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diff --git a/place_can_basket/episode_0000014/TCP_head/metadata.json b/place_can_basket/episode_0000014/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c28686cae32c31b6871b32b49a2495c9b36c13
--- /dev/null
+++ b/place_can_basket/episode_0000014/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    250,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_can_basket/episode_0000014/TCP_third/metadata.json b/place_can_basket/episode_0000014/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea7dd8935ca4bc1fb1b5b60153a223ede30599d
--- /dev/null
+++ b/place_can_basket/episode_0000014/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    250,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_can_basket/episode_0000014/metadata.json b/place_can_basket/episode_0000014/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b155724a4c0cf45beae2e6cf7d27284e3f9595
--- /dev/null
+++ b/place_can_basket/episode_0000014/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_can_basket",
+  "episode": "episode_0000014",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_can_basket/aloha_agilex/data/episode_0000014.hdf5",
+  "num_frames": 250,
+  "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": [
+      250,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      250,
+      14
+    ],
+    "action_shape": [
+      250,
+      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": [
+    "Grab the can with flat silver bottom, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.",
+    "Grab the cylindrical metal can, place it in the rectangular yellow basket, and raise the rectangular yellow basket using the other arm.",
+    "Take the red and white beverage can, place it into the basket with black handle, then lift the basket with black handle.",
+    "Pick up the drink can with smooth red finish, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.",
+    "Pick up the red and white beverage can, place it in the yellow basket for carrying stuff, and then lift the yellow basket for carrying stuff.",
+    "Pick the cylindrical can with flat surfaces, set it in the basket with perforated sides, then lift the basket with perforated sides.",
+    "Pick up the smooth red can, put it in the bright yellow basket, and lift the bright yellow basket.",
+    "Grab the red drink can with white lid, put it in the carrying basket with black plastic handle, then raise the carrying basket with black plastic handle.",
+    "Place the red can with decorative label inside the medium yellow basket with slots, then lift the medium yellow basket with slots.",
+    "Pick the cylindrical can with flat surfaces with the right arm, set it in the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.",
+    "Grab the can with flat silver bottom, place it in the basket with black handle, and lift the basket with black handle upwards.",
+    "Lift the red soda can with green accents, place it in the basket with arched black grip, pick up the basket with arched black grip afterward.",
+    "Grab the smooth red can, set it into the bright yellow basket, then raise the bright yellow basket.",
+    "Use the right arm to place the drink can with smooth red finish in the basket with arched black grip; the other arm lifts the basket with arched black grip.",
+    "Take the medium-sized soda can in the right arm, place it into the handheld basket, another arm lifts the handheld basket.",
+    "Take the cylindrical metal can with the right arm, drop it into the basket with perforated sides, and lift the basket with perforated sides using another arm.",
+    "Use the right arm to lower the metal can with red base into the bright yellow basket; the other arm lifts the bright yellow basket.",
+    "Use the right arm to set the red and white beverage can in the yellow basket; another arm lifts the yellow basket.",
+    "Use the right arm to grab the medium-sized soda can, put it into the basket with perforated sides, and lift the basket with perforated sides with another arm.",
+    "Grab and drop the metal can with red base in the basket with black handle, lift the basket with black handle.",
+    "Use the right arm to set the red shiny can with green label in the carrying basket with black plastic handle; the other arm lifts the carrying basket with black plastic handle.",
+    "Pick the red can with decorative label with the right arm, drop it in the rectangular yellow basket, lift the rectangular yellow basket with another arm.",
+    "Pick the red and white beverage can, set it in the basket with perforated sides, and lift the basket with perforated sides upward.",
+    "Lift the smooth red can, set it in the basket with arched black grip, and elevate the basket with arched black grip.",
+    "Lift the metal can with red base, place it inside the rectangular basket with smooth surface, and elevate the rectangular basket with smooth surface.",
+    "Use the right arm to insert the metal can with red base in the yellow basket for carrying stuff; the other arm lifts the yellow basket for carrying stuff.",
+    "Pick up the medium-sized soda can, set it inside the basket with arched black grip, then lift the basket with arched black grip.",
+    "Grab the red shiny can with green label, drop it into the yellow basket, and raise the yellow basket with the other arm.",
