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+  "format": "robotwin_tcp_v1",
+  "shape": [
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+    7
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+    "x",
+    "y",
+    "z",
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+    "gripper_open"
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+  "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",
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+  "source": "robot_state.npy"
+}
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+  "gripper": {
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+}
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+  "format_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000005",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000005.hdf5",
+  "num_frames": 251,
+  "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": {
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+    "channel_order": "RGB"
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+  "depth": {
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+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
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+    "per_view_constant": true
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+    "transform": "world_to_camera",
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+        "start": 0,
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+  "frequency_hz": 15,
+  "instructions": [
+    "Grab the light brown can with smooth texture, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.",
+    "Take the drink can with light brown shade, set it into the plastic basket, and raise the plastic basket.",
+    "Place the light brown can with smooth texture inside the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.",
+    "Place the metal can with white decorative designs in the handheld basket and then lift the handheld basket.",
+    "Take the metal can with white decorative designs, place it into the medium yellow basket with slots, then lift the medium yellow basket with slots.",
+    "Grab the hand-sized metallic can, drop it into the yellow basket, then use another arm for the yellow basket.",
+    "Pick the metal can with white decorative designs, set it in the rectangular yellow basket, then lift the rectangular yellow basket.",
+    "Use the right arm to put the brown can in the plastic basket; the other arm raises the plastic basket.",
+    "Pick up the metal can with white decorative designs, place it into the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.",
+    "Pick up the smooth brown can with rounded edges, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.",
+    "Use the right arm to drop the drink can with light brown shade in the basket with perforated sides; the other arm lifts the basket with perforated sides.",
+    "Pick up the hand-sized metallic can, set it inside the rectangular yellow basket, then lift the rectangular yellow basket.",
+    "Use the right arm to place the brown can in the basket with perforated sides; another arm lifts the basket with perforated sides.",
+    "Use one arm for the light brown can with smooth texture, then the other arm lifts the bright yellow basket.",
+    "Pick the metal can with printed white graphics using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.",
+    "Pick up the hand-sized metallic can, put it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.",
+    "Pick up the smooth brown can with rounded edges, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff.",
+    "Place the small cylindrical drink container in the carrying basket with black plastic handle and then use another arm to lift the carrying basket with black plastic handle.",
+    "Lift the hand-sized metallic can, place it in the bright yellow basket, and raise the bright yellow basket.",
+    "Lift the small light brown cylindrical can, set it in the yellow basket for carrying stuff, and elevate the yellow basket for carrying stuff.",
+    "Grab the drink can with light brown shade with the right arm, put it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle with the other arm.",
+    "Grab and drop the drink can with light brown shade in the handheld basket, lift the handheld basket.",
+    "Use the right arm to put the rounded metallic can in the basket with black handle; another arm lifts the basket with black handle.",
+    "Use the right arm to put the metal can with printed white graphics in the handheld basket; the other arm lifts the handheld basket.",
+    "Grab the brown can, place it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle upwards.",
+    "Pick the hand-sized metallic can with the right arm, set it in the rectangular yellow basket, and lift the rectangular yellow basket using another arm.",
+    "Pick the small cylindrical drink container with the right arm, drop it in the medium yellow basket with slots, lift the medium yellow basket with slots with another arm.",
+    "Use the right arm to grab the smooth light brown can and place in the handheld basket, lift the handheld basket with another arm.",
+    "Use the right arm to set the small cylindrical drink container in the rectangular basket with smooth surface; the other arm lifts the rectangular basket with smooth surface.",
