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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    511,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
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+    "y",
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+    "roll",
+    "pitch",
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+    "gripper_open"
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+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
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+    "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_bread_basket",
+  "episode": "episode_0000017",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_bread_basket/aloha_agilex/data/episode_0000017.hdf5",
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+  "image_width": 320,
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+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
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+    "channel_order": "RGB"
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+    "unit": "millimeter",
+    "invalid_value": 0
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+    "transform": "world_to_camera",
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+        "start": 0,
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+  "frequency_hz": 15,
+  "instructions": [
+    "Place the light golden brown bread and the golden baked bread in the medium breadbasket with perforated sides.",
+    "Move both breads, the hand-sized bread block and the rounded square loaf, into the beige plastic breadbasket.",
+    "Ensure the bread loaf with uneven edges and the bread with soft texture are both inside the beige basket with white grid design.",
+    "Pick up both the soft bread and the golden baked bread for the medium plastic breadbasket oval shape.",
+    "Grab the golden bread and the medium bread with rounded sides and put them in the oval perforated breadbasket white edges.",
+    "Deposit the square-shaped bread and the medium bread with rounded sides inside the basket for carrying bread beige.",
+    "Take the square-shaped bread and the medium bread with rounded sides from the table to the white oval breadbasket.",
+    "Lift the cuboid bread and the bread with rounded edges and place them in the oval perforated breadbasket white edges.",
+    "Place both breads the bread with rough texture and the sponge-textured golden bread into the basket for carrying bread beige.",
+    "Collect the soft bread and the sponge-textured golden bread in the medium breadbasket with perforated sides.",
+    "Set the two breads the square-shaped bread and the medium-sized bread piece in the medium breadbasket with perforated sides.",
+    "Relocate the bread with rough texture and the golden brown bread into the basket the basket for bread beige plastic.",
+    "Move every bread, the soft bread and the square-shaped bread piece, into the oval-shaped breadbasket.",
+    "Put the golden bread and the golden brown bread inside the oval-shaped breadbasket.",
+    "Transfer both the light golden brown bread and the medium-sized bread piece to the basket for bread beige plastic.",
+    "Place the golden bread loaf and the sponge-textured golden bread in the basket for carrying bread beige.",
+    "Move both breads, the light golden brown bread and the bread with soft texture, into the oval-shaped breadbasket.",
+    "Ensure the golden bread loaf and the bread with rounded edges are both inside the basket for bread beige plastic.",
+    "Pick up both the light golden brown bread and the medium-sized bread piece for the medium oval basket for bread.",
+    "Grab the doughy and soft bread and the bread with soft texture and put them in the white oval breadbasket.",
+    "Deposit the bread loaf with uneven edges and the bread with soft texture inside the oval perforated breadbasket white edges.",
+    "Take the hand-sized bread block and the light brown porous bread from the table to the oval perforated breadbasket white edges.",
+    "Lift the bread with rough texture and the medium-sized bread piece and place them in the beige basket with white grid design.",
+    "Place both breads the bread loaf with uneven edges and the soft square bread into the oval perforated breadbasket white edges.",
+    "Collect the bread loaf with uneven edges and the golden brown bread in the basket for bread beige plastic.",
+    "Set the two breads the hand-sized bread block and the medium-sized bread piece in the basket for bread beige plastic.",
+    "Relocate the doughy and soft bread and the bread with soft texture into the basket the medium plastic breadbasket oval shape.",
+    "Move every bread, the doughy and soft bread and the soft square bread, into the oval-shaped breadbasket.",
+    "Put the bread with rough texture and the golden brown bread inside the medium oval basket for bread.",
+    "Transfer both the golden bread loaf and the medium-sized bread piece to the medium plastic breadbasket oval shape.",
+    "Place the bread block with light patches and the medium bread with rounded sides in the basket for bread beige plastic.",
+    "Move both breads, the bread loaf with uneven edges and the fluffy baked bread, into the beige plastic breadbasket.",
+    "Ensure the golden bread and the square-shaped bread piece are both inside the beige basket with white grid design.",
+    "Pick up both the square-shaped bread and the rounded square loaf for the oval-shaped breadbasket.",
+    "Grab the cuboid bread and the soft square bread and put them in the medium plastic breadbasket oval shape.",
+    "Deposit the bread with rough texture and the fluffy baked bread inside the smooth textured breadbasket.",
+    "Take the bread loaf with bumpy surface and the light brown porous bread from the table to the white oval breadbasket.",
+    "Lift the square-shaped bread and the golden brown bread and place them in the beige plastic breadbasket.",
