",
+    "Take the red beverage can with curved top, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Lift the red can, put it in the basket for holding items, and carry the basket for holding items afterward."
+  ]
+}
diff --git a/place_cans_plasticbox/episode_0000028/TCP_third/metadata.json b/place_cans_plasticbox/episode_0000028/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e00dc2f76b329d9a14d8aba102d689395e3baff0
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000028/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    321,
+    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_cans_plasticbox/episode_0000034/TCP_head/metadata.json b/place_cans_plasticbox/episode_0000034/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b2faa964eab1a212810800b1da9e00968dfe448
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000034/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    313,
+    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_cans_plasticbox/episode_0000034/metadata.json b/place_cans_plasticbox/episode_0000034/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d26b636dc85e5550e20e06b235628dbcea7464fe
--- /dev/null
+++ b/place_cans_plasticbox/episode_0000034/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_cans_plasticbox",
+  "episode": "episode_0000034",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_cans_plasticbox/aloha_agilex/data/episode_0000034.hdf5",
+  "num_frames": 313,
+  "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": [
+      313,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      313,
+      14
+    ],
+    "action_shape": [
+      313,
+      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": [
+    "First grasp the drink can with bright colors and the medium-sized soda can together, then place both in the deep blue box for storage.",
+    "Pick the metallic drink can with pull-tab and the red can with decorative label simultaneously, then place them inside the deep blue plasticbox with grooves.",
+    "Lift the small soda can with lime graphics and the can with flat silver bottom simultaneously, then set them into the medium blue plasticbox.",
+    "Pick the metallic drink can with pull-tab and the cylindrical metal can together, then drop each into the deep blue plasticbox with grooves",
+    "Place the metal can with pull-tab top and the smooth red can into the rectangular storage box with grooves using both arms.",
+    "Use both arms, position the small soda can with lime graphics and the red can with decorative label within the rectangular storage box with grooves.",
+    "Grab the drink can with bright colors and the cylindrical metal can together, then insert each into the blue plastic rectangular storage box.",
+    "Use the arms to transfer the beverage can with red green graphics and the can with flat silver bottom into the medium blue plasticbox.",
+    "Place the red green can in the plasticbox with grooved sides, follow with the smooth red can using each arm.",
+    "Use both arms to pick the drink can with bright colors and the red shiny can with green label together for the plasticbox with grooved sides.",
+    "Move the green red metallic soda can to the plasticbox with grooved sides and repeat with the red soda can with green accents.",
+    "Employ both arms to pick the metallic drink can with pull-tab and the can with flat silver bottom, and place them inside the blue plastic rectangular storage box.",
+    "With both arms, transfer the red green beverage can and the drink can with smooth red finish into the blue box with angled edges.",
+    "Use both arms to move the small soda can with lime graphics and the cylindrical metal can into the blue box for storing things",
+    "Lift the small soda can with lime graphics and the metal can with red base together, then place each in the blue box with angled edges.",
+    "Place the smooth cylindrical can with lime pattern and the red can with decorative label into the deep blue box for storage with dual arms",
+    "Drop the metal can with pull-tab top and the drink can with smooth red finish into the blue box for storing things with both arms",
+    "Pick the red green beverage can and the medium-sized soda can together, then move each into the deep blue plasticbox with grooves",
+    "Use dual arms to pick the colorful can with lime and orange design and the cylindrical can with flat surfaces, placing both in the medium box with angled sides.",
+    "Transfer the drink can with bright colors and the red and white beverage can into the medium storage plasticbox using dual arms",
+    "Use both arms to move the colorful can with lime and orange design and the cylindrical metal can into the deep blue box for storage.",
+    "Utilize the arms to deposit both the drink can with bright colors and the red soda can with green accents into the blue box for storing things.",
+    "First move the can with red green label to the blue box with angled edges, then move the cylindrical metal can into the blue box with angled edges.",
+    "Grasp the beverage can with red green graphics and the red and white beverage can together; transfer the beverage can with red green graphics, then the red and white beverage can, to the blue plasticbox.",
+    "Pick up the soda can with lime illustration and the drink can with smooth red finish with separate arms, then fill the medium blue plasticbox.",
+    "Transfer the metal can with pull-tab top to the blue box for storing things, then transfer the red soda can with green accents to the blue box for storing things.",
+    "Pick and drop the colorful can with lime and orange design and the drink can with smooth red finish into the smooth blue hard plasticbox.",
+    "Grip the soda can with lime illustration and the drink can with smooth red finish simultaneously, then insert both into the plasticbox with grooved sides.",
+    "Lift the soda can with lime illustration and the red and white beverage can, then set them inside the plasticbox with grooved sides",
+    "Move the metal can with pull-tab top and the smooth red can into the medium blue plasticbox using separate arms.",
+    "After grasping the drink can with bright colors and the drink can with smooth red finish together, place each into the blue box with angled edges.",
+    "Use both arms to grab the soda can with lime illustration and the cylindrical metal can, place them in the medium blue plasticbox.",
+    "Place the small soda can with lime graphics into the blue box with angled edges, then place the medium-sized soda can into the blue box with angled edges.",
+    "Using dual arms, place the green red metallic soda can and the red and white beverage can inside the smooth blue hard plasticbox",
+    "Pick the colorful can with lime and orange design and the red and white beverage can together, then move both into the medium blue plasticbox.",
+    "Transfer the soda can with lime illustration into the plasticbox with grooved sides, then position the red and white beverage can within the plasticbox with grooved sides.",
+    "Pick the metallic drink can with pull-tab and the medium-sized soda can together, then put both inside the deep blue box for storage.",
+    "Both arms lift the small soda can with lime graphics and the medium-sized soda can, then place them in the rectangular storage box with grooves.",