+    "Grab the light brown can with smooth texture, drop it into the rectangular yellow basket, and raise the rectangular yellow basket.",
+    "Take the smooth light brown can in the right arm, place it into the yellow basket, another arm lifts the yellow basket.",
+    "Use the right arm to grab the brown can, put it into the bright yellow basket, and lift the bright yellow basket with another arm.",
+    "Grab the small light brown cylindrical can, put it in the basket with arched black grip, then raise the basket with arched black grip.",
+    "Pick up the white patterned brown metal can with the right arm, place into the basket with black handle, the other arm raises the basket with black handle.",
+    "Lift the small cylindrical drink container, drop it into the medium yellow basket with slots, then carry the medium yellow basket with slots.",
+    "Use the right arm to place the rounded metallic can in the rectangular basket with smooth surface; the other arm lifts the rectangular basket with smooth surface.",
+    "Use the right arm to set the smooth brown can with rounded edges in the bright yellow basket; another arm lifts the bright yellow basket.",
+    "Grab the drink can with light brown shade, place it in the handheld basket, and then lift the handheld basket.",
+    "Grab the small cylindrical drink container, set it into the basket with perforated sides, then raise the basket with perforated sides.",
+    "Pick the smooth brown can with rounded edges with one arm, place it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface using another arm.",
+    "Take the smooth brown can with rounded edges with the right arm, drop it into the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle using another arm.",
+    "Drop the hand-sized metallic can into the basket with perforated sides using the right arm, then lift the basket with perforated sides with another arm.",
+    "Use the right arm to lower the rounded metallic can into the basket with arched black grip; the other arm lifts the basket with arched black grip.",
+    "Use the right arm to insert the white patterned brown metal can in the carrying basket with black plastic handle; the other arm lifts the carrying basket with black plastic handle.",
+    "Lift the light brown can with smooth texture, put it in the plastic basket, and carry the plastic basket afterward.",
+    "Grab the metal can with white decorative designs, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.",
+    "Lift the drink can with light brown shade, place it inside the bright yellow basket, and elevate the bright yellow basket.",
+    "Take the metal can with printed white graphics and put it in the carrying basket with black plastic handle, then lift the carrying basket with black plastic handle.",
+    "Pick the metal can with printed white graphics, set it in the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface upward.",
+    "Lift the drink can with light brown shade, place it in the basket with black handle, pick up the basket with black handle afterward.",
+    "Grab the small cylindrical drink container, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle with the other arm.",
+    "Take the rounded metallic can, set it into the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface.",
+    "Place the light brown can with smooth texture inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.",
+    "Place the drink can with light brown shade in the basket with perforated sides and then lift the basket with perforated sides.",
+    "Take the small light brown cylindrical can, place it into the basket with black handle, then lift the basket with black handle.",
+    "Grab the drink can with light brown shade, drop it into the bright yellow basket, then use another arm for the bright yellow basket.",
+    "Pick the white patterned brown metal can, set it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.",
+    "Use the right arm to put the light brown can with smooth texture in the basket with black handle; the other arm raises the basket with black handle.",
+    "Pick up the smooth light brown can, place it into the handheld basket, then lift the handheld basket.",
+    "Pick up the small light brown cylindrical can, place it in the handheld basket, and then lift the handheld basket.",
+    "Use the right arm to drop the metal can with white decorative designs in the yellow basket; the other arm lifts the yellow basket.",
+    "Pick up the smooth light brown can, set it inside the basket with arched black grip, then lift the basket with arched black grip.",
+    "Use the right arm to place the drink can with light brown shade in the rectangular yellow basket; another arm lifts the rectangular yellow basket.",
+    "Use one arm for the white patterned brown metal can, then the other arm lifts the handheld basket.",
+    "Pick the smooth light brown can using the right arm, drop it in the basket with perforated sides, and lift the basket with perforated sides with the other arm.",
+    "Pick up the smooth brown can with rounded edges, put it in the carrying basket with black plastic handle, and lift the carrying basket with black plastic handle.",
+    "Pick up the drink can with light brown shade, put it into the yellow basket, and lift the yellow basket.",