+    "Place both breads the golden bread and the golden brown bread into the oval perforated breadbasket white edges.",
+    "Collect the bread with rough texture and the square-shaped bread piece in the medium plastic breadbasket oval shape.",
+    "Set the two breads the doughy and soft bread and the bread with soft texture in the oval perforated breadbasket white edges.",
+    "Relocate the cuboid bread and the fluffy baked bread into the basket the beige breadbasket.",
+    "Move every bread, the square-shaped bread and the sponge-textured golden bread, into the medium breadbasket with perforated sides.",
+    "Put the soft bread and the sponge-textured golden bread inside the medium plastic breadbasket oval shape.",
+    "Transfer both the hand-sized bread block and the rounded square loaf to the medium oval basket for bread.",
+    "Place the cuboid bread and the light brown porous bread in the white oval breadbasket.",
+    "Move both breads, the bread loaf with bumpy surface and the medium-sized bread piece, into the beige plastic breadbasket.",
+    "Ensure the cuboid bread and the square-shaped bread piece are both inside the beige basket with white grid design.",
+    "Pick up both the cuboid bread and the medium-sized bread piece for the medium oval basket for bread.",
+    "Grab the hand-sized bread block and the square-shaped bread piece and put them in the beige basket with white grid design.",
+    "Deposit the hand-sized bread block and the soft square bread inside the basket for carrying bread beige.",
+    "Take the bread loaf with uneven edges and the square-shaped bread piece from the table to the medium breadbasket with perforated sides.",
+    "Lift the bread with rough texture and the bread with rounded edges and place them in the medium plastic breadbasket oval shape.",
+    "Place both breads the square-shaped bread and the sponge-textured golden bread into the medium oval basket for bread.",
+    "Collect the square-shaped bread and the medium-sized bread piece in the basket for bread beige plastic.",
+    "Set the two breads the bread loaf with uneven edges and the golden brown bread in the smooth textured breadbasket.",
+    "Relocate the square-shaped bread and the soft square bread into the basket the beige basket with white grid design.",
+    "Move every bread, the light golden brown bread and the bread with rounded edges, into the oval-shaped breadbasket.",
+    "Put the cuboid bread and the square-shaped bread piece inside the smooth textured breadbasket.",
+    "Transfer both the doughy and soft bread and the soft square bread to the basket for bread beige plastic.",
+    "Place the bread loaf with bumpy surface and the bread with rounded edges in the white oval breadbasket.",
+    "Move both breads, the bread block with light patches and the golden brown bread, into the medium plastic breadbasket oval shape.",
+    "Ensure the bread with rough texture and the bread with soft texture are both inside the medium plastic breadbasket oval shape.",
+    "Pick up both the bread loaf with uneven edges and the golden brown bread for the medium plastic breadbasket oval shape.",
+    "Grab the bread loaf with bumpy surface and the medium-sized bread piece and put them in the basket for bread beige plastic.",
+    "Deposit the cuboid bread and the bread with soft texture inside the medium plastic breadbasket oval shape.",
+    "Take the hand-sized bread block and the medium bread with rounded sides from the table to the medium plastic breadbasket oval shape.",
+    "Lift the golden bread loaf and the medium bread with rounded sides and place them in the medium plastic breadbasket oval shape.",
+    "Place both breads the bread loaf with uneven edges and the fluffy baked bread into the beige breadbasket.",
+    "Collect the doughy and soft bread and the sponge-textured golden bread in the white oval breadbasket.",
+    "Set the two breads the bread loaf with bumpy surface and the sponge-textured golden bread in the medium breadbasket with perforated sides.",
+    "Relocate the light golden brown bread and the golden brown bread into the basket the oval-shaped breadbasket.",
+    "Move every bread, the soft bread and the soft square bread, into the medium oval basket for bread.",
+    "Put the square-shaped bread and the bread with soft texture inside the beige plastic breadbasket.",
+    "Transfer both the bread loaf with uneven edges and the golden baked bread to the beige plastic breadbasket.",
+    "Place the light golden brown bread and the fluffy baked bread in the white oval breadbasket.",
+    "Move both breads, the hand-sized bread block and the bread with soft texture, into the oval perforated breadbasket white edges.",
+    "Ensure the hand-sized bread block and the golden brown bread are both inside the medium plastic breadbasket oval shape.",
+    "Pick up both the light golden brown bread and the golden brown bread for the basket for bread beige plastic.",
+    "Grab the square-shaped bread and the square-shaped bread piece and put them in the beige basket with white grid design.",
+    "Deposit the golden bread loaf and the square-shaped bread piece inside the basket for carrying bread beige.",
+    "Take the golden bread loaf and the sponge-textured golden bread from the table to the medium oval basket for bread.",
+    "Lift the doughy and soft bread and the rounded square loaf and place them in the beige plastic breadbasket.",
+    "Place both breads the square-shaped bread and the soft square bread into the white oval breadbasket.",
+    "Collect the light golden brown bread and the rounded square loaf in the basket for carrying bread beige.",
+    "Set the two breads the hand-sized bread block and the rounded square loaf in the oval perforated breadbasket white edges.",
+    "Relocate the doughy and soft bread and the medium-sized bread piece into the basket the beige basket with white grid design.",