+    "Lift the metal can with pull-tab top and the cylindrical metal can together, then place both in the blue box for storing things.",
+    "Use both arms to place the drink can with bright colors and the medium-sized soda can into the blue box for storing things.",
+    "Use both arms to place the soda can with lime illustration and the smooth red can inside the blue box for storing things.",
+    "Grasp the colorful can with lime and orange design and the cylindrical can with flat surfaces simultaneously, then place both in the medium storage plasticbox.",
+    "Use your arms to set the soda can with lime illustration and the red soda can with green accents gently into the medium storage plasticbox.",
+    "Begin with the soda can with lime illustration, place it in the medium blue plasticbox, finish with the red drink can with white lid into the medium blue plasticbox.",
+    "Lift the red green beverage can and the metal can with red base, and stick them into the blue plastic rectangular storage box",
+    "Pick the small soda can with lime graphics and the red and white beverage can together; place the small soda can with lime graphics, then the red and white beverage can, in the blue plasticbox.",
+    "Grab the soda can with lime illustration and the cylindrical can with flat surfaces together, then transfer them to the smooth blue hard plasticbox.",
+    "Use arms to set the soda can with lime illustration and the medium-sized soda can into the blue plasticbox.",
+    "Place the smooth cylindrical can with lime pattern and the medium-sized soda can in the smooth blue hard plasticbox using both arms.",
+    "Pick the drink can with bright colors and the red soda can with green accents using both arms and put them in the plasticbox with grooved sides",
+    "First grasp the smooth cylindrical can with lime pattern and the medium-sized soda can together, then place both in the medium box with angled sides.",
+    "Pick the red green beverage can and the can with flat silver bottom simultaneously, then place them inside the blue box for storing things.",
+    "Lift the metal can with pull-tab top and the metal can with red base simultaneously, then set them into the blue box with angled edges.",
+    "Pick the red green beverage can and the red and white beverage can together, then drop each into the blue box for storing things",
+    "Place the red green beverage can and the red and white beverage can into the deep blue box for storage using both arms.",
+    "Use both arms, position the red green can and the red can with decorative label within the blue box for storing things.",
+    "Grab the metallic drink can with pull-tab and the medium-sized soda can together, then insert each into the plasticbox with grooved sides.",
+    "Use the arms to transfer the soda can with lime illustration and the cylindrical metal can into the medium blue plasticbox.",
+    "Place the green red metallic soda can in the deep blue plasticbox with grooves, follow with the red drink can with white lid using each arm.",
+    "Use both arms to pick the green red metallic soda can and the metal can with red base together for the deep blue box for storage.",
+    "Move the drink can with bright colors to the blue box with angled edges and repeat with the red and white beverage can.",
+    "Employ both arms to pick the metallic drink can with pull-tab and the can with flat silver bottom, and place them inside the medium storage plasticbox.",
+    "With both arms, transfer the metal can with pull-tab top and the metal can with red base into the smooth blue hard plasticbox.",
+    "Use both arms to move the soda can with lime illustration and the red can with decorative label into the blue box for storing things",
+    "Lift the beverage can with red green graphics and the medium-sized soda can together, then place each in the rectangular storage box with grooves.",
+    "Place the red green beverage can and the metal can with red base into the medium blue plasticbox with dual arms",
+    "Drop the smooth cylindrical can with lime pattern and the red can with decorative label into the blue box for storing things with both arms",
+    "Pick the beverage can with red green graphics and the red can with decorative label together, then move each into the medium blue plasticbox",
+    "Use dual arms to pick the drink can with bright colors and the smooth red can, placing both in the medium box with angled sides.",
+    "Transfer the red green can and the can with flat silver bottom into the medium box with angled sides using dual arms",
+    "Use both arms to move the drink can with bright colors and the red soda can with green accents into the blue box for storing things.",
+    "Utilize the arms to deposit both the green red metallic soda can and the metal can with red base into the smooth blue hard plasticbox.",
+    "First move the red green beverage can to the plasticbox with grooved sides, then move the red can with decorative label into the plasticbox with grooved sides.",
+    "Grasp the drink can with bright colors and the can with flat silver bottom together; transfer the drink can with bright colors, then the can with flat silver bottom, to the deep blue plasticbox with grooves.",
+    "Pick up the green red metallic soda can and the cylindrical can with flat surfaces with separate arms, then fill the plasticbox with grooved sides.",
+    "Transfer the metal can with pull-tab top to the blue box for storing things, then transfer the red shiny can with green label to the blue box for storing things.",
+    "Pick and drop the metallic drink can with pull-tab and the red and white beverage can into the blue plastic rectangular storage box.",
+    "Grip the smooth cylindrical can with lime pattern and the smooth red can simultaneously, then insert both into the medium box with angled sides.",
+    "Lift the soda can with lime illustration and the medium-sized soda can, then set them inside the blue plastic rectangular storage box",
+    "Move the smooth cylindrical can with lime pattern and the smooth red can into the medium box with angled sides using separate arms.",
+    "After grasping the metal can with pull-tab top and the smooth red can together, place each into the medium storage plasticbox.",
+    "Use both arms to grab the colorful can with lime and orange design and the red can with decorative label, place them in the plasticbox with grooved sides.",
+    "Place the small soda can with lime graphics into the deep blue plasticbox with grooves, then place the red shiny can with green label into the deep blue plasticbox with grooves.",
+    "Using dual arms, place the metal can with pull-tab top and the cylindrical can with flat surfaces inside the medium box with angled sides",
+    "Pick the metallic drink can with pull-tab and the medium-sized soda can together, then move both into the blue plasticbox.",
+    "Transfer the soda can with lime illustration into the blue box for storing things, then position the red soda can with green accents within the blue box for storing things.",
+    "Pick the colorful can with lime and orange design and the red and white beverage can together, then put both inside the blue box for storing things.",
