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diff --git a/open_laptop/episode_0000040/TCP_head/metadata.json b/open_laptop/episode_0000040/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0104fc82516fb5fe82f19c66de0a86153cb3e428
--- /dev/null
+++ b/open_laptop/episode_0000040/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    236,
+    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/open_laptop/episode_0000040/TCP_third/metadata.json b/open_laptop/episode_0000040/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1f1a6fbcfc2734d8276e3adb9717c74b0b53a8
--- /dev/null
+++ b/open_laptop/episode_0000040/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    236,
+    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/open_laptop/episode_0000040/metadata.json b/open_laptop/episode_0000040/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..45db73ca6c96959ca59bb68b8ed722893b90d3d8
--- /dev/null
+++ b/open_laptop/episode_0000040/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "open_laptop",
+  "episode": "episode_0000040",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/open_laptop/aloha_agilex/data/episode_0000040.hdf5",
+  "num_frames": 236,
+  "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": [
+      236,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      236,
+      14
+    ],
+    "action_shape": [
+      236,
+      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": [
+    "Open the laptop featuring built-in keyboard entirely.",
+    "Carefully open the laptop with rectangular display screen using the right arm",
+    "Raise and open the laptop with wide black lid.",
+    "Raise the laptop with wide black lid lid using the right arm.",
+    "Pull the laptop featuring built-in keyboard upward lightly.",
+    "Pull the screen of the rectangular laptop with smooth texture.",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Open the laptop with rectangular display screen carefully with the right arm.",
+    "Lift the black laptop with smooth body to open it up",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Pull the black laptop open with the right arm.",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Grip and lift the black laptop's lid.",
+    "Raise the lid of the black laptop.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Pull up the lid of the black and silver portable laptop",
+    "Raise the laptop with rectangular display screen lid with the right arm.",
+    "Open the black laptop with smooth body completely.",
+    "Gently raise the laptop with rectangular display screen using the right arm.",
+    "Lift the laptop with silver buttons on keyboard's lid using the right arm.",
+    "Lift and open the laptop with wide black lid.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Lift the laptop with shiny black surface lid completely.",
+    "Hold the black and silver portable laptop steady, lift lid.",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Use the right arm to open the laptop with silver buttons on keyboard.",
+    "Use the right arm to open the black laptop",
+    "Open the rectangular laptop with smooth texture lifting with the right arm",
+    "Fully lift the laptop with wide black lid using the right arm.",
+    "Lift the clamshell laptop with flat screen to open.",
+    "Lift the laptop featuring built-in keyboard's lid upwards.",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Pull the lid of the rectangular laptop with smooth texture upward.",
+    "Fully open the black and silver portable laptop.",
+    "Slide the laptop with rectangular display screen open with the right arm.",
+    "Gently open the black laptop with smooth body upward.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Gently lift the black laptop with smooth body using the right arm",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Gently open the laptop with wide black lid.",
+    "Raise the black and silver portable laptop to expose the screen",
+    "Open the clamshell laptop with flat screen by lifting its lid.",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Pull open the rectangular laptop with folding hinge",
+    "Open the laptop featuring built-in keyboard entirely.",
+    "Carefully open the black laptop using the right arm",
+    "Raise and open the laptop with silver buttons on keyboard.",
+    "Raise the black laptop with smooth body lid using the right arm.",
+    "Pull the laptop with rectangular display screen upward lightly.",
+    "Pull the screen of the black laptop.",
+    "Raise the laptop with shiny black surface using the right arm firmly.",
+    "Open the black and silver portable laptop carefully with the right arm.",
+    "Lift the laptop with shiny black surface to open it up",
+    "Use the right arm to lift the black laptop with smooth body",
+    "Pull the black and silver portable laptop open with the right arm.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Raise the lid of the rectangular laptop with folding hinge.",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Use the right arm to raise the black laptop.",