+    "Move every bread, the square-shaped bread and the light brown porous bread, into the smooth textured breadbasket.",
+    "Put the cuboid bread and the golden baked bread inside the medium oval basket for bread.",
+    "Transfer both the golden bread loaf and the soft square bread to the basket for carrying bread beige.",
+    "Place the hand-sized bread block and the golden brown bread in the basket for carrying bread beige.",
+    "Move both breads, the doughy and soft bread and the fluffy baked bread, into the beige plastic breadbasket.",
+    "Ensure the bread with rough texture and the bread with rounded edges are both inside the oval perforated breadbasket white edges.",
+    "Pick up both the golden bread and the medium-sized bread piece for the oval perforated breadbasket white edges.",
+    "Grab the bread loaf with uneven edges and the sponge-textured golden bread and put them in the medium plastic breadbasket oval shape.",
+    "Deposit the bread block with light patches and the golden brown bread inside the oval perforated breadbasket white edges.",
+    "Take the golden bread loaf and the bread with soft texture from the table to the medium plastic breadbasket oval shape.",
+    "Lift the golden bread loaf and the bread with rounded edges and place them in the smooth textured breadbasket.",
+    "Place both breads the cuboid bread and the bread with soft texture into the beige plastic breadbasket.",
+    "Collect the hand-sized bread block and the medium bread with rounded sides in the medium oval basket for bread."
+  ]
+}
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diff --git a/shake_bottle/episode_0000009/TCP_head/metadata.json b/shake_bottle/episode_0000009/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    256,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/shake_bottle/episode_0000009/metadata.json b/shake_bottle/episode_0000009/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle",
+  "episode": "episode_0000009",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle/aloha_agilex/data/episode_0000009.hdf5",
+  "num_frames": 256,
+  "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": [
+      256,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      256,
+      14
+    ],
+    "action_shape": [
+      256,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Use the right arm to pick and shake the yellow label bottle.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Pick the white and orange plastic bottle, shake it with the right arm.",
+    "Shake the orange bottle after lifting it.",
+    "Hold the bottle with orange cap, shake it briefly.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Grasp the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Secure the yellow label bottle and perform a shake.",
+    "Secure the medium bottle with orange lid, shake it, and place it down.",
+    "Grab the orange and white bottle with cap using the right arm, then shake.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Lift the bottle with ribbed orange bottom with the right arm and shake.",
+    "Pick the medium bottle with orange lid up with the right arm and shake.",
+    "Pick up the medium bottle with orange lid and shake it well.",
+    "Hold and shake the bottle with orange cap carefully.",
+    "Hold the orange and white bottle with cap with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Grab the yellow label bottle with the right arm and shake.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Use the right arm to hold the white and orange plastic bottle and shake it.",
+    "Utilize the right arm to hold the bottle with orange cap and shake it.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "With the right arm, pick the white and orange plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Shake the cylindrical orange and white bottle properly after lifting.",
+    "Lift up the white and orange plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Pick up the bottle with ribbed orange bottom and shake it.",
+    "Shake the yellow label bottle using the right arm after grabbing.",
+    "Use the right arm to grab the yellow label bottle and shake properly.",
+    "Hold the medium orange bottle and shake it properly.",
+    "Shake the medium orange bottle after holding it firmly.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift the bottle with orange cap with the right arm and shake it.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Grab the yellow label bottle firmly, shake it, and put it down.",
+    "Pick the bottle with ribbed orange bottom up using the right arm and shake it.",
+    "Grab the bottle with ribbed orange bottom and shake it steadily.",
+    "Take the bottle with orange cap using the right arm and give it a shake.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Hold the white and orange plastic bottle steady, then shake it.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Lift the orange and white bottle with cap with the right arm and give it a shake.",
+    "Use the right arm to pick and shake the cylindrical orange and white bottle.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Pick the yellow label bottle, shake it with the right arm.",
+    "Shake the bottle with ribbed orange bottom after lifting it.",
+    "Hold the yellow label bottle, shake it briefly.",
+    "Grab and shake the medium bottle with orange lid using the right arm.",
+    "Grasp the cylindrical orange and white bottle with the right arm and shake it.",
+    "Secure the white and orange plastic bottle and perform a shake.",
+    "Secure the bottle with orange cap, shake it, and place it down.",
+    "Grab the orange and white bottle with cap using the right arm, then shake.",
+    "Lift the cylindrical orange and white bottle and shake it gently.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Lift the smooth plastic bottle with the right arm and shake.",