+    "Both arms lift the green red metallic soda can and the red shiny can with green label, then place them in the medium blue plasticbox.",
+    "Lift the colorful can with lime and orange design and the can with flat silver bottom together, then place both in the rectangular storage box with grooves.",
+    "Use both arms to place the metal can with pull-tab top and the red drink can with white lid into the blue plasticbox.",
+    "Use both arms to place the metal can with pull-tab top and the drink can with smooth red finish inside the medium storage plasticbox.",
+    "Grasp the soda can with lime illustration and the red soda can with green accents simultaneously, then place both in the deep blue box for storage.",
+    "Use your arms to set the smooth cylindrical can with lime pattern and the cylindrical can with flat surfaces gently into the plasticbox with grooved sides.",
+    "Begin with the red green beverage can, place it in the medium storage plasticbox, finish with the red soda can with green accents into the medium storage plasticbox.",
+    "Lift the colorful can with lime and orange design and the can with flat silver bottom, and stick them into the blue plasticbox",
+    "Pick the small soda can with lime graphics and the red shiny can with green label together; place the small soda can with lime graphics, then the red shiny can with green label, in the blue plastic rectangular storage box.",
+    "Grab the metallic drink can with pull-tab and the can with flat silver bottom together, then transfer them to the blue box with angled edges.",
+    "Use arms to set the metallic drink can with pull-tab and the red and white beverage can into the blue plastic rectangular storage box.",
+    "Place the small soda can with lime graphics and the cylindrical metal can in the deep blue box for storage using both arms.",
+    "Pick the can with red green label and the red soda can with green accents using both arms and put them in the blue plasticbox"
+  ]
+}
diff --git a/place_container_plate/episode_0000026/TCP_head/metadata.json b/place_container_plate/episode_0000026/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e009ac9372431bb25391e0dbc4dac2f1a39e527
--- /dev/null
+++ b/place_container_plate/episode_0000026/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    168,
+    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_container_plate/episode_0000026/metadata.json b/place_container_plate/episode_0000026/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..99b6ffce4df50528539e0560f70d011e522d6cad
--- /dev/null
+++ b/place_container_plate/episode_0000026/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_container_plate",
+  "episode": "episode_0000026",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_container_plate/aloha_agilex/data/episode_0000026.hdf5",
+  "num_frames": 168,
+  "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": [
+      168,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      168,
+      14
+    ],
+    "action_shape": [
+      168,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick up the hand-sized rough metal cup and place it on the smooth greenish table plate.",
+    "Relocate the gray cup from the table onto the smooth ceramic plate.",
+    "Use the left arm to place the cup for holding liquids onto the flat round greenish plate.",
+    "Use the left arm to move the cup for holding liquids onto the smooth ceramic plate.",
+    "Grab the cylindrical cup with grainy surface with the left arm and place it on the medium round ceramic plate.",
+    "Move the gray cup onto the smooth greenish table plate.",
+    "Set the brown and gray metal cup on top of the medium round flat plate.",
+    "Lift the hand-sized rough metal cup with the left arm and set it on the medium round flat plate.",
+    "Position the cup with worn metal finish securely on the medium round flat plate.",
+    "Center the cup with rough texture on top of the greenish-gray flat dinner plate.",
+    "Use the left arm to position the gray cup on the ceramic plate with smooth surface.",
+    "Transfer the hand-sized rough metal cup to the top of the round plate.",
+    "Put the simple dark gray drinking cup on the center of the medium round ceramic plate.",
+    "Place the brown and gray metal cup squarely on top of the smooth ceramic plate.",
+    "Carry the dark gray cylinder cup to the greenish-gray flat dinner plate and set it down.",
+    "Place the simple dark gray drinking cup onto the food plate.",
+    "Pick up the cup with rough texture and place it on the smooth ceramic plate.",
+    "Relocate the brown and gray metal cup from the table onto the greenish-gray flat dinner plate.",
+    "Use the left arm to place the cup for holding liquids onto the greenish-gray flat dinner plate.",
+    "Use the left arm to move the brown and gray metal cup onto the dish plate.",
+    "Grab the cup for holding liquids with the left arm and place it on the ceramic plate with smooth surface.",
+    "Move the cup with rough texture onto the round plate.",
+    "Set the brown and gray metal cup on top of the smooth ceramic plate.",
+    "Lift the cup with rough texture with the left arm and set it on the flat ceramic plate with smooth texture.",
+    "Position the metal cup securely on the flat ceramic plate with smooth texture.",
+    "Center the cylindrical cup with grainy surface on top of the dish plate.",
+    "Use the left arm to position the cup with worn metal finish on the medium plate for food.",
+    "Transfer the metal cup to the top of the smooth ceramic plate.",
+    "Put the dark gray cylinder cup on the center of the flat round greenish plate.",
+    "Place the cup with worn metal finish squarely on top of the smooth ceramic plate.",
+    "Carry the gray cup with faded brown spots to the round plate and set it down.",
+    "Place the medium-sized beverage cup onto the round plate.",
+    "Pick up the cylindrical cup with grainy surface and place it on the greenish-gray flat dinner plate.",
+    "Relocate the metal cup from the table onto the dish plate.",
+    "Use the left arm to place the brown and gray metal cup onto the smooth greenish table plate.",
+    "Use the left arm to move the medium-sized beverage cup onto the medium round flat plate.",
+    "Grab the gray cup with the left arm and place it on the medium plate for food.",
+    "Move the medium-sized beverage cup onto the dish plate.",
+    "Set the cup with rough texture on top of the medium round flat plate.",
+    "Lift the cup with rough texture with the left arm and set it on the flat round greenish plate.",
+    "Position the gray cup with faded brown spots securely on the smooth ceramic plate.",
+    "Center the cup with worn metal finish on top of the flat round greenish plate.",
+    "Use the left arm to position the dark gray cylinder cup on the medium round flat plate.",
+    "Transfer the brown and gray metal cup to the top of the greenish-gray flat dinner plate.",
+    "Put the dark gray cylinder cup on the center of the medium plate for food.",
+    "Place the gray cup with faded brown spots squarely on top of the flat round greenish plate.",
+    "Carry the hand-sized rough metal cup to the flat round greenish plate and set it down.",
+    "Place the cup with worn metal finish onto the dish plate.",