+    "Use the right arm to put the red and white beverage can in the basket with perforated sides; the other arm lifts the basket with perforated sides.",
+    "Pick the red and white beverage can using the right arm, drop it in the handheld basket, and lift the handheld basket with the other arm.",
+    "Take the medium-sized soda can and put it in the basket with black handle, then lift the basket with black handle.",
+    "Drop the medium-sized soda can into the plastic basket using the right arm, then lift the plastic basket with another arm.",
+    "Use the right arm to put the red can with decorative label in the carrying basket with black plastic handle; another arm lifts the carrying basket with black plastic handle.",
+    "Grab the red drink can with white lid, place it in the carrying basket with black plastic handle, and then lift the carrying basket with black plastic handle.",
+    "Lift the smooth red can, drop it into the handheld basket, then carry the handheld basket.",
+    "Place the red shiny can with green label in the basket with arched black grip and then lift the basket with arched black grip.",
+    "Lift the smooth red can, place it in the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.",
+    "Use the right arm to drop the red can with decorative label in the yellow basket for carrying stuff; the other arm lifts the yellow basket for carrying stuff.",
+    "Place the red soda can with green accents in the basket with perforated sides and then use another arm to lift the basket with perforated sides.",
+    "Use the right arm to place the smooth red can in the bright yellow basket; another arm lifts the bright yellow basket.",
+    "Pick up the red soda can with green accents, put it into the rectangular yellow basket, and lift the rectangular yellow basket.",
+    "Use the right arm to grab the smooth red can and place in the rectangular basket with smooth surface, lift the rectangular basket with smooth surface with another arm.",
+    "Take the drink can with smooth red finish, set it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.",
+    "Use the right arm to put the cylindrical can with flat surfaces in the handheld basket; the other arm raises the handheld basket.",
+    "Use one arm for the red shiny can with green label, then the other arm lifts the rectangular basket with smooth surface.",
+    "Lift the red shiny can with green label, put it in the basket with perforated sides, and carry the basket with perforated sides afterward.",
+    "Grab the cylindrical can with flat surfaces with the right arm, put it into the basket with arched black grip, and lift the basket with arched black grip with the other arm.",
+    "Grab the cylindrical metal can, drop it into the medium yellow basket with slots, then use another arm for the medium yellow basket with slots.",
+    "Pick the red drink can with white lid with one arm, place it in the yellow basket, and lift the yellow basket using another arm.",
+    "Pick up the red soda can with green accents with the right arm, place into the rectangular yellow basket, the other arm raises the rectangular yellow basket.",
+    "Grab the medium-sized soda can, drop it into the carrying basket with black plastic handle, and raise the carrying basket with black plastic handle.",
+    "Grab the red soda can with green accents, place it in the rectangular basket with smooth surface, and raise the rectangular basket with smooth surface using the other arm.",
+    "Take the medium-sized soda can, place it into the basket with perforated sides, then lift the basket with perforated sides.",
+    "Pick up the red soda can with green accents, place it into the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff.",
+    "Pick up the medium-sized soda can, place it in the medium yellow basket with slots, and then lift the medium yellow basket with slots.",
+    "Pick the red can with decorative label, set it in the basket with arched black grip, then lift the basket with arched black grip.",
+    "Pick up the red soda can with green accents, put it in the plastic basket, and lift the plastic basket.",
+    "Grab the metal can with red base, put it in the medium yellow basket with slots, then raise the medium yellow basket with slots.",
+    "Place the metal can with red base inside the medium yellow basket with slots, then lift the medium yellow basket with slots.",
+    "Pick the drink can with smooth red finish with the right arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm.",
+    "Grab the red and white beverage can, place it in the bright yellow basket, and lift the bright yellow basket upwards.",
+    "Lift the red drink can with white lid, place it in the bright yellow basket, pick up the bright yellow basket afterward.",
+    "Grab the red can with decorative label, set it into the medium yellow basket with slots, then raise the medium yellow basket with slots.",
+    "Use the right arm to place the red shiny can with green label in the carrying basket with black plastic handle; the other arm lifts the carrying basket with black plastic handle.",
+    "Take the red shiny can with green label in the right arm, place it into the rectangular basket with smooth surface, another arm lifts the rectangular basket with smooth surface.",