+    "Pick the white and orange plastic bottle up with the right arm and shake.",
+    "Pick up the drinking bottle with yellow label and shake it well.",
+    "Hold and shake the smooth plastic bottle carefully.",
+    "Hold the orange and white bottle with cap with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Grab the drinking bottle with yellow label with the right arm and shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Use the right arm to hold the yellow label bottle and shake it.",
+    "Utilize the right arm to hold the yellow label bottle and shake it.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Shake the medium orange bottle thoroughly after grabbing it.",
+    "Shake the bottle with orange cap firmly after grabbing.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the drinking bottle with yellow label properly after lifting.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Pick up the bottle with ribbed orange bottom and shake it.",
+    "Shake the orange and white bottle with cap using the right arm after grabbing.",
+    "Use the right arm to grab the medium bottle with orange lid and shake properly.",
+    "Hold the medium bottle with orange lid and shake it properly.",
+    "Shake the medium orange bottle after holding it firmly.",
+    "Grab the orange and white bottle with cap carefully and shake.",
+    "Grip the bottle with ribbed orange bottom using the right arm and shake.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Lift the bottle with orange cap with the right arm and shake it.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the right arm to grab the medium bottle with orange lid and shake it.",
+    "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.",
+    "Pick the orange and white bottle with cap up using the right arm and shake it.",
+    "Grab the bottle with ribbed orange bottom and shake it steadily.",
+    "Take the medium orange bottle using the right arm and give it a shake.",
+    "Catch the bottle with ribbed orange bottom and shake it instantly.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab the plastic bottle and give it a shake."
+  ]
+}
diff --git a/shake_bottle_horizontally/episode_0000005/TCP_head/metadata.json b/shake_bottle_horizontally/episode_0000005/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..872402fbc198901c25b267f2b2c2e042d9e0d8cf
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000005/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    300,
+    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_0000005/metadata.json b/shake_bottle_horizontally/episode_0000005/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..19683c7978f77477aa1ffa844908d461c89074a5
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000005/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle_horizontally",
+  "episode": "episode_0000005",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle_horizontally/aloha_agilex/data/episode_0000005.hdf5",
+  "num_frames": 300,
+  "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": [
+      300,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      300,
+      14
+    ],
+    "action_shape": [
+      300,
+      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": [
+    "Using the right arm, pick up the gray bottle with slight shine and shake sideways.",
+    "Grab the smooth surface bottle with gray shade and shake in a horizontal motion.",
+    "Use the right arm to hold the smooth cylindrical bottle and shake it sideways.",
+    "Grab the light gray colored container bottle with the right arm and shake horizontally.",
+    "Lift the plastic bottle with ghost print using the right arm and shake horizontally.",
+    "Hold the rounded body bottle made of plastic and move it side to side.",
+    "Simply shake the hand-sized bottle with screw cap horizontally without the right arm details.",
+    "Move the smooth cylindrical bottle side-to-side after grabbing it.",
+    "Shake the bottle shaped like small cylinder horizontally.",
+    "Shake the bottle with cute ghost drawing horizontally after lifting with the right arm.",
+    "Pick up the medium-sized plastic bottle with the right arm, shake it sideways.",
+    "Pick up the medium-sized plastic bottle and shake it side to side.",
+    "Take hold of the smooth cylindrical bottle using the right arm and move horizontally.",
+    "Using the right arm, grab the milk-bottle shape design and shake it sideways.",
+    "Use the right arm to hold the medium cylinder-shaped bottle firmly and shake horizontally.",
+    "Lift the hand-sized bottle with screw cap using the right arm and shake it sideways.",
+    "Pick up the rounded body bottle made of plastic and shake it horizontally.",
+    "Grip the medium cylinder-shaped bottle, then shake it back and forth.",
+    "Hold the smooth surface bottle with gray shade with the right arm and shake horizontally.",
+    "Pick up the hand-sized bottle with screw cap using the right arm and shake sideways.",
+    "Pick the gray bottle with slight shine using the right arm and move it horizontally.",
+    "Grab and shake the rounded body bottle made of plastic horizontally.",
+    "Take the plastic bottle with ghost print in the right arm and shake it back and forth.",
+    "Hold the milk-bottle shape design and shake it side to side.",
+    "With the right arm, grab the bottle shaped like small cylinder and shake it horizontally.",
+    "Lift the plastic bottle with ghost print and shake it horizontally.",
+    "Using the right arm, shake the plastic bottle with ghost print horizontally.",
+    "Hold the gray bottle with slight shine steady and shake it horizontally.",
+    "Use the right arm to pick the gray bottle with slight shine and shake it horizontally.",
+    "Hold the bottle shaped like small cylinder with the right arm and move it left and right.",
+    "Utilize the right arm to grab the bottle with cute ghost drawing and shake sideways.",