+    "Pick up the simple dark gray drinking cup and place it on the food plate.",
+    "Relocate the metal cup from the table onto the flat round greenish plate.",
+    "Use the left arm to place the metal cup onto the flat ceramic plate with smooth texture.",
+    "Use the left arm to move the simple dark gray drinking cup onto the food plate.",
+    "Grab the dark gray cylinder cup with the left arm and place it on the medium round ceramic plate.",
+    "Move the dark gray cylinder cup onto the medium round flat plate.",
+    "Set the cup with worn metal finish on top of the food plate.",
+    "Lift the cup for holding liquids with the left arm and set it on the greenish-gray flat dinner plate.",
+    "Position the gray cup with faded brown spots securely on the medium round ceramic plate.",
+    "Center the simple dark gray drinking cup on top of the smooth greenish table plate.",
+    "Use the left arm to position the cup with worn metal finish on the round plate.",
+    "Transfer the simple dark gray drinking cup to the top of the food plate.",
+    "Put the simple dark gray drinking cup on the center of the flat round greenish plate.",
+    "Place the cylindrical cup with grainy surface squarely on top of the greenish-gray flat dinner plate.",
+    "Carry the hand-sized rough metal cup to the dish plate and set it down.",
+    "Place the medium-sized beverage cup onto the round plate.",
+    "Pick up the cup with rough texture and place it on the dish plate.",
+    "Relocate the brown and gray metal cup from the table onto the dish plate.",
+    "Use the left arm to place the metal cup onto the dish plate.",
+    "Use the left arm to move the gray cup with faded brown spots onto the food plate.",
+    "Grab the gray cup with the left arm and place it on the ceramic plate with smooth surface.",
+    "Move the dark gray cylinder cup onto the flat round greenish plate.",
+    "Set the dark gray cylinder cup on top of the greenish-gray flat dinner plate.",
+    "Lift the gray cup with faded brown spots with the left arm and set it on the smooth greenish table plate.",
+    "Position the cup with rough texture securely on the ceramic plate with smooth surface.",
+    "Center the gray cup on top of the medium plate for food.",
+    "Use the left arm to position the brown and gray metal cup on the food plate.",
+    "Transfer the cup with worn metal finish to the top of the dish plate.",
+    "Put the gray cup on the center of the round plate.",
+    "Place the medium-sized beverage cup squarely on top of the round plate.",
+    "Carry the cup with rough texture to the round plate and set it down.",
+    "Place the simple dark gray drinking cup onto the flat round greenish plate.",
+    "Pick up the cup with worn metal finish and place it on the medium plate for food.",
+    "Relocate the cup with worn metal finish from the table onto the ceramic plate with smooth surface.",
+    "Use the left arm to place the simple dark gray drinking cup onto the flat ceramic plate with smooth texture.",
+    "Use the left arm to move the metal cup onto the medium round ceramic plate.",
+    "Grab the hand-sized rough metal cup with the left arm and place it on the round plate.",
+    "Move the medium-sized beverage cup onto the medium round flat plate.",
+    "Set the gray cup with faded brown spots on top of the flat ceramic plate with smooth texture.",
+    "Lift the cup with rough texture with the left arm and set it on the smooth ceramic plate.",
+    "Position the simple dark gray drinking cup securely on the flat round greenish plate.",
+    "Center the dark gray cylinder cup on top of the medium round flat plate.",
+    "Use the left arm to position the cup with worn metal finish on the ceramic plate with smooth surface.",
+    "Transfer the simple dark gray drinking cup to the top of the greenish-gray flat dinner plate.",
+    "Put the dark gray cylinder cup on the center of the medium round ceramic plate.",
+    "Place the medium-sized beverage cup squarely on top of the medium round flat plate.",
+    "Carry the gray cup to the flat ceramic plate with smooth texture and set it down.",
+    "Place the gray cup onto the medium round ceramic plate.",
+    "Pick up the gray cup and place it on the ceramic plate with smooth surface.",
+    "Relocate the brown and gray metal cup from the table onto the round plate.",
+    "Use the left arm to place the cup for holding liquids onto the smooth greenish table plate.",
+    "Use the left arm to move the gray cup with faded brown spots onto the food plate."
+  ]
+}
diff --git a/place_container_plate/episode_0000040/TCP_head/metadata.json b/place_container_plate/episode_0000040/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1ca14b1b5b3cd4e62e303af3032f374863d66c
--- /dev/null
+++ b/place_container_plate/episode_0000040/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    169,
+    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_container_plate/episode_0000040/metadata.json b/place_container_plate/episode_0000040/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..62fd8353783520366d9473c99435a3103f13e5e1
--- /dev/null
+++ b/place_container_plate/episode_0000040/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_container_plate",
+  "episode": "episode_0000040",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_container_plate/aloha_agilex/data/episode_0000040.hdf5",
+  "num_frames": 169,
+  "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": [
+      169,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      169,
+      14
+    ],
+    "action_shape": [
+      169,
+      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": [
+    "Use the left arm to place the small cup for drinking liquids onto the round plate.",
+    "Use the left arm to move the rounded ceramic cup onto the smooth ceramic plate.",
+    "Put the small cup with floral design on the center of the medium plate for food.",
+    "Move the small cup for drinking liquids onto the food plate.",
+    "Relocate the blue and white cup from the table onto the flat round greenish plate.",
+    "Position the blue and white cup securely on the medium plate for food.",
+    "Use the left arm to position the blue patterned drinking cup on the medium round flat plate.",
+    "Center the rounded ceramic cup on top of the smooth greenish table plate.",
+    "Grab the cup shaped like a cylinder with the left arm and place it on the flat ceramic plate with smooth texture.",
+    "Transfer the white ceramic cup with blue flowers to the top of the flat ceramic plate with smooth texture.",
+    "Carry the small cup for drinking liquids to the dish plate and set it down.",
+    "Set the palm-sized cup with smooth surface on top of the smooth ceramic plate.",
+    "Lift the small ceramic cup with the left arm and set it on the greenish-gray flat dinner plate.",
+    "Pick up the small cup for drinking liquids and place it on the medium round ceramic plate.",
+    "Place the blue patterned drinking cup onto the round plate.",
+    "Place the small cup with floral design squarely on top of the food plate.",
+    "Use the left arm to place the white cup onto the medium round ceramic plate.",
+    "Use the left arm to move the palm-sized cup with smooth surface onto the flat ceramic plate with smooth texture.",