+    "Take the red can with decorative label with the right arm, drop it into the medium yellow basket with slots, and lift the medium yellow basket with slots using another arm.",
+    "Use the right arm to lower the cylindrical can with flat surfaces into the medium yellow basket with slots; the other arm lifts the medium yellow basket with slots.",
+    "Use the right arm to set the cylindrical can with flat surfaces in the bright yellow basket; another arm lifts the bright yellow basket.",
+    "Use the right arm to grab the cylindrical can with flat surfaces, put it into the rectangular yellow basket, and lift the rectangular yellow basket with another arm.",
+    "Grab and drop the can with flat silver bottom in the bright yellow basket, lift the bright yellow basket.",
+    "Use the right arm to set the red can with decorative label in the basket with arched black grip; the other arm lifts the basket with arched black grip.",
+    "Pick the red drink can with white lid with the right arm, drop it in the basket with black handle, lift the basket with black handle with another arm.",
+    "Pick the red can with decorative label, set it in the basket with perforated sides, and lift the basket with perforated sides upward.",
+    "Lift the cylindrical can with flat surfaces, set it in the basket with perforated sides, and elevate the basket with perforated sides.",
+    "Lift the medium-sized soda can, place it inside the carrying basket with black plastic handle, and elevate the carrying basket with black plastic handle.",
+    "Use the right arm to insert the red drink can with white lid in the rectangular yellow basket; the other arm lifts the rectangular yellow basket.",
+    "Pick up the smooth red can, set it inside the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface.",
+    "Grab the red soda can with green accents, drop it into the basket with perforated sides, and raise the basket with perforated sides with the other arm.",
+    "Use the right arm to put the red drink can with white lid in the basket with perforated sides; the other arm lifts the basket with perforated sides.",
+    "Pick the smooth red can using the right arm, drop it in the plastic basket, and lift the plastic basket with the other arm.",
+    "Take the drink can with smooth red finish and put it in the basket with perforated sides, then lift the basket with perforated sides.",
+    "Drop the red shiny can with green label into the handheld basket using the right arm, then lift the handheld basket with another arm.",
+    "Use the right arm to put the smooth red can in the basket with arched black grip; another arm lifts the basket with arched black grip.",
+    "Grab the smooth red can, place it in the basket with perforated sides, and then lift the basket with perforated sides.",
+    "Lift the drink can with smooth red finish, drop it into the handheld basket, then carry the handheld basket.",
+    "Place the medium-sized soda can in the plastic basket and then lift the plastic basket.",
+    "Lift the red can with decorative label, place it in the handheld basket, and raise the handheld basket.",
+    "Use the right arm to drop the red shiny can with green label in the yellow basket; the other arm lifts the yellow basket.",
+    "Place the red can with decorative label in the yellow basket and then use another arm to lift the yellow basket.",
+    "Use the right arm to place the can with flat silver bottom in the rectangular yellow basket; another arm lifts the rectangular yellow basket.",
+    "Pick up the smooth red can, put it into the yellow basket, and lift the yellow basket.",
+    "Use the right arm to grab the cylindrical can with flat surfaces and place in the carrying basket with black plastic handle, lift the carrying basket with black plastic handle with another arm.",
+    "Take the drink can with smooth red finish, set it into the basket with perforated sides, and raise the basket with perforated sides.",
+    "Use the right arm to put the red soda can with green accents in the carrying basket with black plastic handle; the other arm raises the carrying basket with black plastic handle.",
+    "Use one arm for the drink can with smooth red finish, then the other arm lifts the bright yellow basket.",
+    "Lift the drink can with smooth red finish, put it in the carrying basket with black plastic handle, and carry the carrying basket with black plastic handle afterward.",
+    "Grab the red can with decorative label with the right arm, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface with the other arm.",
+    "Grab the medium-sized soda can, drop it into the yellow basket for carrying stuff, then use another arm for the yellow basket for carrying stuff.",
+    "Pick the smooth red can with one arm, place it in the basket with perforated sides, and lift the basket with perforated sides using another arm.",
+    "Pick up the drink can with smooth red finish with the right arm, place into the yellow basket, the other arm raises the yellow basket."
+  ]
+}
diff --git a/shake_bottle/episode_0000019/TCP_third/metadata.json b/shake_bottle/episode_0000019/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65de5d25a27d85cf16d8b7ec931d9c4f47e804b
--- /dev/null
+++ b/shake_bottle/episode_0000019/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    270,
+    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"
+}