+    "Use the right arm to grab the milk-bottle shape design and move it horizontally.",
+    "Grab the bottle shaped like small cylinder using the right arm and move it side-to-side.",
+    "Shake the gray bottle with slight shine side-to-side after grabbing it.",
+    "Shake the bottle shaped like small cylinder smoothly without using the right arm reference.",
+    "Lift the light gray colored container bottle and move it side-to-side.",
+    "Shake the milk-bottle shape design side-to-side after grabbing it.",
+    "Hold the smooth cylindrical bottle using the right arm and shake it horizontally.",
+    "Lift the bottle shaped like small cylinder with the right arm, then shake it side to side.",
+    "Pick the bottle shaped like small cylinder, then shake it horizontally.",
+    "Pick up the smooth surface bottle with gray shade using the right arm, shake it horizontally.",
+    "Grab the smooth cylindrical bottle and move it side-to-side repeatedly.",
+    "Shake the hand-sized bottle with screw cap from side to side.",
+    "Use the right arm to grab the milk-bottle shape design and shake horizontally.",
+    "Pick the gray bottle with slight shine up and shake it horizontally.",
+    "Pick up the medium-sized plastic bottle and shake it from side to side.",
+    "Hold the bottle shaped like small cylinder and move it side to side.",
+    "Lift the gray bottle with slight shine and move it back and forth.",
+    "Secure the bottle shaped like small cylinder with the right arm, shake in horizontal motion.",
+    "Grab the light gray colored container bottle, shake it horizontally, then release.",
+    "Using the right arm, pick up the medium-sized plastic bottle and shake sideways.",
+    "Grab the bottle shaped like small cylinder and shake in a horizontal motion.",
+    "Use the right arm to hold the bottle with cute ghost drawing and shake it sideways.",
+    "Grab the bottle with cute ghost drawing with the right arm and shake horizontally.",
+    "Lift the plastic bottle with ghost print using the right arm and shake horizontally.",
+    "Hold the smooth surface bottle with gray shade and move it side to side.",
+    "Simply shake the gray bottle with slight shine horizontally without the right arm details.",
+    "Move the hand-sized bottle with screw cap side-to-side after grabbing it.",
+    "Shake the plastic bottle with ghost print horizontally.",
+    "Shake the plastic bottle with ghost print horizontally after lifting with the right arm.",
+    "Pick up the bottle with cute ghost drawing with the right arm, shake it sideways.",
+    "Pick up the light gray colored container bottle and shake it side to side.",
+    "Take hold of the bottle shaped like small cylinder using the right arm and move horizontally.",
+    "Using the right arm, grab the smooth surface bottle with gray shade and shake it sideways.",
+    "Use the right arm to hold the gray bottle with slight shine firmly and shake horizontally.",
+    "Lift the medium cylinder-shaped bottle using the right arm and shake it sideways.",
+    "Pick up the smooth cylindrical bottle and shake it horizontally.",
+    "Grip the medium cylinder-shaped bottle, then shake it back and forth.",
+    "Hold the medium cylinder-shaped bottle with the right arm and shake horizontally.",
+    "Pick up the plastic bottle with ghost print using the right arm and shake sideways.",
+    "Pick the hand-sized bottle with screw cap using the right arm and move it horizontally.",
+    "Grab and shake the plastic bottle with ghost print horizontally.",
+    "Take the medium-sized plastic bottle in the right arm and shake it back and forth.",
+    "Hold the smooth surface bottle with gray shade and shake it side to side.",
+    "With the right arm, grab the gray bottle with slight shine and shake it horizontally.",
+    "Lift the hand-sized bottle with screw cap and shake it horizontally.",
+    "Using the right arm, shake the hand-sized bottle with screw cap horizontally.",
+    "Hold the smooth surface bottle with gray shade steady and shake it horizontally.",
+    "Use the right arm to pick the gray bottle with slight shine and shake it horizontally.",
+    "Hold the medium-sized plastic bottle with the right arm and move it left and right.",
+    "Utilize the right arm to grab the gray bottle with slight shine and shake sideways.",
+    "Use the right arm to grab the milk-bottle shape design and move it horizontally.",
+    "Grab the medium-sized plastic bottle using the right arm and move it side-to-side.",
+    "Shake the plastic bottle with ghost print side-to-side after grabbing it.",
+    "Shake the smooth cylindrical bottle smoothly without using the right arm reference.",
+    "Lift the gray bottle with slight shine and move it side-to-side.",
+    "Shake the medium cylinder-shaped bottle side-to-side after grabbing it.",
+    "Hold the bottle with cute ghost drawing using the right arm and shake it horizontally.",
+    "Lift the light gray colored container bottle with the right arm, then shake it side to side.",
+    "Pick the medium-sized plastic bottle, then shake it horizontally.",
+    "Pick up the bottle shaped like small cylinder using the right arm, shake it horizontally.",
+    "Grab the light gray colored container bottle and move it side-to-side repeatedly.",
+    "Shake the bottle shaped like small cylinder from side to side.",
+    "Use the right arm to grab the medium cylinder-shaped bottle and shake horizontally.",
+    "Pick the rounded body bottle made of plastic up and shake it horizontally.",
+    "Pick up the gray bottle with slight shine and shake it from side to side.",
+    "Hold the medium-sized plastic bottle and move it side to side.",
+    "Lift the plastic bottle with ghost print and move it back and forth.",
+    "Secure the smooth cylindrical bottle with the right arm, shake in horizontal motion.",
+    "Grab the bottle shaped like small cylinder, shake it horizontally, then release."