+    "Put the small cup for drinking liquids on the center of the smooth ceramic plate.",
+    "Move the white cup onto the medium round ceramic plate.",
+    "Relocate the white cup from the table onto the flat ceramic plate with smooth texture.",
+    "Position the rounded ceramic cup securely on the smooth ceramic plate.",
+    "Use the left arm to position the blue and white cup on the ceramic plate with smooth surface.",
+    "Center the white ceramic cup with blue flowers on top of the flat round greenish plate.",
+    "Grab the small ceramic cup with the left arm and place it on the medium round flat plate.",
+    "Transfer the blue patterned drinking cup to the top of the flat round greenish plate.",
+    "Carry the blue and white cup to the dish plate and set it down.",
+    "Set the cup with blue flowers on top of the medium round flat plate.",
+    "Lift the cup with blue flowers with the left arm and set it on the medium plate for food.",
+    "Pick up the blue patterned drinking cup and place it on the medium round flat plate.",
+    "Place the cup with blue flowers onto the greenish-gray flat dinner plate.",
+    "Place the white cup squarely on top of the ceramic plate with smooth surface.",
+    "Use the left arm to place the blue patterned drinking cup onto the flat round greenish plate.",
+    "Use the left arm to move the white cup onto the round plate.",
+    "Put the small cup for drinking liquids on the center of the dish plate.",
+    "Move the palm-sized cup with smooth surface onto the dish plate.",
+    "Relocate the small ceramic cup from the table onto the round plate.",
+    "Position the palm-sized cup with smooth surface securely on the food plate.",
+    "Use the left arm to position the white cup with rounded base on the flat ceramic plate with smooth texture.",
+    "Center the small cup with floral design on top of the greenish-gray flat dinner plate.",
+    "Grab the blue patterned drinking cup with the left arm and place it on the flat ceramic plate with smooth texture.",
+    "Transfer the white cup to the top of the dish plate.",
+    "Carry the rounded ceramic cup to the smooth ceramic plate and set it down.",
+    "Set the cup with blue flowers on top of the medium round flat plate.",
+    "Lift the white cup with the left arm and set it on the round plate.",
+    "Pick up the white cup with rounded base and place it on the round plate.",
+    "Place the white ceramic cup with blue flowers onto the ceramic plate with smooth surface.",
+    "Place the small cup for drinking liquids squarely on top of the food plate.",
+    "Use the left arm to place the white ceramic cup with blue flowers onto the dish plate.",
+    "Use the left arm to move the blue and white cup onto the round plate.",
+    "Put the small cup for drinking liquids on the center of the smooth greenish table plate.",
+    "Move the palm-sized cup with smooth surface onto the food plate.",
+    "Relocate the white ceramic cup with blue flowers from the table onto the flat ceramic plate with smooth texture.",
+    "Position the white cup securely on the food plate.",
+    "Use the left arm to position the blue patterned drinking cup on the ceramic plate with smooth surface.",
+    "Center the white cup with rounded base on top of the medium plate for food.",
+    "Grab the small cup for drinking liquids with the left arm and place it on the smooth greenish table plate.",
+    "Transfer the white cup with rounded base to the top of the medium round ceramic plate.",
+    "Carry the blue patterned drinking cup to the medium plate for food and set it down.",
+    "Set the blue and white cup on top of the smooth ceramic plate.",
+    "Lift the blue patterned drinking cup with the left arm and set it on the round plate.",
+    "Pick up the palm-sized cup with smooth surface and place it on the round plate.",
+    "Place the small cup with floral design onto the food plate.",
+    "Place the white ceramic cup with blue flowers squarely on top of the smooth greenish table plate.",
+    "Use the left arm to place the white ceramic cup with blue flowers onto the flat round greenish plate.",
+    "Use the left arm to move the palm-sized cup with smooth surface onto the flat ceramic plate with smooth texture.",
+    "Put the small ceramic cup on the center of the flat ceramic plate with smooth texture.",
+    "Move the cup with blue flowers onto the medium plate for food.",
+    "Relocate the blue and white cup from the table onto the medium plate for food.",
+    "Position the white cup securely on the ceramic plate with smooth surface.",
+    "Use the left arm to position the small cup with floral design on the flat ceramic plate with smooth texture.",
+    "Center the white cup with rounded base on top of the medium round ceramic plate.",
+    "Grab the white cup with rounded base with the left arm and place it on the medium round ceramic plate.",
+    "Transfer the white cup to the top of the dish plate.",
+    "Carry the blue and white cup to the flat ceramic plate with smooth texture and set it down.",
+    "Set the white ceramic cup with blue flowers on top of the greenish-gray flat dinner plate.",
+    "Lift the blue and white cup with the left arm and set it on the medium round flat plate.",
+    "Pick up the white cup and place it on the smooth ceramic plate.",
+    "Place the small cup with floral design onto the smooth greenish table plate.",
+    "Place the white ceramic cup with blue flowers squarely on top of the ceramic plate with smooth surface.",
+    "Use the left arm to place the white cup with rounded base onto the medium round ceramic plate.",
+    "Use the left arm to move the white cup onto the round plate.",
+    "Put the small ceramic cup on the center of the smooth greenish table plate.",
+    "Move the rounded ceramic cup onto the food plate.",
+    "Relocate the cup with blue flowers from the table onto the dish plate.",
+    "Position the small cup with floral design securely on the medium round flat plate.",
+    "Use the left arm to position the small cup for drinking liquids on the medium round flat plate.",
+    "Center the cup with blue flowers on top of the flat ceramic plate with smooth texture.",
+    "Grab the blue and white cup with the left arm and place it on the medium plate for food.",
+    "Transfer the small cup with floral design to the top of the medium round flat plate.",
+    "Carry the white cup to the food plate and set it down.",
+    "Set the blue and white cup on top of the medium round ceramic plate.",
+    "Lift the cup with blue flowers with the left arm and set it on the smooth greenish table plate.",
+    "Pick up the cup shaped like a cylinder and place it on the flat round greenish plate.",
+    "Place the white ceramic cup with blue flowers onto the smooth greenish table plate.",
+    "Place the white ceramic cup with blue flowers squarely on top of the medium round ceramic plate.",
+    "Use the left arm to place the small ceramic cup onto the medium round ceramic plate.",
+    "Use the left arm to move the small cup for drinking liquids onto the smooth greenish table plate.",
+    "Put the white cup with rounded base on the center of the smooth ceramic plate.",
+    "Move the small cup with floral design onto the round plate."