+    "Raise the top of the black and silver portable laptop",
+    "Use the right arm to open the black laptop.",
+    "Pull up the lid of the clamshell laptop with flat screen",
+    "Raise the laptop with wide black lid lid with the right arm.",
+    "Open the rectangular laptop with smooth texture completely.",
+    "Gently raise the laptop with rectangular display screen using the right arm.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Lift and open the rectangular laptop with folding hinge.",
+    "Raise the laptop with silver buttons on keyboard's top section.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Hold the laptop with wide black lid steady, lift lid.",
+    "With the right arm, open the rectangular laptop with folding hinge's lid.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Use the right arm to open the laptop with silver buttons on keyboard",
+    "Open the black and silver portable laptop lifting with the right arm",
+    "Fully lift the rectangular laptop with smooth texture using the right arm.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Lift the laptop with rectangular display screen's lid upwards.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "Fully open the laptop with wide black lid.",
+    "Slide the laptop with shiny black surface open with the right arm.",
+    "Gently open the clamshell laptop with flat screen upward.",
+    "Push the clamshell laptop with flat screen's lid upward using the right arm.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Gently lift the rectangular laptop with smooth texture using the right arm",
+    "Lift the rectangular laptop with smooth texture open with the right arm.",
+    "Gently open the laptop featuring built-in keyboard.",
+    "Raise the laptop with rectangular display screen to expose the screen",
+    "Open the laptop with silver buttons on keyboard by lifting its lid.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Pull open the laptop with silver keyboard"
+  ]
+}
diff --git a/open_laptop/episode_0000043/TCP_head/metadata.json b/open_laptop/episode_0000043/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db72e12f7400009c2b84b1efe4a3523e6540b18
--- /dev/null
+++ b/open_laptop/episode_0000043/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    235,
+    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/open_laptop/episode_0000043/TCP_third/metadata.json b/open_laptop/episode_0000043/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..28a6c602d99f13b119929df93490f5e468b58688
--- /dev/null
+++ b/open_laptop/episode_0000043/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    235,
+    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/open_laptop/episode_0000043/metadata.json b/open_laptop/episode_0000043/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..010af6edcdc2477fed9b5f99698086146751ecc3
--- /dev/null
+++ b/open_laptop/episode_0000043/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "open_laptop",
+  "episode": "episode_0000043",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/open_laptop/aloha_agilex/data/episode_0000043.hdf5",
+  "num_frames": 235,
+  "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": [
+      235,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      235,
+      14
+    ],
+    "action_shape": [
+      235,
+      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": [
+    "Open the foldable laptop carefully with the right arm.",
+    "Open the blue screen foldable laptop lifting with the right arm",
+    "Lift and open the laptop with black hinge area.",
+    "Gently open the laptop with black hinge area upward.",
+    "Open the blue screen portable laptop by lifting its lid.",
+    "Use the right arm to raise the plastic orange laptop with metal parts.",
+    "Fully lift the laptop with black hinge area using the right arm.",
+    "Use the right arm to open the rectangular laptop with orange body.",
+    "Hold the blue screen portable laptop steady, lift lid.",
+    "Pull open the thin portable laptop",
+    "Gently raise the plastic orange laptop with metal parts using the right arm.",
+    "Raise the hinged screen laptop using the right arm firmly.",
+    "Push the laptop with blue screen's lid upward using the right arm.",
+    "Lift the laptop with folding lid to open it up",
+    "Pull the screen of the laptop with blue screen.",
+    "Raise the laptop with black hinge area lid using the right arm.",
+    "Lift the blue screen foldable laptop's lid using the right arm.",
+    "Gently lift the plastic orange laptop with metal parts using the right arm",
+    "Slide the thin portable laptop open with the right arm.",
+    "Use the right arm to open the laptop with black hinge area.",
+    "Pull the thin portable laptop upward lightly.",
+    "Lift the foldable laptop lid completely.",
+    "Use the right arm to open the plastic orange laptop with metal parts.",