+  ]
+}
diff --git a/shake_bottle_horizontally/episode_0000006/TCP_head/metadata.json b/shake_bottle_horizontally/episode_0000006/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e5650b642164723b3a8de29474eeb8da28c40a
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000006/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    302,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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_0000006/TCP_third/metadata.json b/shake_bottle_horizontally/episode_0000006/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1047943d4c084818fbd71e3f4df30b32560bba16
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000006/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    302,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/shake_bottle_horizontally/episode_0000006/metadata.json b/shake_bottle_horizontally/episode_0000006/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfdfb214adc8cd7dc1655bdd1dea891975fe6173
--- /dev/null
+++ b/shake_bottle_horizontally/episode_0000006/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "shake_bottle_horizontally",
+  "episode": "episode_0000006",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/shake_bottle_horizontally/aloha_agilex/data/episode_0000006.hdf5",
+  "num_frames": 302,
+  "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": [
+      302,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      302,
+      14
+    ],
+    "action_shape": [
+      302,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick the gray bottle with slight shine up and shake it horizontally.",
+    "Using the right arm, shake the light gray colored container bottle horizontally.",
+    "Use the right arm to hold the medium cylinder-shaped bottle firmly and shake horizontally.",
+    "Grab the light gray colored container bottle and move it side-to-side repeatedly.",
+    "Pick up the rounded body bottle made of plastic and shake it horizontally.",
+    "Lift the rounded body bottle made of plastic using the right arm and shake it sideways.",
+    "Hold the rounded body bottle made of plastic and move it side to side.",
+    "Hold the gray bottle with slight shine using the right arm and shake it horizontally.",
+    "Grab and shake the medium-sized plastic bottle horizontally.",
+    "Using the right arm, grab the medium-sized plastic bottle and shake it sideways.",
+    "Grab the medium-sized plastic bottle with the right arm and shake horizontally.",
+    "Shake the milk-bottle shape design side-to-side after grabbing it.",
+    "Hold the gray bottle with slight shine and move it side to side.",
+    "Grab the gray bottle with slight shine and shake in a horizontal motion.",
+    "Lift the light gray colored container bottle and move it back and forth.",
+    "Shake the smooth cylindrical bottle horizontally.",
+    "Shake the bottle with cute ghost drawing smoothly without using the right arm reference.",
+    "Utilize the right arm to grab the bottle with cute ghost drawing and shake sideways.",
+    "Take hold of the smooth cylindrical bottle using the right arm and move horizontally.",
+    "Grab the gray bottle with slight shine, shake it horizontally, then release.",
+    "Use the right arm to pick the gray bottle with slight shine and shake it horizontally.",
+    "Grip the medium cylinder-shaped bottle, then shake it back and forth.",
+    "Grab the bottle shaped like small cylinder using the right arm and move it side-to-side.",
+    "Shake the medium-sized plastic bottle from side to side.",
+    "Pick up the plastic bottle with ghost print and shake it side to side.",
+    "Lift the smooth cylindrical bottle and move it side-to-side.",
+    "Pick up the milk-bottle shape design and shake it from side to side.",
+    "Hold the bottle with cute ghost drawing steady and shake it horizontally.",
+    "Hold the milk-bottle shape design and shake it side to side.",
+    "Pick up the milk-bottle shape design with the right arm, shake it sideways.",
+    "Pick up the hand-sized bottle with screw cap using the right arm and shake sideways.",
+    "Take the medium-sized plastic bottle in the right arm and shake it back and forth.",
+    "Lift the light gray colored container bottle using the right arm and shake horizontally.",
+    "Move the rounded body bottle made of plastic side-to-side after grabbing it.",
+    "Use the right arm to grab the bottle with cute ghost drawing and shake horizontally.",
+    "Using the right arm, pick up the hand-sized bottle with screw cap and shake sideways.",
+    "Shake the rounded body bottle made of plastic horizontally after lifting with the right arm.",
+    "Pick the smooth cylindrical bottle, then shake it horizontally.",
+    "With the right arm, grab the light gray colored container bottle and shake it horizontally.",
+    "Lift the bottle shaped like small cylinder with the right arm, then shake it side to side.",
+    "Simply shake the gray bottle with slight shine horizontally without the right arm details.",