+  ]
+}
diff --git a/place_empty_cup/episode_0000042/TCP_third/metadata.json b/place_empty_cup/episode_0000042/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..38f0fa14a29a1076c03115c8c3581dd9deebcf39
--- /dev/null
+++ b/place_empty_cup/episode_0000042/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "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"
+}
diff --git a/place_shoe/episode_0000014/TCP_third/metadata.json b/place_shoe/episode_0000014/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c349ba5f1a0490cbea90696277f26d124a324bc4
--- /dev/null
+++ b/place_shoe/episode_0000014/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    196,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/shake_bottle_horizontally/episode_0000003/TCP_head/metadata.json b/shake_bottle_horizontally/episode_0000003/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a3a26a67bd0156bc96b76693ef131c90f86332
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000003/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    298,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/shake_bottle_horizontally/episode_0000003/metadata.json b/shake_bottle_horizontally/episode_0000003/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b73a93e4160b4f754148fa5faf8bddc7ca971a
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000003/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle_horizontally",
+  "episode": "episode_0000003",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle_horizontally/aloha_agilex/data/episode_0000003.hdf5",
+  "num_frames": 298,
+  "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": [
+      298,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      298,
+      14
+    ],
+    "action_shape": [
+      298,
+      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": [
+    "Utilize the left arm to grab the smooth surface bottle with gray shade and shake sideways.",
+    "Hold the medium-sized plastic bottle using the left arm and shake it horizontally.",
+    "Pick up the rounded body bottle made of plastic and shake it horizontally.",
+    "Take hold of the smooth surface bottle with gray shade using the left arm and move horizontally.",
+    "Lift the milk-bottle shape design and shake it horizontally.",
+    "Shake the smooth cylindrical bottle side-to-side after grabbing it.",
+    "Shake the rounded body bottle made of plastic horizontally after lifting with the left arm.",
+    "Hold the bottle with cute ghost drawing with the left arm and shake horizontally.",
+    "Grab the hand-sized bottle with screw cap with the left arm and shake horizontally.",
+    "Lift the light gray colored container bottle using the left arm and shake it sideways.",
+    "Pick up the rounded body bottle made of plastic and shake it from side to side.",
+    "Pick up the smooth surface bottle with gray shade using the left arm and shake sideways.",
+    "Lift the bottle with cute ghost drawing using the left arm and shake horizontally.",
+    "Grab the smooth cylindrical bottle and shake in a horizontal motion.",
+    "Use the left arm to pick the rounded body bottle made of plastic and shake it horizontally.",
+    "Using the left arm, grab the medium cylinder-shaped bottle and shake it sideways.",
+    "Use the left arm to grab the medium-sized plastic bottle and move it horizontally.",
+    "Use the left arm to grab the medium cylinder-shaped bottle and shake horizontally.",
+    "Move the milk-bottle shape design side-to-side after grabbing it.",
+    "Lift the rounded body bottle made of plastic and move it side-to-side.",
+    "Using the left arm, pick up the rounded body bottle made of plastic and shake sideways.",
+    "Shake the rounded body bottle made of plastic horizontally.",
+    "Hold the bottle shaped like small cylinder with the left arm and move it left and right.",
+    "Using the left arm, shake the rounded body bottle made of plastic horizontally.",
+    "Shake the milk-bottle shape design smoothly without using the left arm reference.",
+    "Hold the rounded body bottle made of plastic and move it side to side.",
+    "Lift the rounded body bottle made of plastic and move it back and forth.",
+    "Grab the rounded body bottle made of plastic, shake it horizontally, then release.",
+    "Grip the medium cylinder-shaped bottle, then shake it back and forth.",
+    "Hold the smooth surface bottle with gray shade and shake it side to side.",
+    "Take the smooth cylindrical bottle in the left arm and shake it back and forth.",
+    "Hold the gray bottle with slight shine steady and shake it horizontally.",
+    "Grab and shake the light gray colored container bottle horizontally.",
+    "Hold the smooth cylindrical bottle and move it side to side.",
+    "Shake the light gray colored container bottle side-to-side after grabbing it.",
+    "Shake the medium cylinder-shaped bottle from side to side.",
+    "Simply shake the gray bottle with slight shine horizontally without the left arm details.",
+    "Lift the bottle with cute ghost drawing with the left arm, then shake it side to side.",
+    "With the left arm, grab the smooth cylindrical bottle and shake it horizontally.",
+    "Pick the smooth surface bottle with gray shade up and shake it horizontally.",
+    "Secure the medium-sized plastic bottle with the left arm, shake in horizontal motion.",
+    "Pick the plastic bottle with ghost print, then shake it horizontally.",
+    "Use the left arm to hold the medium cylinder-shaped bottle firmly and shake horizontally.",
+    "Grab the medium-sized plastic bottle using the left arm and move it side-to-side.",
+    "Pick up the light gray colored container bottle and shake it side to side.",
+    "Pick up the milk-bottle shape design with the left arm, shake it sideways.",
+    "Use the left arm to hold the medium cylinder-shaped bottle and shake it sideways.",
+    "Pick up the smooth cylindrical bottle using the left arm, shake it horizontally.",
+    "Grab the medium cylinder-shaped bottle and move it side-to-side repeatedly.",
+    "Pick the smooth cylindrical bottle using the left arm and move it horizontally.",
+    "Utilize the left arm to grab the rounded body bottle made of plastic and shake sideways.",
+    "Hold the plastic bottle with ghost print using the left arm and shake it horizontally.",
+    "Pick up the gray bottle with slight shine and shake it horizontally.",
+    "Take hold of the hand-sized bottle with screw cap using the left arm and move horizontally.",