+    "Place the metal can with printed white graphics in the yellow basket and then use another arm to lift the yellow basket.",
+    "Lift the smooth brown can with rounded edges, place it in the rectangular yellow basket, and raise the rectangular yellow basket.",
+    "Lift the rounded metallic can, set it in the rectangular yellow basket, and elevate the rectangular yellow basket.",
+    "Grab the white patterned brown metal can with the right arm, put it into the plastic basket, and lift the plastic basket with the other arm.",
+    "Grab and drop the small light brown cylindrical can in the basket with black handle, lift the basket with black handle.",
+    "Use the right arm to put the drink can with light brown shade in the rectangular yellow basket; another arm lifts the rectangular yellow basket.",
+    "Use the right arm to put the smooth brown can with rounded edges in the yellow basket for carrying stuff; the other arm lifts the yellow basket for carrying stuff.",
+    "Grab the small cylindrical drink container, place it in the plastic basket, and lift the plastic basket upwards.",
+    "Pick the drink can with light brown shade with the right arm, set it in the yellow basket, and lift the yellow basket using another arm.",
+    "Pick the rounded metallic can with the right arm, drop it in the basket with arched black grip, lift the basket with arched black grip with another arm.",
+    "Use the right arm to grab the white patterned brown metal can and place in the basket with perforated sides, lift the basket with perforated sides with another arm.",
+    "Use the right arm to set the brown can in the basket with black handle; the other arm lifts the basket with black handle.",
+    "Grab the brown can, drop it into the yellow basket, and raise the yellow basket.",
+    "Take the small light brown cylindrical can in the right arm, place it into the bright yellow basket, another arm lifts the bright yellow basket.",
+    "Use the right arm to grab the drink can with light brown shade, put it into the yellow basket, and lift the yellow basket with another arm.",
+    "Grab the white patterned brown metal can, put it in the plastic basket, then raise the plastic basket.",
+    "Pick up the smooth brown can with rounded edges with the right arm, place into the carrying basket with black plastic handle, the other arm raises the carrying basket with black plastic handle.",
+    "Lift the small light brown cylindrical can, drop it into the rectangular yellow basket, then carry the rectangular yellow basket.",
+    "Use the right arm to place the hand-sized metallic can in the basket with black handle; the other arm lifts the basket with black handle.",
+    "Use the right arm to set the smooth light brown can in the yellow basket for carrying stuff; another arm lifts the yellow basket for carrying stuff.",
+    "Grab the smooth light brown can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.",
+    "Grab the small cylindrical drink container, set it into the yellow basket for carrying stuff, then raise the yellow basket for carrying stuff.",
+    "Pick the smooth brown can with rounded edges with one arm, place it in the handheld basket, and lift the handheld basket using another arm.",
+    "Take the white patterned brown metal can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm.",
+    "Drop the white patterned brown metal can into the handheld basket using the right arm, then lift the handheld basket with another arm.",
+    "Use the right arm to lower the brown can into the basket with arched black grip; the other arm lifts the basket with arched black grip.",
+    "Use the right arm to insert the smooth light brown can in the plastic basket; the other arm lifts the plastic basket.",
+    "Lift the brown can, put it in the handheld basket, and carry the handheld basket afterward.",
+    "Grab the rounded metallic can, place it in the basket with arched black grip, and raise the basket with arched black grip using the other arm.",
+    "Lift the smooth brown can with rounded edges, place it inside the basket with perforated sides, and elevate the basket with perforated sides.",
+    "Take the metal can with white decorative designs and put it in the bright yellow basket, then lift the bright yellow basket.",
+    "Pick the rounded metallic can, set it in the plastic basket, and lift the plastic basket upward.",
+    "Lift the metal can with printed white graphics, place it in the yellow basket for carrying stuff, pick up the yellow basket for carrying stuff afterward."
+  ]
+}
diff --git a/place_shoe/episode_0000020/TCP_third/metadata.json b/place_shoe/episode_0000020/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c0240c74fff7fae8d9564db5a8d1c8a39020e7
--- /dev/null
+++ b/place_shoe/episode_0000020/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    188,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stack_bowls_two/episode_0000034/TCP_third/metadata.json b/stack_bowls_two/episode_0000034/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d8199dd2a4e644bb378697c0cacacb8e0a51b2d
--- /dev/null
+++ b/stack_bowls_two/episode_0000034/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    324,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "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"
+}