+    "Hold the hand-sized bottle with screw cap with the right arm and shake horizontally.",
+    "Use the right arm to hold the hand-sized bottle with screw cap and shake it sideways.",
+    "Secure the rounded body bottle made of plastic with the right arm, shake in horizontal motion.",
+    "Shake the milk-bottle shape design side-to-side after grabbing it.",
+    "Use the right arm to grab the smooth surface bottle with gray shade and move it horizontally.",
+    "Pick up the light gray colored container bottle using the right arm, shake it horizontally.",
+    "Pick the smooth surface bottle with gray shade using the right arm and move it horizontally.",
+    "Lift the medium-sized plastic bottle and shake it horizontally.",
+    "Hold the light gray colored container bottle with the right arm and move it left and right.",
+    "Pick the plastic bottle with ghost print up and shake it horizontally.",
+    "Using the right arm, shake the smooth cylindrical bottle horizontally.",
+    "Use the right arm to hold the light gray colored container bottle firmly and shake horizontally.",
+    "Grab the bottle with cute ghost drawing and move it side-to-side repeatedly.",
+    "Pick up the plastic bottle with ghost print and shake it horizontally.",
+    "Lift the rounded body bottle made of plastic using the right arm and shake it sideways.",
+    "Hold the light gray colored container bottle and move it side to side.",
+    "Hold the bottle shaped like small cylinder using the right arm and shake it horizontally.",
+    "Grab and shake the plastic bottle with ghost print horizontally.",
+    "Using the right arm, grab the milk-bottle shape design and shake it sideways.",
+    "Grab the hand-sized bottle with screw cap with the right arm and shake horizontally.",
+    "Shake the gray bottle with slight shine side-to-side after grabbing it.",
+    "Hold the medium-sized plastic bottle and move it side to side.",
+    "Grab the bottle with cute ghost drawing and shake in a horizontal motion.",
+    "Lift the hand-sized bottle with screw cap and move it back and forth.",
+    "Shake the hand-sized bottle with screw cap horizontally.",
+    "Shake the smooth cylindrical bottle smoothly without using the right arm reference.",
+    "Utilize the right arm to grab the milk-bottle shape design and shake sideways.",
+    "Take hold of the smooth cylindrical bottle using the right arm and move horizontally.",
+    "Grab the light gray colored container bottle, shake it horizontally, then release.",
+    "Use the right arm to pick the smooth cylindrical bottle and shake it horizontally.",
+    "Grip the bottle with cute ghost drawing, then shake it back and forth.",
+    "Grab the light gray colored container bottle using the right arm and move it side-to-side.",
+    "Shake the smooth surface bottle with gray shade from side to side.",
+    "Pick up the bottle shaped like small cylinder and shake it side to side.",
+    "Lift the rounded body bottle made of plastic and move it side-to-side.",
+    "Pick up the plastic bottle with ghost print and shake it from side to side.",
+    "Hold the hand-sized bottle with screw cap steady and shake it horizontally.",
+    "Hold the milk-bottle shape design and shake it side to side.",
+    "Pick up the bottle with cute ghost drawing with the right arm, shake it sideways.",
+    "Pick up the milk-bottle shape design using the right arm and shake sideways.",
+    "Take the medium-sized plastic bottle in the right arm and shake it back and forth.",
+    "Lift the milk-bottle shape design using the right arm and shake horizontally.",
+    "Move the smooth surface bottle with gray shade side-to-side after grabbing it.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake horizontally.",
+    "Using the right arm, pick up the milk-bottle shape design and shake sideways.",
+    "Shake the medium-sized plastic bottle horizontally after lifting with the right arm.",
+    "Pick the plastic bottle with ghost print, then shake it horizontally.",
+    "With the right arm, grab the milk-bottle shape design and shake it horizontally.",
+    "Lift the milk-bottle shape design with the right arm, then shake it side to side.",
+    "Simply shake the bottle shaped like small cylinder horizontally without the right arm details.",
+    "Hold the rounded body bottle made of plastic with the right arm and shake horizontally.",
+    "Use the right arm to hold the bottle with cute ghost drawing and shake it sideways.",
+    "Secure the gray bottle with slight shine with the right arm, shake in horizontal motion.",
+    "Shake the bottle with cute ghost drawing side-to-side after grabbing it.",
+    "Use the right arm to grab the milk-bottle shape design and move it horizontally.",
+    "Pick up the gray bottle with slight shine using the right arm, shake it horizontally.",
+    "Pick the bottle with cute ghost drawing using the right arm and move it horizontally.",
+    "Lift the hand-sized bottle with screw cap and shake it horizontally.",
+    "Hold the hand-sized bottle with screw cap with the right arm and move it left and right."