+    "Lift the medium cylinder-shaped bottle and shake it horizontally.",
+    "Shake the smooth surface bottle with gray shade side-to-side after grabbing it.",
+    "Shake the light gray colored container bottle horizontally after lifting with the left arm.",
+    "Hold the smooth surface bottle with gray shade with the left arm and shake horizontally.",
+    "Grab the medium cylinder-shaped bottle with the left arm and shake horizontally.",
+    "Lift the medium-sized plastic bottle using the left arm and shake it sideways.",
+    "Pick up the gray bottle with slight shine and shake it from side to side.",
+    "Pick up the smooth surface bottle with gray shade using the left arm and shake sideways.",
+    "Lift the medium cylinder-shaped bottle using the left arm and shake horizontally.",
+    "Grab the smooth cylindrical bottle and shake in a horizontal motion.",
+    "Use the left arm to pick the medium cylinder-shaped bottle and shake it horizontally.",
+    "Using the left arm, grab the plastic bottle with ghost print and shake it sideways.",
+    "Use the left arm to grab the smooth surface bottle with gray shade and move it horizontally.",
+    "Use the left arm to grab the milk-bottle shape design and shake horizontally.",
+    "Move the plastic bottle with ghost print side-to-side after grabbing it.",
+    "Lift the medium-sized plastic bottle and move it side-to-side.",
+    "Using the left arm, pick up the rounded body bottle made of plastic and shake sideways.",
+    "Shake the smooth surface bottle with gray shade horizontally.",
+    "Hold the smooth surface bottle with gray shade with the left arm and move it left and right.",
+    "Using the left arm, shake the gray bottle with slight shine horizontally.",
+    "Shake the bottle with cute ghost drawing smoothly without using the left arm reference.",
+    "Hold the smooth cylindrical bottle and move it side to side.",
+    "Lift the gray bottle with slight shine and move it back and forth.",
+    "Grab the plastic bottle with ghost print, shake it horizontally, then release.",
+    "Grip the hand-sized bottle with screw cap, then shake it back and forth.",
+    "Hold the medium cylinder-shaped bottle and shake it side to side.",
+    "Take the medium-sized plastic bottle in the left arm and shake it back and forth.",
+    "Hold the gray bottle with slight shine steady and shake it horizontally.",
+    "Grab and shake the smooth surface bottle with gray shade horizontally.",
+    "Hold the bottle shaped like small cylinder and move it side to side.",
+    "Shake the gray bottle with slight shine side-to-side after grabbing it.",
+    "Shake the light gray colored container bottle from side to side.",
+    "Simply shake the bottle shaped like small cylinder horizontally without the left arm details.",
+    "Lift the medium-sized plastic bottle with the left arm, then shake it side to side.",
+    "With the left arm, grab the bottle shaped like small cylinder and shake it horizontally.",
+    "Pick the smooth surface bottle with gray shade up and shake it horizontally.",
+    "Secure the hand-sized bottle with screw cap with the left arm, shake in horizontal motion.",
+    "Pick the medium cylinder-shaped bottle, then shake it horizontally.",
+    "Use the left arm to hold the bottle with cute ghost drawing firmly and shake horizontally.",
+    "Grab the rounded body bottle made of plastic using the left arm and move it side-to-side.",
+    "Pick up the plastic bottle with ghost print and shake it side to side.",
+    "Pick up the hand-sized bottle with screw cap with the left arm, shake it sideways.",
+    "Use the left arm to hold the hand-sized bottle with screw cap and shake it sideways.",
+    "Pick up the gray bottle with slight shine using the left arm, shake it horizontally.",
+    "Grab the rounded body bottle made of plastic and move it side-to-side repeatedly.",
+    "Pick the hand-sized bottle with screw cap using the left arm and move it horizontally."
+  ]
+}
diff --git a/stack_bowls_three/episode_0000001/TCP_third/metadata.json b/stack_bowls_three/episode_0000001/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3939eb6db6066d50001a0b90c951bb9bfbd63032
--- /dev/null
+++ b/stack_bowls_three/episode_0000001/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    514,
+    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/stamp_seal/episode_0000014/TCP_head/metadata.json b/stamp_seal/episode_0000014/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7deef46d1e1fb07010e83cb3a4a2f38488994ec0
--- /dev/null
+++ b/stamp_seal/episode_0000014/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    155,
+    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/stamp_seal/episode_0000014/TCP_third/metadata.json b/stamp_seal/episode_0000014/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff0853a1781340bbe3abd1ebe3f3518a523375f
--- /dev/null
+++ b/stamp_seal/episode_0000014/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    155,
+    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/stamp_seal/episode_0000014/metadata.json b/stamp_seal/episode_0000014/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b801590d55086370515497b8be9a1030fd3043d
--- /dev/null
+++ b/stamp_seal/episode_0000014/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000014",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000014.hdf5",
+  "num_frames": 155,
+  "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": [
+      155,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      155,
+      14
+    ],
+    "action_shape": [
+      155,
+      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": [
+    "Use the right arm for the small stone seal and stamp Indigo",
+    "Grab the seal with white engraving and press on Indigo.",
+    "Press the seal with raised rounded edges onto Indigo with the right arm",
+    "With the right arm, take the smooth textured reddish-brown seal and mark Indigo.",
+    "Use the right arm to pick the seal with carved light letters for Indigo",
+    "Pick up the reddish-brown seal and press onto Indigo",
+    "Use the right arm to lift the reddish seal with light markings, then stamp Indigo.",
+    "Press the engraved reddish seal for marking onto Indigo",
+    "Place the seal made of polished stone onto Indigo",
+    "Grab the seal made of polished stone to press onto Indigo",
+    "the right arm grabs the seal made of polished stone, stamps Indigo",