+    "Pull up the lid of the foldable laptop",
+    "Raise and open the thin portable laptop.",
+    "Raise the plastic orange laptop with metal parts to expose the screen",
+    "Open the medium rectangular orange laptop completely.",
+    "Pull the orange laptop's lid upward.",
+    "Pull the lid of the rectangular laptop with orange body upward.",
+    "Use the right arm to open the laptop with blue screen",
+    "Carefully open the orange laptop using the right arm",
+    "Lift the thin portable laptop slightly.",
+    "Raise the top of the blue screen foldable laptop",
+    "Lift the orange laptop's lid upwards.",
+    "Use the right arm to lift the thin portable laptop",
+    "Gently open the medium rectangular orange laptop.",
+    "Raise the plastic orange laptop with metal parts using the right arm.",
+    "Grip and lift the laptop with folding lid's lid.",
+    "Raise the blue screen foldable laptop using the right arm.",
+    "Open the thin portable laptop entirely.",
+    "Raise the lid of the rectangular laptop with orange body.",
+    "Raise the laptop with folding lid's top section.",
+    "Use the right arm to raise the plastic orange laptop with metal parts.",
+    "Lift the laptop with black hinge area to open.",
+    "Fully open the blue screen foldable laptop.",
+    "With the right arm, open the plastic orange laptop with metal parts's lid.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Pull the laptop with blue screen open with the right arm.",
+    "Lift the laptop with black hinge area open with the right arm.",
+    "Raise the hinged screen laptop lid with the right arm.",
+    "Open the laptop with folding lid carefully with the right arm.",
+    "Open the foldable laptop lifting with the right arm",
+    "Lift and open the orange laptop.",
+    "Gently open the orange laptop upward.",
+    "Open the thin portable laptop by lifting its lid.",
+    "Use the right arm to raise the foldable laptop.",
+    "Fully lift the foldable laptop using the right arm.",
+    "Use the right arm to open the blue screen portable laptop.",
+    "Hold the medium rectangular orange laptop steady, lift lid.",
+    "Pull open the blue screen portable laptop",
+    "Gently raise the rectangular laptop with orange body using the right arm.",
+    "Raise the blue screen portable laptop using the right arm firmly.",
+    "Push the medium rectangular orange laptop's lid upward using the right arm.",
+    "Lift the laptop with blue screen to open it up",
+    "Pull the screen of the hinged screen laptop.",
+    "Raise the laptop with black hinge area lid using the right arm.",
+    "Lift the laptop with folding lid's lid using the right arm.",
+    "Gently lift the medium rectangular orange laptop using the right arm",
+    "Slide the foldable laptop open with the right arm.",
+    "Use the right arm to open the orange laptop.",
+    "Pull the blue screen foldable laptop upward lightly.",
+    "Lift the laptop with folding lid lid completely.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Pull up the lid of the blue screen foldable laptop",
+    "Raise and open the blue screen portable laptop.",
+    "Raise the blue screen foldable laptop to expose the screen",
+    "Open the hinged screen laptop completely.",
+    "Pull the plastic orange laptop with metal parts's lid upward.",
+    "Pull the lid of the laptop with black hinge area upward.",
+    "Use the right arm to open the orange laptop",
+    "Carefully open the medium rectangular orange laptop using the right arm",
+    "Lift the hinged screen laptop slightly.",
+    "Raise the top of the thin portable laptop",
+    "Lift the medium rectangular orange laptop's lid upwards.",
+    "Use the right arm to lift the thin portable laptop",
+    "Gently open the rectangular laptop with orange body.",
+    "Raise the medium rectangular orange laptop using the right arm.",
+    "Grip and lift the laptop with black hinge area's lid.",
+    "Raise the medium rectangular orange laptop using the right arm.",
+    "Open the blue screen foldable laptop entirely.",
+    "Raise the lid of the hinged screen laptop.",
+    "Raise the blue screen portable laptop's top section.",
+    "Use the right arm to raise the orange laptop.",
+    "Lift the orange laptop to open.",
+    "Fully open the medium rectangular orange laptop.",
+    "With the right arm, open the laptop with folding lid's lid.",
+    "Use the right arm to raise the blue screen foldable laptop.",
+    "Pull the hinged screen laptop open with the right arm.",
+    "Lift the blue screen foldable laptop open with the right arm.",
+    "Raise the plastic orange laptop with metal parts lid with the right arm."
+  ]
+}
diff --git a/open_laptop/episode_0000048/TCP_third/metadata.json b/open_laptop/episode_0000048/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6814287279928326cfdc9db5a97a5351e4780e62
--- /dev/null
+++ b/open_laptop/episode_0000048/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    166,
+    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"
+}