+  ]
+}
diff --git a/stack_blocks_two/episode_0000011/TCP_head/metadata.json b/stack_blocks_two/episode_0000011/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec3f5ccc84ac99b9cc1d8d4e3a088552725605cb
--- /dev/null
+++ b/stack_blocks_two/episode_0000011/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    343,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_blocks_two/episode_0000011/metadata.json b/stack_blocks_two/episode_0000011/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13130640349f836449009a32eb5b6607f334716e
--- /dev/null
+++ b/stack_blocks_two/episode_0000011/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stack_blocks_two",
+  "episode": "episode_0000011",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stack_blocks_two/aloha_agilex/data/episode_0000011.hdf5",
+  "num_frames": 343,
+  "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": [
+      343,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      343,
+      14
+    ],
+    "action_shape": [
+      343,
+      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 red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Shift red block to the center and place green block on top.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Use the right arm to move red block and the left arm to position green block.",
+    "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Position red block at the center and stack green block above it.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Put red block in the center, then add green block above it.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Relocate red block to the middle and place green block on it.",
+    "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Shift red block to the center and place green block on top.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Set red block and green block at the table's center, then stack green block on red block.",
+    "Use the right arm to move red block, then the left arm to stack green block on red block at the center.",
+    "Set red block at the center, then stack green block over red block after placing it alongside.",
+    "Use the right arm to place red block in the center; stack green block on it with the left arm.",
+    "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.",
+    "the right arm moves red block to the center, the left arm stacks green block onto red block.",
+    "Place red block and green block at the center and then put green block on red block.",
+    "the right arm takes red block, sets it in the center, the left arm places green block on red block.",
+    "Move red block to the middle and put green block on top of it.",
+    "Relocate red block and green block to the center, then layer green block over red block.",
+    "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.",
+    "Shift red block and green block to the center and stack green block on red block.",
+    "Place red block and green block in the center, then stack green block above red block.",
+    "Center red block and green block on the table and stack green block on top of red block.",
+    "Place red block and green block centrally, then stack green block on red block.",
+    "Use the right arm to move red block and the left arm to position green block.",
+    "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.",
+    "Move red block to the center using the right arm, then stack green block on red block using the left arm.",
+    "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.",
+    "Move red block and green block to the center, then stack green block above red block.",
+    "Bring red block to the center, then stack green block over it.",
+    "Pick up red block and green block, set them at the center, then position green block above red block.",
+    "Shift red block and green block to the middle, then stack green block over red block.",
+    "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.",
+    "Position red block at the center and stack green block above it.",
+    "Use the right arm to center red block, then stack green block with the left arm.",
+    "Grab red block, set it in the center, then stack green block over it.",
+    "Put red block in the center, then add green block above it.",
+    "Place red block and green block together at the center, then stack green block on top.",
+    "Use the right arm to move red block and the left arm to stack green block.",
+    "Set red block and green block at the center, stacking green block atop red block.",
+    "Position red block and green block at the center, then stack green block on red block.",
+    "Relocate red block to the middle and place green block on it.",
+    "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.",
+    "Center red block using the right arm, then stack green block with the left arm on top.",
+    "Shift red block and green block to the center, then position green block on red block.",
+    "Place red block in the center, then move green block there and stack green block on red block.",
+    "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.",
+    "Shift red block to the center and place green block on top.",
+    "Move red block and green block to the center; stack green block on top of red block.",
+    "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.",
+    "Set red block in the center, then position green block on top of it.",
+    "Move red block with the right arm, then stack green block on it using the left arm.",
+    "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.",
+    "Set red block and green block at the table's center, then stack green block on red block."
+  ]
+}