+    "Use the right arm, take the smooth textured reddish-brown seal, and apply to Indigo.",
+    "Press the reddish-brown seal firmly onto Indigo",
+    "Grab the reddish-brown seal with the right arm, press it onto Indigo.",
+    "Use the right arm to press the seal with raised rounded edges on Indigo",
+    "Bring the smooth textured reddish-brown seal to Indigo and stamp",
+    "With the right arm, secure the rectangular seal with decorative carvings and mark Indigo.",
+    "Place the seal with carved light letters onto Indigo after grabbing.",
+    "Hold the palm-sized stamping seal and press onto Indigo",
+    "Position the seal with rounded top and patterns on Indigo, apply pressure",
+    "the right arm uses the engraved reddish seal for marking to stamp Indigo",
+    "Pick the reddish seal with light markings and press on Indigo",
+    "Use the small stone seal to mark Indigo",
+    "Use the palm-sized stamping seal to stamp Indigo",
+    "Take the smooth textured reddish-brown seal and stamp Indigo",
+    "Use the right arm to grab the smooth textured reddish-brown seal, press Indigo",
+    "Pick the small stone seal and apply it onto Indigo.",
+    "Pick up the engraved reddish seal for marking, stamp Indigo",
+    "the right arm picks the small stone seal, stamps Indigo",
+    "Stamp the reddish seal with light markings on Indigo",
+    "Take the engraved reddish seal for marking and stamp it on Indigo.",
+    "Pick the small stone seal and press down on Indigo",
+    "Hold the seal with white engraving with the right arm and stamp Indigo",
+    "Lift the rectangular seal with decorative carvings and press onto Indigo",
+    "Stamp Indigo after grabbing the palm-sized stamping seal",
+    "Set the reddish-brown seal on Indigo",
+    "Grab the seal with white engraving and press onto Indigo",
+    "Grab the smooth textured reddish-brown seal and press onto Indigo",
+    "Pick the smooth textured reddish-brown seal and stamp it on Indigo",
+    "Grab the reddish seal with light markings, align it with Indigo",
+    "Stamp Indigo after grabbing the seal with raised rounded edges.",
+    "Position the reddish seal with light markings over Indigo and stamp",
+    "the right arm holds the seal with white engraving, presses Indigo",
+    "Use the right arm for the reddish seal with light markings and stamp Indigo",
+    "Grab the seal with rounded top and patterns and press on Indigo.",
+    "Press the seal with carved light letters onto Indigo with the right arm",
+    "With the right arm, take the rectangular seal with decorative carvings and mark Indigo.",
+    "Use the right arm to pick the seal made of polished stone for Indigo",
+    "Pick up the rectangular seal with decorative carvings and press onto Indigo",
+    "Use the right arm to lift the small stone seal, then stamp Indigo.",
+    "Press the seal made of polished stone onto Indigo",
+    "Place the seal with white engraving onto Indigo",
+    "Grab the engraved reddish seal for marking to press onto Indigo",
+    "the right arm grabs the seal made of polished stone, stamps Indigo",
+    "Use the right arm, take the seal with raised rounded edges, and apply to Indigo.",
+    "Press the engraved reddish seal for marking firmly onto Indigo",
+    "Grab the smooth textured reddish-brown seal with the right arm, press it onto Indigo.",
+    "Use the right arm to press the engraved reddish seal for marking on Indigo",
+    "Bring the engraved reddish seal for marking to Indigo and stamp",
+    "With the right arm, secure the reddish-brown seal and mark Indigo.",
+    "Place the seal with white engraving onto Indigo after grabbing.",
+    "Hold the seal made of polished stone and press onto Indigo",
+    "Position the seal made of polished stone on Indigo, apply pressure",
+    "the right arm uses the reddish seal with light markings to stamp Indigo",
+    "Pick the seal with carved light letters and press on Indigo",
+    "Use the seal with carved light letters to mark Indigo",
+    "Use the reddish seal with light markings to stamp Indigo",
+    "Take the engraved reddish seal for marking and stamp Indigo",
+    "Use the right arm to grab the reddish seal with light markings, press Indigo",
+    "Pick the seal with rounded top and patterns and apply it onto Indigo.",
+    "Pick up the seal with rounded top and patterns, stamp Indigo",
+    "the right arm picks the smooth textured reddish-brown seal, stamps Indigo",
+    "Stamp the seal with raised rounded edges on Indigo",
+    "Take the engraved reddish seal for marking and stamp it on Indigo.",
+    "Pick the engraved reddish seal for marking and press down on Indigo",
+    "Hold the small stone seal with the right arm and stamp Indigo",
+    "Lift the reddish-brown seal and press onto Indigo",
+    "Stamp Indigo after grabbing the seal with white engraving",
+    "Set the seal with raised rounded edges on Indigo",
+    "Grab the small stone seal and press onto Indigo",
+    "Grab the smooth textured reddish-brown seal and press onto Indigo",
+    "Pick the reddish-brown seal and stamp it on Indigo",
+    "Grab the rectangular seal with decorative carvings, align it with Indigo",
+    "Stamp Indigo after grabbing the engraved reddish seal for marking.",
+    "Position the seal made of polished stone over Indigo and stamp",
+    "the right arm holds the smooth textured reddish-brown seal, presses Indigo",
+    "Use the right arm for the seal with raised rounded edges and stamp Indigo",
+    "Grab the seal with carved light letters and press on Indigo.",
+    "Press the seal with raised rounded edges onto Indigo with the right arm",
+    "With the right arm, take the seal with rounded top and patterns and mark Indigo.",
+    "Use the right arm to pick the seal with white engraving for Indigo",
+    "Pick up the seal with carved light letters and press onto Indigo",
+    "Use the right arm to lift the engraved reddish seal for marking, then stamp Indigo.",
+    "Press the reddish-brown seal onto Indigo",
+    "Place the small stone seal onto Indigo",
+    "Grab the smooth textured reddish-brown seal to press onto Indigo",
+    "the right arm grabs the rectangular seal with decorative carvings, stamps Indigo",
+    "Use the right arm, take the reddish-brown seal, and apply to Indigo.",
+    "Press the seal with raised rounded edges firmly onto Indigo",
+    "Grab the seal with raised rounded edges with the right arm, press it onto Indigo."
+  ]
+}